Dr. Adam Coffman, a mathematics professor at Indiana University-Purdue University Fort Wayne, is the author of an excellent overview of Steiner surfaces. The material presented on his Web site is certainly not for anyone, but will mainly be of interest to people with strong, advanced math skills. Coffman begins with some necessary background information and then discusses all the geometric types of Steiner surfaces. For each item, he shows the relevant equations and graphics. POV-Ray software was used to create the graphics (that can be obtained from a link on the site), and he includes his own POV code. There are also some Steiner surface animations and links to a few academic papers on the subject.
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