This short tutorial on the use of matrices and vectors in 3-D graphics is not meant to be a complete course. Far from it. But if you want to start writing programs in openGL and your mathematics does not yet extend to linear algebra, then this may give you some idea of the terms that you will be encountering all along the way. I have cut this to the bone by leaving out practice problems and detailed descriptions. Also, from one math book to another you will see variations in how a vector and its components are indicated. I have settled on a simple (but perhaps not strict) notation. Should you use other reference material you may see some minor differences, but this should not be a problem. If you need to fill in some blanks or you think I have left out or mis-typed some important detail, you can contact me directly by e-mail at joe@joedart.com