Book excerpts
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Errata
The errata is available here.
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For even more examples of our mistakes, download the errata for the first edition.
Presentation slides
Chapter 1. Cartesian Coordinate Systems
Chapter 2 Vectors
Chapter 3. Multiple Coordinate Spaces
Chapter 4. Intro to Matrices
Chapter 5. Matrices and Linear Tranforms
Chapter 6. More on Matrices
Chapter 7. Polar Coordinate Systems
Chapter 8. Rotation
Chapter 9. Geometric Primitives
Chapter 10. Graphics
Chapter 11. Mechanics 1
Chapter 12. Mechanics 2
Chapter 13. Curves in 3D
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