This book is about 3D math, the geometry and algebra of 3D space. It is designed to teach you how to describe objects and their positions, orientations, and trajectories in 3D using mathematics. This is not a book about computer graphics, simulation, or even computational geometry, although if you plan on studying those subjects, you will definitely need the information here. [...] The noscript of this book says it is for “game development,” but a great deal of the material that we cover is applicable outside of video games. Practically anyone who wants to simulate, render, or understand a three-dimensional world will find this book useful.