Red Book (This
can be found lots of other places too.)
Rotations - "A Mathematical Introduction to Robotic Manipulation" by Murray,
Li, and Sastry, chapter 2.
Quaternions - Horn has a paper which shows a nice use of quaternions and
contains a brief description of how to use them, found
Here is the sample code used in section on Friday.
This will display a very
simple scene, which may be useful if you're having trouble setting things up.
We make no guarantees on the correctness of this code, so use at your own risk.
Here is a final review outline.