- Quaternions for Computer Graphics, Second EditionSpringer, 2021. [doi]

- Calculus for Computer Graphics, Second EditionSpringer, 2019. [doi]

- Imaginary Mathematics for Computer ScienceSpringer, 2018. [doi]

- Mathematics for Computer Graphics, 5th EditionUndergraduate Topics in Computer Science, Springer, 2017. [doi]

- Mathematics for Computer Graphics, Fourth EditionUndergraduate Topics in Computer Science, Springer, 2014. [doi]

- Calculus for Computer GraphicsSpringer, 2013. [doi]

- Matrix Transforms for Computer Games and AnimationSpringer, 2012. [doi]

- Rotation Transforms for Computer GraphicsSpringer, 2011. [doi]

- Mathematics for Computer Graphics, Third EditionUndergraduate Topics in Computer Science, Springer, 2010. [doi]

- Geometric algebra for computer graphicsSpringer, 2008. [doi]

- Vector analysis for computer graphicsSpringer, 2007. [doi]

- Mathematics for computer graphics (2. ed.)Springer, 2005.

- Essential mathematics for computer graphics fastEssential series, Springer, 2001.

- Virtual worlds on the internetIEEE, 1998.

- Virtual reality systemsAddison-Wesley, 1995.

- 3-D computer animationAddison-Wesley, 1992.
- VR - promises, promises!creativity, 3(1):29-31, 1992. [doi]