This is the first textbook suitable for introducing undergraduate students to the design of geometry algorithms. These algorithms arise in many practical areas such as computer graphics, robotics, and pattern recognition. The basic techniques used in computational geometry are all covered: polygon triangulations, convex hulls, Voronoi diagrams, and arrangements. Other topics include partitioning, geometric searching, and motion planning. The self-contained treatment presumes only an elementary knowledge of mathematics, but reaches topics on the frontier of current research. Numerous exercises are provided at the end of every section. A novel aspect of the book is the inclusion of working C code for many of the algorithms. The interplay between practical programming issues and the latest theoretical developments makes this text unique.