Or, if you want to learn the core ideas and math involved, but in terms of computer programming, see: Functional Differential Geometry by Gerald Sussman, same

Or, if you want to learn the core ideas and math involved, but in terms of computer programming, see: Functional Differential Geometry by Gerald Sussman, same author behind Structure and Interpretation of Computer Programs https://archive.org/details/FunctionalDifferentialGeometry/ https://archive.org/details/FunctionalDifferentialGeometry/