I also highly recommend the rtg-math commonlisp library (ql:quickload :rtg-math) https://github.com/cbaggers/rtg-math https://github.com/cbaggers/rtg-math Inc

I also highly recommend the rtg-math commonlisp library (ql:quickload :rtg-math) https://github.com/cbaggers/rtg-math https://github.com/cbaggers/rtg-math Incredibly fast with support for quaternions / spherical coordinate systems etc