Written from a mathematical standpoint accessible to students, teachers, and professionals studying or practicing in engineering, mathematics, or physics, the new second edition is a comprehensive introduction to the theory and application of transformations. Presenting the more abstract foundation material in the first three chapters, "Geometric Transformations in 3D Modeling" reduces the clutter of theoretical derivation and development in the remainder of the text and introduces the operational and more application-oriented tools and concepts as the need arises. It assumes the reader has already taken analytic geometry and first-year calculus and has a working knowledge of basic matrix and vector algebra. This self-contained resource is sure to appeal to those working in 3D modeling, geometric modeling, computer graphics, animation, robotics, and kinematics.

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