First things first, but not necessarily in that order.
— Doctor Who from Meglos (1980)
This book is about 3D math, the geometry and algebra of 3D space. It is designed to teach you how to describe objects and their positions, orientations, and trajectories in 3D using mathematics. This is not a book about computer graphics, simulation, or even computational geometry, although if you plan on studying those subjects, you will definitely need the information here.
This is not just a book for video game programmers. We do assume that a majority of our readers are learning for the purpose of programming video games, but we expect a wider audience and we have designed the book with a diverse audience in mind. ...