http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930375

https://luckytoilet.wordpress.com/2014/11/24/visualizing-quaternions-with-unity/

http://developerblog.myo.com/quaternions/

http://www.ams.stonybrook.edu/~coutsias/papers/rrr.pdf

http://www.weizmann.ac.il/sci-tea/benari/sites/sci-tea.benari/files/uploads/softwareAndLearningMaterials/quaternion-tutorial-2-0.pdf

https://www.gamasutra.com/view/feature/131686/rotating_objects_using_quaternions.php

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