Is This the Dreaded Math Chapter?A Crash Course in 3D Graphics MathVectors, or Which Way Is Which?Common Vector OperatorsMatricesMatrix Construction and OperatorsUnderstanding TransformationsCoordinate Spaces in OpenGLCoordinate TransformationsConcatenating TransformationsQuaternionsThe Model–View TransformProjection TransformationsInterpolation, Lines, Curves, and SplinesCurvesSplinesSummary