3D Math Primer for Graphics and Game Development  book cover
2nd Edition

3D Math Primer for Graphics and Game Development

ISBN 9781568817231
Published November 2, 2011 by A K Peters/CRC Press
846 Pages

USD $130.00

Prices & shipping based on shipping country


Book Description

This engaging book presents the essential mathematics needed to describe, simulate, and render a 3D world. Reflecting both academic and in-the-trenches practical experience, the authors teach you how to describe objects and their positions, orientations, and trajectories in 3D using mathematics. The text provides an introduction to mathematics for game designers, including the fundamentals of coordinate spaces, vectors, and matrices. It also covers orientation in three dimensions, calculus and dynamics, graphics, and parametric curves.

Table of Contents

Cartesian Coordinate Systems
1D Mathematics
2D Cartesian Space
3D Cartesian Space
Odds and ends

Vector — mathematical definition and other boring stuff
Vector — a geometric definition
Specifying vectors using Cartesian coordinates
Vectors vs. points
Negating a vector
Vector multiplication by a scalar
Vector addition and subtraction
Vector magnitude (length)
Unit vectors
The distance formula
Vector dot product
Vector cross product
Linear algebra identities

Multiple Coordinate Spaces
Why multiple coordinate spaces?
Some useful coordinate spaces
Coordinate space transformations
Nested coordinate spaces
In defense of upright space

Introduction to Matrices
Matrix — a mathematical definition
Matrix — a geometric interpretation
The bigger picture of linear algebra

Matrices and Linear Transformations
Orthographic projection
Combining transformations
Classes of transformations

More on Matrices
Determinant of a matrix
Inverse of a matrix
Orthogonal matrices
4 x 4 homogeneous matrices
4 x 4 matrices and perspective projection

Polar Coordinate Systems
2D Polar Space
Why would anybody use Polar coordinates?
3D Polar Space
Using polar coordinates to specify vectors

Rotation in Three Dimensions
What exactly is "orientation?"
Matrix form
Euler angles
Axis-angle and exponential map representations
Comparison of methods
Converting between representations

Geometric Primitives
Representation techniques
Lines and rays
Spheres and circles
Bounding boxes

Mathematical Topics from 3D Graphics
How graphics works
Viewing in 3D
Coordinate spaces
Polygon meshes
Texture mapping
The standard local lighting model
Light sources
Skeletal animation
Bump mapping
The real-time graphics pipeline
Some HLSL examples
Further reading

Mechanics 1: Linear Kinematics and Calculus
Overview and other expectation-reducing remarks
Basic quantities and units
Average velocity
Instantaneous velocity and the derivative
Motion under constant acceleration
Acceleration and the integral
Uniform circular motion

Mechanics 2: Linear and Rotational Dynamics
Newton's three laws
Some simple force laws
Impulsive forces and collisions
Rotational dynamics
Real-time rigid body simulators
Suggested reading

Curves in 3D
Parametric polynomial curves
Polynomial interpolation
Hermite curves
Bezier curves
Hermite and Bezier splines
Automatic tangent control

What next?

Appendix A: Geometric Tests
Appendix B: Answers to the Exercises



Exercises appear at the end of each chapter.

View More



Fletcher Dunn has been programming video games professionally since 1996. He served as principle programmer at Terminal Reality in Dallas, where he was one of the architects of the Infernal engine and lead programmer on BloodRayne. He was a technical director for the Walt Disney Company at Wideload Games in Chicago, where he was the lead programmer for Disney Guilty Party, which won IGN's Family Game of the Year at E3 2010. He is currently a developer at Valve Software in Bellevue, Washington.

Ian Parberry is a professor in the Department of Computer Science and Engineering at the University of North Texas. Dr. Parberry has more than a quarter century of experience in research and teaching and is nationally known as one of the pioneers of game programming in higher education.


"With solid theory and references, along with practical advice borne from decades of experience, all presented in an informal and demystifying style, Dunn & Parberry provide an accessible and useful approach to the key mathematical operations needed in 3D computer graphics."
—Eric Haines, author of Real-Time Rendering

"The book describes the mathematics involved in game development in a very clear and easy to understand way, layered on the practical background of years of game engine programming experience."
—Wolfgang Engel, editor of GPU Pro