Foundations of Game Engine Development Volume 1

The first volume of Foundations of Game Engine Development discusses the mathematics needed by engineers who work on games or other types of virtual simulations. The book begins with conventional treatments of topics such as linear algebra, transforms, and geometry. Then, it introduces Grassmann algebra and geometric algebra to provide a much deeper understanding of the subject matter and highlight the places where traditional arithmetic with vectors, matrices, quaternions, etc., isn’t quite correct. Includes exercises.

Chapter 1: Vectors and Matrices1.1 Vector Fundamentals1.2 Basic Vector Operations1.2.1 Magnitude and Scalar Multiplication1.2.2 Addition and Subtraction1.3 Matrix Fundamentals1.4 Basic Matrix Operations1.4.1 Addition, Subtraction, and Scalar Multiplication1.4.2 Matrix Multiplication1.5 Vector Multiplication1.5.1 Dot Product1.5.2 Cross Product1.5.3 Scalar Triple Product1.6 Vector Projection1.7 Matrix Inversion1.7.1 Identity Matrices1.7.2 Determinants1.7.3 Elementary Matrices1.7.4 Inverse Calculation1.7.5 Inverses of Small MatricesChapter 2: Transforms2.1 Coordinate Spaces2.1.1 Transformation Matrices2.1.2 Orthogonal Transforms2.1.3 Transform Composition2.2 Rotations2.2.1 Rotation About a Coordinate Axis2.2.2 Rotation About an Arbitrary Axis2.3 Reflections2.4 Scales2.5 Skews2.6 Homogeneous Coordinates2.7 Quaternions2.7.1 Quaternion Fundamentals2.7.2 Rotations With