My first inclination was to start with E&S, but my understanding is that their 3D technology in the 1970's was based on vector displays: http://archive.computerhistory.org/resources/text/Evans_Suth.... Which is clearly hardware-accelerated 3D, but not quite how a modern GPU works because it doesn't involve rasterization of triangles into a framebuffer. Of course this was before my time, so I'd be happy to be corrected...