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A comment on Let's remove Quaternions from every 3D Engine. Parent comment
http://geocalc.clas.asu.edu/html/Evolution.html#References
under "Recent Books". Notably "Clifford Algebra to Geometric Calculus" and "New Foundations for Classical Mechanics" by Hestenes.
PD: if you ever attempt to read any of those two, I'd advise to go to the latest (corrected) reprint.
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http://geocalc.clas.asu.edu/html/Evolution.html#References
under "Recent Books". Notably "Clifford Algebra to Geometric Calculus" and "New Foundations for Classical Mechanics" by Hestenes.
PD: if you ever attempt to read any of those two, I'd advise to go to the latest (corrected) reprint.