u011745452的专栏

Group Theory Lecture by D.Vvedensky from Imperial College London

OpenGL Game Development By Example by Robert Madsen pdf

ARM Cortex M4嵌入式实战开发精解 基于STM32F4 第二部分^_^

linux 中断表，象征性的列前面几个 1 exit 2 fork 3 read 4 write 已经Hello world： .section .data msg .ascii "Hello World!\n" .section .bss .section .text .global _start _start: movl #4, %eax movl #1, %ebx movl #msg, %ecx movl #13, %edx int 0x80 movl #1, %eax movl #0, %ebx int 0x80

1 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 A Brief Introduction to C++ . . . . . . . . . . . . . . . . . . . 1.1.1 C++ is “Object-Oriented” . . . . . . . . . . . . . . . . 1.1.2 Why You Should Write Scientific Programs in C++ . . 1.1.3 Why You Should Not Write Scientific Programs in C++ 1.1.4 Scope of This Book . . . . . . . . . . . . . . . . . . . 1.2 A First C++ Program . . . . . . . . . . . . . . . . . . . . . . 1.3 Compiling a C++ Program . . . . . . . . . . . . . . . . . . . . 1.3.1 Integrated Development Environments . . . . . . . . . 1.3.2 Compiling at the Command Line . . . . . . . . . . . . 1.3.3 Compiler Flags . . . . . . . . . . . . . . . . . . . . . . 1.4 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4.1 Basic Numerical Variables . . . . . . . . . . . . . . . . 1.4.2 Other Numerical Variables . . . . . . . . . . . . . . . 1.4.3 Mathematical Operations on Numerical Variables . . . 1.4.4 Division of Integers . . . . . . . . . . . . . . . . . . . 1.4.5 Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4.6 ASCII Characters . . . . . . . . . . . . . . . . . . . . 1.4.7 Boolean Variables . . . . . . . . . . . . . . . . . . . . 1.4.8 Strings . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5 Simple Input and Output . . . . . . . . . . . . . . . . . . . . . 1.5.1 Basic Console Output . . . . . . . . . . . . . . . . . . 1.5.2 Keyboard Input . . . . . . . . . . . . . . . . . . . . . 1.6 The assert Statement . . . . . . . . . . . . . . . . . . . . . 1.7 Tips: Debugging Code . . . . . . . . . . . . . . . . . . . . . . 1.8 Exercises . . . . . . . . . . . . . . . . . . . . . . 2 Flow of Control . . . . . . . . . . . . . . . . . . . . . 2.1 The if Statement . . . . . . . . . . . . . . . . . 2.1.1 A Single if Statement . . . . . . . . . . 2.1.2 Example: Code for a Single if Statement 2.1.3 if–else Statements . . . . . . . . . . . 2.1.4 Multiple if Statements . . . . . . . . . . 2.1.5 Nested if Statements . . . . . . 2.1.6 Boolean Variables . . . . . . . . . . . . . . . . . . . . 2.2 Logical and Relational Operators . . . . . . . . . . . . . . . . 2.3 The while Statement . . . . . . . . . . . . . . . . . . . . . . 2.4 Loops Using the for Statement . . . . . . . . . . . . . . . . . 2.4.1 Example: Calculating the Scalar Product of Two Vectors 2.5 The switch Statement . . . . . . . . . . . . . . . . . . . . . 2.6 Tips: Loops and Branches . . . . . . . . . . . . . . . . . . . . 2.6.1 Tip 1: A Common Novice Coding Error . . . . . . . . 2.6.2 Tip 2: Counting from Zero . . . . . . . . . . . . . . . . 2.6.3 Tip 3: Equality Versus Assignment . . . . . . . . . . . 2.6.4 Tip 4: Never Ending while Loops . . . . . . . . . . . 2.6.5 Tip 5: Comparing Two Floating Point Numbers . . . . 2.7 Exercises . . . . . . . . . . . . . . . . . . . . 3 File Input and Output . . . . . . . . . . . . . 3.1 Redirecting Console Output to File . . . . 3.2 Writing to File . . . . . . . . . . . . . . . 3.2.1 Setting the Precision of the Output 3.3 Reading from File . . . . . . . . . . . . . 3.4 Reading from the Command Line . . . . . 3.5 Tips: Controlling Output Format . . . . . 3.6 Exercises . . . . . . . . . . 4 Pointers . . . . . . . . . . . . . . . . . . . . . 4.1 Pointers and the Computer’s Memory . . . 4.1.1 Addresses . . . . . . . . . . . . . 4.1.2 Pointer Variables . . . . . . . . . . 4.1.3 Example Use of Pointers . . . . . 4.1.4 Warnings on the Use of Pointers . . 4.2 Dynamic Allocation of Memory for Arrays 4.2.1 Vectors . . . . . . . . . . . . . . . 4.2.2 Matrices . . . . . . . . . . . . . . 4.2.3 Irregularly Sized Matrices . . . . . 4.3 Tips: Pointers . . . . . . . . . . . . . . . 4.3.1 Tip 1: Pointer Aliasing . . . . . . . 4.3.2 Tip 2: Safe Dynamic Allocation . . 4.3.3 Tip 3: Every new Has a delete . 4.4 Exercises . . . . . . . . . . . 5 Blocks, Functions and Reference Variables . . . . . . . 5.1 Blocks . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Functions . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 Simple Functions . . . . . . . . . . . . . . 5.2.2 Returning Pointer Variables from a Function 5.2.3 Use of Pointers as Function Arguments . . . 5.2.4 Sending Arrays to Functions . . Example: A Function to Calculate the Scalar Product of Two Vectors . . . . . . . . . . . . . . . . . . . . . . . Reference Variables . . . . . . . . . . . . . . . . . . . . . . . Default Values for Function Arguments . . . . . . . . . . . . . Function Overloading . . . . . . . . . . . . . . . . . . . . . . Declaring Functions Without Prototypes . . . . . . . . . . . . Function Pointers . . . . . . . . . . . . . . . . . . . . . . . . Recursive Functions . . . . . . . . . . . . . . . . . . . . . . . Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tips: Code Documentation . . . . . . . . . . . . . . . . . . . Exercises . . . . . . . . . . . . . . . . . . . . . . An Introduction to Classes . . . . . . . . . . . . . . . . . . . . . . . 6.1 The Raison d’Être for Classes . . . . . . . . . . . . . . . . . . . 6.1.1 Problems That May Arise When Using Modules . . . . . 6.1.2 Abstraction, Encapsulation and Modularity Properties of Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 A First Example Simple Class: A Class of Books . . . . . . . . . 6.2.1 Basic Features of Classes . . . . . . . . . . . . . . . . . 6.2.2 Header Files . . . . . . . . . . . . . . . . . . . . . . . . 6.2.3 Setting and Accessing Variables . . . . . . . . . . . . . . 6.2.4 Compiling Multiple Files . . . . . . . . . . . . . . . . . 6.2.5 Access Privileges . . . . . . . . . . . . . . . . . . . . . 6.2.6 Including Function Implementations in Header Files . . . 6.2.7 Constructors and Destructors . . . . . . . . . . . . . . . 6.2.8 Pointers to Classes . . . . . . . . . . . . . . . . . . . . . 6.3 The friend Keyword . . . . . . . . . . . . . . . . . . . . . . 6.4 A Second Example Class: A Class of Complex Numbers . . . . . 6.4.1 Operator Overloading . . . . . . . . . . . . . . . . . . . 6.4.2 The Class of Complex Numbers . . . . . . . . . . . . . . 6.5 Some Additional Remarks on Operator Overloading . . . . . . . 6.6 Tips: Coding to a Standard . . . . . . . . . . . . . . . . . . . . . 6.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Inheritance and Derived Classes . . . . . . . . . . . . . . . . . 7.1 Inheritance, Extensibility and Polymorphism . . . . . . . . . 7.2 Example: A Class of E-books Derived from a Class of Books 7.3 Access Privileges for Derived Classes . . . . . . . . . . . . . 7.4 Classes Derived from Derived Classes . . . . . . . . . . . . 7.5 Run-Time Polymorphism . . . . . . . . . . . . . . . . . . . 7.6 The Abstract Class Pattern . . . . . . . . . . . . . . . . . . . 7.7 Tips: Using a Debugger . . . . . . . . . . . . . . . . . . . . 7.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 8.1 Templates to Control Dimensions and Verify Sizes . . . . . . . . 8.2 Templates for Polymorphism . . . . . . . . . . 8.3 A Brief Survey of the Standard Template Library 8.3.1 Vectors . . . . . . . . . . . . . . . . . . 8.3.2 Sets . . . . . . . . . . . . . . . . . . . . 8.4 Tips: Template Compilation . . . . . . . . . . . 8.5 Exercises . . . . . . . . . . . . . . . . . . . . . Errors and Exceptions . . . . . . . . . . . . . . . . . . . . . . . . 9.1 Preconditions . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.1 Example: Two Implementations of a Graphics Function 9.2 Three Levels of Errors . . . . . . . . . . . . . . . . . . . . . . 9.3 Introducing the Exception . . . . . . . . . . . . . . . . . . . . 9.4 Using Exceptions . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Tips: Test-Driven Development . . . . . . . . . . . . . . . . . 9.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Developing Classes for Linear Algebra Calculations 10.1 Requirements of the Linear Algebra Classes . . . 10.2 Constructors and Destructors . . . . . . . . . . . 10.2.1 The Default Constructor . . . . . . . . . . 10.2.2 The Copy Constructor . . . . . . . . . . . 10.2.3 A Specialised Constructor . . . . . . . . . 10.2.4 Destructor . . . . . . . . . . . . . . . . . 10.3 Accessing Private Class Members . . . . . . . . . 10.3.1 Accessing the Size of a Vector . . . . . . . 10.3.2 Overloading the Square Bracket Operator . 10.3.3 Read-Only Access to Vector Entries . . . . 10.3.4 Overloading the Round Bracket Operator . 10.4 Operator Overloading for Vector Operations . . . 10.4.1 The Assignment Operator . . . . . . . . . 10.4.2 Unary Operators . . . . . . . . . . . . . . 10.4.3 Binary Operators . . . . . . . . . . . . . . 10.5 Functions . . . . . . . . . . . . . . . . . . . . . . 10.5.1 Members Versus Friends . . . . . . . . . . 10.6 Tips: Memory Debugging Tools . . . . . . . . . . 10.7 Exercises . . . . . . . . . . . . . . . . 11 An Introduction to Parallel Programming Using MPI . 11.1 Distributed Memory Architectures . . . . . . . . . 11.2 Installing MPI . . . . . . . . . . . . . . . . . . . . 11.3 A First Program Using MPI . . . . . . . . . . . . . 11.3.1 Essential MPI Functions . . . . . . . . . . . 11.3.2 Compiling and Running MPI Code . . . . . 11.4 Basic MPI Communication . . . . . . . . . . . . . 11.4.1 Point-to-Point Communication . . . . . . . 11.4.2 Collective Communication . . . . 11.5 Example MPI Applications . . . . . . . . . . . 11.5.1 Summation of Series . . . . . . . . . . . 11.5.2 Parallel Linear Algebra . . . . . . . . . 11.6 Tips: Debugging a Parallel Program . . . . . . . 11.6.1 Tip 1: Make an Abstract Program . . . . 11.6.2 Tip 2: Datatype Mismatch . . . . . . . . 11.6.3 Tip 3: Intermittent Deadlock . . . . . . . 11.6.4 Tip 4: Almost Collective Communication 11.7 Exercises . . . . . . . . . . . . . . . 12 Designing Object-Oriented Numerical Libraries . . . . . . . . . . . 12.1 Developing the Library for Ordinary Differential Equations . . . . 12.1.1 Model Problems . . . . . . . . . . . . . . . . . . . . . . . 12.1.2 Finite Difference Approximation to Derivatives . . . . . . 12.1.3 Application of Finite Difference Methods to Boundary Value Problems . . . . . . . . . . . . . . . . . . . . . . . 12.1.4 Concluding Remarks on Boundary Value Problems in One Dimension . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2 Designing a Library for Solving Boundary Value Problems . . . . 12.2.1 The Class SecondOrderOde . . . . . . . . . . . . . . . 12.2.2 The Class BoundaryConditions . . . . . . . . . . . . 12.2.3 The Class FiniteDifferenceGrid . . . . . . . . . . 12.2.4 The Class BvpOde . . . . . . . . . . . . . . . . . . . . . 12.2.5 Using the Class BvpOde . . . . . . . . . . . . . . . . . . 12.3 Extending the Library to Two Dimensions . . . . . . . . . . . . . 12.3.1 Model Problem for Two Dimensions . . . . . . . . . . . . 12.3.2 Finite Difference Methods for Boundary Value Problems in Two Dimensions . . . . . . . . . . . . . . . . . . . . . 12.3.3 Setting Up the Linear System for the Model Problem . . . 12.3.4 Developing the Classes Required . . . . . . . . . . . . . . 12.4 Tips: Using Well-Written Libraries . . . . . . . . . . . . . . . . . 12.5 Exercises . . . . . . . . . . . . . . . . . . . . . . . Appendix A Linear Algebra . . . . . . . . . . . . . . . . . A.1 Vectors and Matrices . . . . . . . . . . . . . . . . . A.1.1 Operations Between Vectors and Matrices . A.1.2 The Scalar Product of Two Vectors . . . . . A.1.3 The Determinant and the Inverse of a Matrix A.1.4 Eigenvalues and Eigenvectors of a Matrix . . A.1.5 Vector and Matrix Norms . . . . . . . . . . A.2 Systems of Linear Equations . . . . . . . . . . . . A.2.1 Gaussian Elimination . . . . . . . . . . . . A.2.2 The Thomas Algorithm . . . . . . . . . . . A.2.3 The Conjugate Gradient Method . . . . . . 213 Appendix B Other Programming Constructs You Might Meet . B.1 C Style Output . . . . . . . . . . . . . . . . . . . . . . . B.2 C Style Dynamic Memory Allocation . . . . . . . . . . . B.3 Ternary ?: Operator . . . . . . . . . . . . . . . . . . . . B.4 Using Namespace . . . . . . . . . . . . . . . . . . . . . B.5 Structures . . . . . . . . . . . . . . . . . . . . . . . . . B.6 Multiple Inheritance . . . . . . . . . . . . . . . . . . . . B.7 Class Initialisers . . . . . . . . . . . . . . . . Appendix C Solutions to Exercises . . . . . . . . . . . . . . . . . . . . . 231 C.1 Matrix and Linear System Classes . . . . . . . . . . . . . . . . . . 231 C.2 ODE Solver Library . . . . . . . . . . . . . . . . . . . . . . . . . 240 Further Reading . . . . . . . . . . . . . . . . . . . Mathematical Methods and Linear Algebra C++ Programming . . . . . . . . . . . . . The Message-Passing Interface (MPI) . . .

python 的面向对象教程。 This book will introduce you to more advanced features of the Python programming language. The focus is on creating the highest quality Python programs possible. This often means creating programs that have the highest performance or are the most maintainable. This means exploring design alternatives and determining which design offers the best performance while still being a good fit with the problem that is being solved. Most of the book will look at a number of alternatives for a given design. Some will have better performance. Some will seem simpler or be a better solution for the problem domain. It's essential to locate the best algorithms and optimal data structures to create the most value with the least computer processing. Time is money, and programs that save time will create more value for their users. Python makes a number of internal features directly available to our application programs. This means that our programs can be very tightly integrated with existing Python features. We can leverage numerous Python features by ensuring that our OO designs integrate well. We'll often focus on a specific problem and examine several variant solutions to the problem. As we look at different algorithms and data structures, we'll see different memory and performance alternatives. It's an important OO design skill to work through alternate solutions in order to properly optimize the final application. One of the more important themes of this book is that there's no single best approach to any problem. There are a number of alternative approaches with different attributes.

著名的MIT的语音库，已经处理过可以直接播放或者测试。 由于库太大了，这里只有部分。有63个人，每人大概10段录音。

Mayavi 的参考手册，适合初学者和expert。 User guide: full table of contents An overview of Mayavi Introduction What is Mayavi2? Technical details Using Mayavi as an application, or a library? Scenes, data sources, and visualization modules: the pipeline model Loading data into Mayavi Installation Installing ready-made distributions Requirements for manual installs Doing it yourself: Python packages: Eggs Installing with easy_install Step-by-step instructions to install with eggs under Windows Under Mac OSX Snow Leopard The bleeding edge: Git Testing your installation Troubleshooting Using the Mayavi application Tutorial examples to learn Mayavi Parametric surfaces: a simple introduction to visualization Loading scalar data: the heart.vtk example Visualizing rich datasets: the fire_ug.vtu example Using Mayavi with scipy Exploring a vector field General layout of UI Visualizing data Modules Filters Interaction with the scene Mouse interaction Keyboard interaction From interactive usage to scripting The embedded Python interpreter Recording Mayavi actions to a script Command line arguments mlab: Python scripting for 3D plotting A demo 3D Plotting functions for numpy arrays 0D and 1D data 2D data 3D data Changing the looks of the visual objects created Adding color or size variations Changing the scale and position of objects Changing object properties interactively Figures, legends, camera and decorations Handling several figures Figure decorations Moving the camera Running mlab scripts Using mlab interactively Using together with Matplotlib’s pylab In scripts Animating the data Assembling pipelines with mlab Data sources Modules and filters Case studies of some visualizations Visualizing volumetric scalar data Visualizing a vector field Advanced use of Mayavi Organisation of Mayavi visualizations: the pipeline Anatomy of a Mayavi pipeline The link between different Mayavi entry points A pipeline example examined Data representation in Mayavi Introduction to TVTK datasets The flow of data Retrieving the data from Mayavi pipelines Dissection of the different TVTK datasets Inserting TVTK datasets in the Mayavi pipeline Objects populating the Mayavi pipeline Scene Source Filter ModuleManager: Colors and legends node Module Engine Base class: PipelineBase Class hierarchy Advanced Scripting with Mayavi Design Overview: Mayavi as a visualization framework Scripting the mayavi2 application Using the Mayavi envisage plugins Building applications using Mayavi Custom interactive dialogs Embedding a Mayavi scene in a Traits dialog A scene, with mlab embedded Making the visualization live Integrating in a WxPython application Integrating in a Qt application Tips and Tricks Off screen rendering Avoiding the rendering window Platform Summary Rendering using the virtual framebuffer Using VTK with Mesa for pure software rendering Extending Mayavi with customizations Customizing Mayavi2 Scripting Mayavi without using Envisage Computing in a thread Polling a file and auto-updating Mayavi Serving Mayavi on the network TCP server: the serve_tcp function UDP server: the serve_udp function Animating a visualization Animating a series of images Making movies from a stack of images Scripting from the command line Texture mapping actors Shifting data and plotting Using the UserDefined filter Sharing the same data between scenes Using mlab Using the core Mayavi API Changing the interaction with a scene Accelerating a Mayavi script Miscellaneous Citing Mayavi Getting help Tests for Mayavi Helping out Development quick start Improving the documentation Example gallery Mlab functions gallery Advanced mlab examples Interactive examples Advanced visualization examples Data interaction examples Misc examples MLab reference Plotting functions barchart contour3d contour_surf flow imshow mesh plot3d points3d quiver3d surf triangular_mesh Figure handling functions clf close draw figure gcf savefig screenshot sync_camera Figure decoration functions colorbar scalarbar vectorbar xlabel ylabel zlabel Camera handling functions move pitch roll view yaw Other functions animate axes get_engine orientation_axes outline set_engine show show_engine show_pipeline start_recording stop_recording text text3d title Mlab pipeline-control reference Sources Tools Data Modules and Filters Mayavi API reference Pipeline base objects Scene Source Filter ModuleManager Module PipelineBase Engine Main view and UI objects Scene UIs: DecoratedScene and MayaviScene SceneEditor MlabSceneModel EngineView and EngineRichView Known bugs and issues Changelog Mayavi 3.4.0 (Oct 15, 2010) Enhancements Fixes Mayavi 3.3.2 (May 25, 2010) Enhancements Fixes Mayavi 3.3.1 (Feb 24, 2010) Enhancements Fixes Mayavi 3.3.0 (July 15, 2009) Enhancements Fixes Mayavi 3.2.0 (March 23, 2009) Mayavi 3.1.0 Mayavi 3.0.3 Mayavi 3.0.1 and 3.0.2 Mayavi 3.0.0

matlab 入门教程，但可以使你成为高手。 Contents at a Glance Preface 1 Getting Started 1 2 MATLAB Basics 8 3 Interacting with MATLAB 31 Practice Set A: Algebra and Arithmetic 48 4 Beyond the Basics 50 5 MATLAB Graphics 67 Practice Set B: Calculus, Graphics, and Linear Algebra 86 6 M-Books 91 7 MATLAB Programming 101 8 SIMULINK and GUIs 121 9 Applications 136 Practice Set C: Developing Your MATLAB Skills 204 10 MATLAB and the Internet 214 11 Troubleshooting 218 Solutions to the Practice Sets 235 Glossary 299 Index

Preface Real-time digital signal processing (DSP) using general-purpose DSP processors is very challenging work in today's engineering fields. It promises an effective way to design, experiment, and implement a variety of signal processing algorithms for real-world applications. With DSP penetrating into various applications, the demand for high- performance digital signal processors has expanded rapidly in recent years. Many industrial companies are currently engaged in real-time DSP research and development. It becomes increasingly important for today's students and practicing engineers to master not only the theory of DSP, but equally important, the skill of real-time DSP system design and implementation techniques. This book offers readers a hands-on approach to understanding real-time DSP principles, system design and implementation considerations, real-world applications, as well as many DSP experiments using MATLAB, C/C++, and the TMS320C55x. This is a practical book about DSP and using digital signal processors for DSP applications. This book is intended as a text for senior/graduate level college students with emphasis on real-time DSP implementations and applications. This book can also serve as a desktop reference for practicing engineer and embedded system programmer to learn DSP concepts and to develop real-time DSP applications at work. We use a practical approach that avoids a lot of theoretical derivations. Many useful DSP textbooks with solid mathematical proofs are listed at the end of each chapter. To efficiently develop a DSP system, the reader must understand DSP algorithms as well as basic DSP chip architecture and programming. It is helpful to have several manuals and application notes on the TMS320C55x from Texas Instruments at http://www.ti.com. The DSP processor we will use as an example in this book is the TMS320C55x, the newest 16-bit fixed-point DSP processor from Texas Instruments. To effectively illustrate real-time DSP concepts and applications, MATLAB will be introduced for analysis and filter design, C will be used for implementing DSP algorithms, and Code Composer Studio (CCS) of the TMS320C55x are integrated into lab experiments, projects, and applications. To efficiently utilize the advanced DSP architecture for fast software development and maintenance, the mixing of C and assembly programs are emphasized. Chapter 1 reviews the fundamentals of real-time DSP functional blocks, DSP hard- ware options, fixed- and floating-point DSP devices, real-time constraints, algorithm development, selection of DSP chips, and software development. In Chapter 2, we introduce the architecture and assembly programming of the TMS320C55x. Chapter 3 presents some fundamental DSP concepts in time domain and practical considerations for the implementation of digital filters and algorithms on DSP hardware. Readers who are familiar with these DSP fundamentals should be able to skip through some of these sections. However, most notations used throughout the book will be defined in this chapter. In Chapter 4, the Fourier series, the Fourier transform, the z-transform, and the discrete Fourier transforms are introduced. Frequency analysis is extremely helpfulxvi PREFACE in understanding the characteristics of both signals and systems. Chapter 5 is focused on the design, implementation, and application of FIR filters; digital IIR filters are covered in Chapter 6, and adaptive filters are presented in Chapter 8. The development, implementation, and application of FFT algorithms are introduced in Chapter 7. In Chapter 9, we introduce some selected DSP applications in communications that have played an important role in the realization of the systems. As with any book attempting to capture the state of the art at a given time, there will necessarily be omissions that are necessitated by the rapidly evolving developments in this dynamic field of exciting practical interest. We hope, at least, that this book will serve as a guide for what has already come and as an inspiration for what will follow. To aid teaching of the course a Solution Manual that presents detailed solutions to most of the problems in the book is available from the publisher.

opengl superbible 的源代码，好不容易找到的，终于能进行下去了。那个sb6.h