"The last attempt to change the concept of selecting gear in a racing gearbox, away from the system of face-dogs was, to the best of my knowledge, the Lotus "queerbox" fitted to the T78 on occaision in 1977. Based on a principle used in the Goggomobil bubble car[!], the gears were selected by balls being forced out through holes in the shaft, into grooves in the internal bore of the gear to be driven. The arrangement resulted in a very short gear cluster, having removed the need for gear face-dogs and dog-rings and probably would worked well with a hydraulic gear change system to provide selection load. As it was, the feedback through the gear lever gave the drivers tennis elbow, and I distinctly remember the day at Snetterton when the gearbox selected a gear by itself while the engine was being warmed up. The car wandered off across the paddock, chased by the mechanics."
According to an article by Wright published in RCE, this design theoretically doesn't require a clutch to accomplish gear changes. Word of Ferrari's reportedly having an extremely compact gearbox and talk of clutchless designs from maranello as well has lead me to wonder if some development of Chapman's "queerbox" concept has finally been successfully realized. Here is a drawing of the early 1959 version:

I can't figure out from the drawing how ratios were selected, anyone?