Mathematics for 3D game programming and computer graphics Book by Eric Lengyel

This resource illustrates the mathematics that a game programmer would need to develop a professional-quality 3D engine. The book starts at a fairly basic level in each of several areas such as vector geometry, modern algebra, and physics, and then progresses to somewhat more advanced topics. Particular attention is given to derivations of key results, ensuring that the reader is not forced to endure gaps in the theory.