Engineering Mathematics - This book has been going for a long time and it is
now in its 5th edition, so it is tried and tested.
Geometric Algebra for Physicists - This is intended for physicists so it soon gets onto relativity, spacetime, electrodynamcs, quantum theory, etc. However the introduction to Geometric Algebra and classical mechanics is reasonable.
Geometric Algebra for Computer Science: An Object-oriented Approach to Geometry. This book stresses the Geometry in Geometric Algebra, although it is still very mathematically orientated. Programmers using this book will need to have a lot of mathematical knowledge. Its good to have a Geometric Algebra book aimed at computer scientists rather than physicists. There is more information about this book here.
Introduction to Lie Algebras (Springer Undergraduate Mathematics Series) (Paperback)
Mathematics for 3D game Programming - Includes introduction to Vectors, Matrices,
Transforms and Trigonometry. (But no euler angles or quaternions). Also includes
ray tracing and some linear & rotational physics also collision detection
(but not collision response).
3D Math Primer - Aimed at complete beginners to vector and matrix algebra.
