Some material from an upcoming, unfinished book (explained here) have become available to me. It’s material on transformations is quite good. Had I had it a few weeks ago, it would have been the required reading.
So, for now, Chapters 5,6 and 7 of John Hart’s “Big Fun Graphics Book” are recommended for learning more about transformations. Most of it is just another way to see the same material from the other readings. However, his derivations of how to build rotations (and his discussions of rotations in 3D more generally) are better than any of the readings we’ve had. I may require some of them in the future.
For now, I recommend this reading if you aren’t getting it about transformations, or want to see some of the stuff in class (like building rotations or matrix stacks) in print, or want to see more examples and a few extra details.