These pages contain the following resources:
A tutorial to show the application of matrices to modeling a 3D world.
Java Code to implement a matrix class.
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see also: 

Correspondence about this page  david 
Book Shop  Further reading. Where I can, I have put links to Amazon for books that are relevant to the subject, click on the appropriate country flag to get more details of the book or to buy it from them. 
Mathematics for 3D game Programming  Includes introduction to Vectors, Matrices, Transforms and Trigonometry. (But no euler angles or quaternions). Also includes ray tracing and some linear & rotational physics also collision detection (but not collision response). 
Terminology and Notation Specific to this page here: 

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