If you have ever wondered what quaternions are — then look no further, John Vince will show you how simple and useful they are. This 2nd edition has been comp

Introduced 160 years ago as an attempt to generalize complex numbers to higher dimensions, quaternions are now recognized as one of the most important concepts

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

Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the nineteenth century--a feat he celebrated by carving the founding equatio

Rotation transforms are used everywhere in computer graphics from rotating pictures in editing software, to providing an arbitrary view of a 3D virtual environm