If only every topic in game and graphics programming were covered as well as math. Over the past several years, a number of exceptionally good books covering math for game and graphics programming have been released, and I've had the opportunity to review most of them. Although, not surprisingly, there is some overlap between them all, each covers unique material and presents information in an original way so that collectively, the books provide an impressive body of work.
Essential Mathematics stands out as one of the best books in the pack, especially in regards to its coverage of the math behind low-level rendering techniques.
The book is broken into 4 parts. The first part, Core Mathematics, covers vectors and matrices, transformations, and number representation. This part will be useful to anyone doing 3D graphics.
Part II, Rendering, covers topics such as lighting and shading, texturing, projection, and rasterization. This part was of particular interest to me because I've been working on a commercial renderer, but it should also be useful to those who want a better understanding of what graphics engines do under the hood.
Part III, Animation, covers curves (very in depth) and representation of orientations (Euler vs. axis-angle vs. quaternions). Finally, Part IV, Simulation, covers intersection testing and rigid body dynamics. There are also a couple of appendices to help you brush up on trig and calculus, if needed.
The book includes many C++ code samples and demos, including a handy math library and a simple rendering/game engine using OpenGL and GLUT. The authors are to be commended for their writing style as well. It's very easy for a book of this nature to get bogged down in an extremely heavy academic tone, but this book manages to avoid that, making for a remarkably easy read.
I'm glad I don't have to choose just one game math book, but if I did, this would probably be the one I'd pick.