3D Math Primer for Graphics and Game Development — Dunn & Parberry

The applied 3D mathematics a renderer actually manipulates: Cartesian coordinate systems and handedness, vectors and their geometric operations, multiple and nested coordinate spaces, matrices as linear transformations, determinants and inverses, the \(4 \times 4\) homogeneous matrices behind perspective projection, polar and spherical coordinates, orientation in three dimensions (Euler angles, axis-angle and exponential map, quaternions), geometric primitives and bounding volumes, and a closing chapter on the mathematical topics of 3D graphics — viewing, polygon meshes, texture mapping, the standard local lighting model, bump mapping, and the real-time graphics pipeline.

Worked in Course 1 — Section 20, the closing applied section, which serves Course 4 — Real-Time Rendering & GPU Engineering rather than the Course 2 spine. It restates the linear algebra of Sections 1–2 in coordinates: the conventions, quaternions, and bounding volumes Axler’s coordinate-free development deliberately abstracts away. Every chapter carries an exercise set; problems are worked by hand.

Problems added as worked.