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 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.