One thing to know about quaternions is that you do not need to understand them in order to know how to use them, much as you do not need to understand how an au

One thing to know about quaternions is that you do not need to understand them in order to know how to use them, much as you do not need to understand how an automatic transmission works in order to drive a car. The knowledge of how to use them is completely separable from the knowledge of why they work, and if you concentrate on the former, and don't worry about the latter, much progress can be made. Edit to add: When I say "you don't need to understand how they work to use them", I mean, you can literally implement all the math to multiply, conjugate, scale and invert quaternions from basic math operators and floating point numbers in C, and use those operations to rotate 3d objects around in your program successfully, all without having any idea why they work. I know this, because I have done it. The basis for my understanding how to use quaternions, and how to build the basic operations on them comes from this site, which is quite concise and dense, but contains the necessary information if you can beat your head against it persistently: http://www.tutis.ca/Rotate/7quaternions.htm http://www.tutis.ca/Rotate/7quaternions.htm