Defining (Restrictive) clauses

With this type of clauses we can use these relative pronouns:

Who, whom, that and whose to refer to people.

When the pronoun is the subject of the verb, we can use either who or that.
That is the girl. She bought the Millers house.
That is the girl who/that bought the Millers house.
When the pronoun is the direct object or the indirect object not preceded by
preposition, we can use who, whom, that or we can omit it.
That is the girl. We were talking about her.
That is the girl who/whom/that/- we were talking about.
When the pronoun is the indirect object preceded by a preposition, only whom is
possible:
That is the girl. Dave gave the book to her.
That is the girl to whom Dave gave the book. (Less common)
That is the girl who/whom/that/- Dave gave the book to. (More common)
Whose refers to possession and is always followed by a noun:
That is the girl. Her car is outside.
That is the girl whose car is outside.

Which, that and whose to refer to things, animals etc.

When the pronoun is the subject of the verb, we can use either which or that.
Here is the book. It has 300 pages.
Here is the book which/that has 300 pages.
When the pronoun is the direct object or the indirect object not preceded by
preposition, we can use which, that or we can omit it. When it is the indirect
object preceded by a preposition, only which is possible.
Here is the book. I was looking for it.
Here is the book which/that/- I was looking for. (More common)
Here is the book for which I was looking. (Less common)
Whose refers to possession and is always followed by a noun:
Here is the book. Its author is coming to town.
Here is the book whose author is coming to town.

Observations:

After certain words (all, everything, much, little, some, any, no, none and compound
forms) we normally use that instead of which.
When the relative pronoun refers to people and objects or animals, we must use that.