Robert S. (University of Iowa) Carmichael 
Practical Handbook of Physical Properties of Rocks and Minerals (1988) [PDF ebook] 

Outline the …Mineral composition of rocks…. This treats the chemical composition and physical characteristics of rock types, of pore fluids, of economic ores and fuels, and of marine sediments.]
Properties of minerals and crystals are presented, including petrographic characteristics. Compositions are also given for the Earth“s crust and mantle, and for meteorites and Moon rock.]
Present a massive data set on this fundamental and diagnostic property by succinct use of histograms and statistical analysis of density ranges. Densities are included for minerals, rocks, and soils.]
An outline is given of the determination of density and porosity by calculation and by in situ methods.]