This book is not for mathematicians! They would probably raise their hands in horror about the level of mathematical rigour I have employed, or probably not employed! 

This book is for people working in computer graphics who know that they have to use mathematics in their day-to-day work, and don't want to get too embroiled in axioms, truths, and Platonic realities. This book originally appeared as part of Springer's excellent Essential series, and was revised to include chapters on analytical geometry, barycentric coordinates, and worked examples. The third edition included a new chapter on geometric algebra, which I have written about in my books Geometric Algebra for Computer Graphics and Geometric Algebra: An Algebraic System for Computer Games and Animation. 

 Whilst writing this book I have borne in mind what it was like for me when I was studying different areas of mathematics for the first time. In spite of reading and rereading an explanation several times it could take days before "the penny dropped" and a concept became apparent. Hopefully, the reader will find the explanations useful in developing their understanding of these specific areas of mathematics, and enjoy the sound of various pennies dropping!