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

"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