Quaternions With OpenGL:
http://gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
Quaternions:
http://www.genesis3d.com/~kdtop/Quaternions-UsingToRepresentRotation.htm
More On Quaternions:
http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
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