Quaternions for Computer Graphics

Sir William Rowan Hamilton was a genius, and will be remembered for his significant contributions to physics and mathematics. The Hamiltonian, which is used in quantum physics to describe the total energy of a system, would have been a major achievement for anyone, but Hamilton also invented quaternions, which paved the way for modern vector analysis. Quaternions are one of the most documented inventions in the history of mathematics, and this book is about their invention, and how they are used