This introduction to 3D computer graphics emphasises fundamentals and the mathematics underlying computer graphics while also covering programming techniques using OpenGL, a platform-independent graphics programming environment. Topics include transformations and viewing, lighting and shading, ray tracing, radiosity, texture mapping and color theory, and aspects of animation, including quaternions, orientation, and inverse kinematics.The book is aimed at the advanced undergraduate or introductory graduate level, and can also be used for self-study. The minimal prerequisites, basic knowledge of calculus and vectors, are reviewed in an appendix. Novice OpenGL programmers may also want to consult an OpenGL programming guide.