Hamiltonian, which is used in quantum physics to describe the total energy of a system, would be a great achievement for anyone, but Hamilton also discovered quaternions, which paved the way for modern vector analysis. Discovery of quaternions is one of the most documented in the history of mathematics, and this book is about their discovery, and how they are used to rotate a vector around an arbitrary axis. Quaternions for Computer Graphics introduces the reader to algebra quaternion by explaining the concepts of sets, groups, fields and rings.