I recently gave a talk for the GamedevGR Meetup and recorded the whole thing via my Twitch Channel.
Relevant Links:
- Presentation Slides - Everything that was shown, except the whiteboard
- My Notes - Not very cleaned up, but contains the formulas
- The OPengine - This is my own cross-platform game engine.
- The Gimbal Lock Program - To help illustrate what Gimbal Lock is and why it matters
If you have more questions, or you're interested in checking out the OPengine, you can join the OPifex Slack Channel here: http://slackin-opifex.herokuapp.com/