I wrote a short introduction to some of the projection math used in 3d graphics, which gets slightly into it, though not into greatly juicy stuff: http://www.km

I wrote a short introduction to some of the projection math used in 3d graphics, which gets slightly into it, though not into greatly juicy stuff: http://www.kmjn.org/notes/3d_rendering_intro.html http://www.kmjn.org/notes/3d_rendering_intro.html Beyond just matrix arithmetic, a change of basis is usually used in viewing, to change an x-y-z "world" coordinate space into a u-v-w camera-relative coordinate space (discussed in the "View space" section). The homogeneous coordinates used to encode affine transforms into matrix multiplications also have a rigorous linear-algebra background, but admittedly they can be treated as just a strange hack (use a "dummy" 4th dimension for 3d coordinates) without really needing the theory.