John Vince 
Geometric Algebra for Computer Graphics [PDF ebook] 

Geometric algebra (a Clifford Algebra) has been applied to different branches of physics for a long time but is now being adopted by the computer graphics community and is providing exciting new ways of solving 3D geometric problems.John Vince (author of numerous books including Geometry for Computer Graphics and Vector Analysis for Computer Graphics ) has tackled this complex subject in his usual inimitable style, and provided an accessible and very readable introduction.As well as putting geometric algebra into its historical context, John tackles complex numbers and quaternions; the nature of wedge product and geometric product; reflections and rotations (showing how geometric algebra can offer a powerful way of describing orientations of objects and virtual cameras); and how to implement lines, planes, volumes and intersections. Introductory chapters also look at algebraic axioms, vector algebra and geometric conventions and the book closes with a chapter on how the algebra is applied to computer graphics.