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gluLookAt Subroutine with pseudocode 
OpenGL documentation
The gluLookAt subroutine multiplies the top matrix of the current matrix stack with a matrix M (computed below), whose effect is to place the eye point at the origin, the center point along the negative z axis, and the up vector somewhere in the YZ plane, above the z axis. This is done through pure rotation and translation, preserving all distance metrics.
Author WebMaster  Last update 2003-01-21  English
 

Link

http://molt.zdv.uni-mainz.de/doc_link/en_US/a_doc_lib/libs/openglrf/gluLookAt.htm

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