This is the first part of a multi-part primer and reference for the math we’ll be using extensively throughout this blog. If you’ve been around game or graphics programming for any length of time, you’re probably at least somewhat familiar with many of these topics. However, you might be a bit rusty or might not know some of the more advanced details, so I’ll try and review as much ground as I can. Please either bear with me through the basics or just skip ahead to my later posts if you feel comfortable with this material.

A few notes before we dive in:

First and foremost, there is absolutely no way that I can teach you linear algebra in the span of several blog posts! J If this material is completely foreign to you, I strongly recommend picking up a good book on the subject. These blog posts are only meant as a refresher and reference for later blog posts. Please see the end of the post for a references section for further reading.

Notation

I’ll be using the following mathematical notation throughout my posts, which is pretty standard:

Real numbers, integers, 3-tuples of real numbers

Point, line segment, triangle

Vector, transpose vector, zero vector, i-th component of a vector.

5.One of the best and most comprehensive texts on various collision detection and intersection tests: Real-Time Collision Detection by Christer Ericson