Skinning with dual quaternions
Kavan, L., Collins, S., Žára, J., O'Sullivan, C.
KAVAN, L., et al. Skinning with dual quaternions. In: SPENCER, S.N., ed. Proceedings of the 2007 symposium on Interactive 3D graphics and games. Symposium on Interactive 3D Graphics and Games, Seattle, 2007-04-30/2007-05-02. New York: ACM SIGGRAPH, 2007. p. 39-46. ISBN 978-1-59593-628-8. DOI 10.1145/1230100.1230107.