This book offers a unique historical look at the development of geometric algebra, the roots of which have taken on new significance in light of computer graphics, computer vision, and robotics applications. For this reason, it covers Hamilton's, Grassmann's, and Clifford's geometry in tracing the development of what is now seen as geometric algebra. Designed for wide range of readers involved in 3D modeling, the book also includes exercises and solutions, which can be used in special topic courses on the subject or as a supplemental text in other courses.