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Foundations of Game Engine Development, Volume 1: Mathematics 1st Edition

4.6 4.6 out of 5 stars 243 ratings

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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 QuaternionsChapter 3: Geometry3.1 Triangle Meshes3.2 Normal Vectors3.2.1 Calculating Normal Vectors3.2.2 Transforming Normal Vectors3.3 Lines and Rays3.3.1 Parametric Lines3.3.2 Distance Between a Point and a Line3.3.3 Distance Between Two Lines3.4 Planes3.4.1 Implicit Planes3.4.2 Distance Between a Point and a Plane3.4.3 Reflection Through a Plane3.4.4 Intersection of a Line and a Plane3.4.5 Intersection of Three Planes3.4.6 Intersection of Two Planes3.4.7 Transforming Planes3.5 Plücker Coordinates3.5.1 Implicit Lines3.5.2 Homogeneous Formulas3.5.3 Transforming LinesChapter 4: Advanced Algebra4.1 Grassmann Algebra4.1.1 Wedge Product4.1.2 Bivectors4.1.3 Trivectors4.1.4 Algebraic Structure4.1.5 Complements4.1.6 Antivectors4.1.7 Antiwedge Product4.2 Projective Geometry4.2.1 Lines4.2.2 Planes4.2.3 Join and Meet4.2.4 Line Crossing4.2.5 Plane Distance4.2.6 Summary and Implementation4.3 Matrix Inverses4.4 Geometric Algebra4.4.1 Geometric Product4.4.2 Vector Division4.4.3 Rotors4.5 Conclusion

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Product details

  • Publisher ‏ : ‎ Terathon Software LLC; 1st edition (September 11, 2016)
  • Language ‏ : ‎ English
  • Paperback ‏ : ‎ 200 pages
  • ISBN-10 ‏ : ‎ 0985811749
  • ISBN-13 ‏ : ‎ 978-0985811747
  • Item Weight ‏ : ‎ 14.9 ounces
  • Dimensions ‏ : ‎ 7.5 x 0.47 x 9.25 inches
  • Customer Reviews:
    4.6 4.6 out of 5 stars 243 ratings

About the author

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Eric Lengyel
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Eric Lengyel (Ph.D. computer science, M.S. mathematics) has been a game engine developer since the 1990s and has been writing about it almost as long. He spends most of his time working on the C4 Engine and the Slug Library, but sometimes takes a break to perform new research in geometric algebra. He lives in Lincoln, California.

Customer reviews

4.6 out of 5 stars
243 global ratings

Customers say

Customers find the book concise and well-written. They find the content excellent for learning math applied to computer graphics and game development. The book deepens their understanding and boosts their confidence in their math skills.

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12 customers mention "Readability"12 positive0 negative

Customers find this book concise and easy to read. It covers the basics in a well-written reference with great images and examples. The code examples are easy to follow along with, even for those who don't speak C++. The editing is good, making it accessible.

"...Well edited, easy to read, and easy to follow. I'm looking forward to the next volume...." Read more

"...I don't speak C++ but the code examples are fairly easy to follow along if you speak some sort of C-style language." Read more

"Excellent book!..." Read more

"Best compsci mathbook ever. The Grassmann and Clifford chapter changed my life. I wish i had something like this in engineering undergrad days." Read more

9 customers mention "Math content"7 positive2 negative

Customers find the book's math content excellent. They say it covers the basics of mathematics applied to computer graphics and game development. The book can be educational on multiple levels, introducing new concepts and deepening their understanding of things they already knew. It contains elementary linear math required for graphics, as well as practical geometric algebra. Code examples are used to clarify the math.

"...This is a great refresher if you're trying to understand 3d game engines...." Read more

"...It really boosted the confidence in my math skills and already it has greatly impacting my professional career...." Read more

"Excellent book on the basics of mathematics applied to computer graphics and game development...." Read more

"...there are always code examples to clarify the math. the inclusion of geometric/grassman algebra in a practical way makes it unique." Read more

Top reviews from the United States

Reviewed in the United States on May 21, 2018
Updated again...removed my speculative errata see the books official website for errata
Update: I have read this book all the way through a couple times now and some sections I have read repeatedly.
Over those readings I have come up with some good and not so good points about the book so here they are...in no particular order...

The good:
1) This book is like a Lego set for 3D math. It starts with some basic pieces, then uses those pieces to build interesting 3D math parts, then uses those large pieces to build even more exotic math. Then it breaks them all down, and puts them back together to build Grassman/geometric algebra.
2) The book can be educational on multiple levels, meaning that on first glance it is introducing basic stuff that you see in every book, but upon rereading I found an entire new level of detail that I missed on the first pass that aided insights to the underlying topics.
3) All the stuff in the original review below.

update...the books official website now has errata (thank you)

Not so good:
1) Some of the questions in the exercises refer to material that hasn't been introduced yet. Like question 7 in chapter one refer's to planes which aren't introduced until chapter 3. There are a few place in the book this happens. Not that big a deal but still...
2) The book doesn't introduce things like converting a projection to a matrix, instead it is left as an exercise, but later in the book it uses the answer to that exercise like it was introduced. There a handful of places where the expertly crafted dialog that builds between the author and the reader break down because things like this.

No matter how you slice it, this is still a 5 star book.

Original review:
Well edited, easy to read, and easy to follow. I'm looking forward to the next volume. This is the kind of book that keeps me passionate about computer graphics by presenting current up to date material without a bunch of redundancy. It also offers a tantalizing look into grassman/geometric algebra complete with enough implementation details to start putting the theory to use. I'm hoping the author will continue to explore this area in the other volumes of the book. (using the wedge operator with sphere's in particular) If there is anything I didn't really care for its that I felt like I was being led somewhere with the overall structure of the book and the code listings that it includes. But at the end of the book it seemed like some of these ideas were either just dropped or left up to the reader to conjure from the tables. The author recommends reading chapter 3 for experienced readers, but I would suggest starting in chapter 2, if you start falling asleep go to chapter 3 if you are lost go back to chapter 1, if chapter 1 is confusing then...segmentation fault, core dumped
39 people found this helpful
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Reviewed in the United States on January 6, 2020
I haven't had linear algebra since AP classes in high school. This is a great refresher if you're trying to understand 3d game engines. I don't speak C++ but the code examples are fairly easy to follow along if you speak some sort of C-style language.
11 people found this helpful
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Reviewed in the United States on April 9, 2021
I am a game developer at a triple A studio. Although the book was hard, I read and reread it so thoroughly that it helped me really grasp the fundamentals of linear algebra. In fact, the introduction to Geometric algebra (in the last chapter) gave me the tools to be able to reconstruct the learnings from the rest of the book. It taught me a lot of new things and it deepened my understanding of the things I already knew. It really boosted the confidence in my math skills and already it has greatly impacting my professional career.

There are a few sections that I thought were too hard. Sometimes a conclusion is given but I wasn't able to work out the proof with the things I was taught. So in addition I spent quite a lot of time digging through study material on the web from other sources to teach me enough to do it. Those brain-wreckers are perhaps a weakness to the book, but if you refuse to give up it does make the lessons stick a lot better.

I did however give up the second halve of questions provided at the end of chapter 3. I couldn't understand the answers in the solution guide no matter how much I learned and I felt it wasn't very fruitful to do so. It's the set of questions about Plücker coordinates. The tools handed in chapter 4 give a better intuition to the problems, so I recommend revisiting those questions after you finished the book.

I've ordered part 2 and can't wait for 3 and 4 to release.

This book teaches you some math that none of my colleagues knew about, and that includes 2 people with a PhD in Mathematics. I assure you though, knowing this is a tool in your belt that gives you an advantage that you won't easily forget about.
7 people found this helpful
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Reviewed in the United States on December 7, 2021
This book is must in game programming.
2 people found this helpful
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Reviewed in the United States on August 16, 2017
There is nothing i can say about this book that has not been said before. Lengyel is one of the greatest minds in game development today. For him to share a multi-volume collection is amazing! 10/10 would buy again (I already own 2 copies)
7 people found this helpful
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Reviewed in the United States on November 12, 2016
Excellent book! Unlike other books on similar topics, it doesn't just leave you on the basics, it takes you all the way through to the stuff that is actually used.
Looking forward to more volumes in this series.
8 people found this helpful
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Reviewed in the United States on January 12, 2019
Best compsci mathbook ever. The Grassmann and Clifford chapter changed my life. I wish i had something like this in engineering undergrad days.
15 people found this helpful
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Reviewed in the United States on November 18, 2016
Excellent book on the basics of mathematics applied to computer graphics and game development.
Wonderful print with great images and well taken example. Love it !
5 people found this helpful
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Top reviews from other countries

NotMyRealName
5.0 out of 5 stars Good book!
Reviewed in Germany on February 10, 2024
Will order the rest of the series!
Ben
5.0 out of 5 stars Great for practitioners
Reviewed in the United Kingdom on September 11, 2022
A dense yet intuitively presented guide to some of the trickiest bits of vector math one is likely to come across during game development, with a brief but fascinating discursion into Lengel’s real passion — geometric algebra — at the end.

I suspect an aspiring game developer would get fatigued quickly by this book. It would not make a good introduction to the math involved in games. This is a great book for people who regularly *use* vector math, but want to really *understand* it at a deeper level.
Amazon Customer
5.0 out of 5 stars Good Reference Book
Reviewed in Canada on September 18, 2020
Easy to read and clear. Handy book to have.
Xylo
4.0 out of 5 stars Highly recommended book for game developer
Reviewed in India on July 12, 2021
This is one of my favorite book in game development. I expected color print version of this book, but its black/white print version. Quality is good, I'm disappointed because its not color print for the price I paid.
Cliente Amazon
5.0 out of 5 stars Perfect book about simple math behind game mechanics.
Reviewed in Spain on June 2, 2020
Complete book about simple with some more advanced maths concepts. Strongly recommend!