I created the tutorial Quaternion Rotations in 3D Java OpenGL to document a 3D math library that I wrote a few months ago. It includes an interactive demonstration applet and links to the javadoc and source code.

Update announcements from CroftSoft Inc
I created the tutorial Quaternion Rotations in 3D Java OpenGL to document a 3D math library that I wrote a few months ago. It includes an interactive demonstration applet and links to the javadoc and source code.