Table of Contents

Chapter 0 The Rendering Pipeline Chapter 1 Vectors Chapter 2 Matrices Chapter 3 Transforms Chapter 4 3D Engine Geometry Chapter 5 Ray Tracing Chapter 6 Illumination Chapter 7 Visibility Determination Chapter 8 Collision Detection Chapter 9 Polygonal Techniques Chapter 10 Shadows Chapter 11 Linear Physics Chapter 12 Rotational Physics Chapter 13 Fluid Simulation Chapter 14 Numerical Methods Chapter 15 Curves and Surfaces Appendix A Complex Numbers Appendix B Trigonometry Reference Appendix C Coordinate Systems Appendix D Taylor Series Appendix E Answers to Exercises