iPhone 3D Programming cover
iPhone 3D Programming
ISBN: 9780596804831
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tmsh · 2010-07-08 · Original thread
One of the best intros I've seen:

http://duriansoftware.com/joe/An-intro-to-modern-OpenGL.-Tab...

Also:

http://oreilly.com/catalog/9780596804831

And then personally I've found this to be the clearest theory:

http://www.amazon.com/Computer-Graphics-Principles-Practice-...