The topics covered in this book provide the tools for creating a complete suite of programs for three-dimensional computer animation, modeling, and image synthesis. The text takes the reader from the construction of polygonal models of objects through rigid body animation into hierarchical character animation, and finally down the rendering pipeline for the synthesis of realistic images. This book is useful to anyone who wants to learn about 3D graphics programming, game programmers, movie animators, and anyone beginning a career in an industry associated with computer graphics. It also serves as a reference to a wide range of practical algorithms. The level extends to the needs of more experienced professional software developers, for example those who wish to write plugin modules for any 3D application program or commercially available game engine.