Sorry to bump up this old thread. Granpa's got some good references to look at, here are some more pasted in from an email I wrote a while back:
Geometric Algebra - not easy, but worth it. There's not much that can't be done with GA - all physics (including relativity and QM) Maxwell's equations in relativistic form condense to 4 symbols. Angles, solid angles and scalars are cleanly differentiated as being different dimensions. Quaternions and complex math come along free for the ride. It works in any dimension and any signature. Interval arithmetic is just a special 2+1-D version of a conformal/Minkowski space. It's fast. It's intuitive. (sorta) It's coordinate-free. It slices it dices! (Well, it does have a lot of blades, anyway.)
For introductory tutorials with both PDF and interactive graphical/command-line GA calculator program (GA Viewer) tutorials:
http://www.science.uva.nl/ga/tutorials/index.html (The conformal model is in 5-D so you'll want some introduction.)
A good basic reference and primer:
http://www.jaapsuter.com/geometric-algebra.pdf
For a good book: Geometric Algebra For Computer Science, An Object Oriented Approach to Geometry,
http://www.geometricalgebra.net/ (official site)
http://www.scribd.com/doc/7149305/Geometric-Algebra-for-Computer-Science-an-ObjectOriented-Approach-to-Geometry (online version for preview - the paper 2nd edition is better, and the cheat-sheets in the cover pages are very useful.)
That's more than enough, but there are many other good resources such as David Hestenes' GA page, the Cambridge GA group (they founded a successful company a few years ago to do real-time radiosity lighting and physics for games - Geomerics), Ian G.C. Bell's "Maths for (Games) Programmers" (needs an old version of Netscape to view, there's a link on his site to such versions. Bell co-wrote the first 3-D (and space-trading) game for personal computers, Elite, but retired to do fractal body paint on pretty girls at raves.)