This richly detailed overview surveys the development and evolution of geometrical ideas and concepts from ancient times to the present. In addition to the relationship between physical and mathematical spaces, it examines the interactions of geometry, algebra, and calculus. The text proves many significant theorems and employs several important techniques. Chapters on non-Euclidean geometry and projective geometry form brief, self-contained treatments. More than 100 exercises with answers and 200 diagrams illuminate the text.