As a non-math person who nonetheless insists on dabbling in computational geometry, I've looked at many books dealing with the mathematics behind geometry. Overwhelmingly, I find myself alienated by pages of equations and/or dense explanations intended for those already mathematically enlightened.
This book manages to provide a comprehensive grab-bag of essential comp. geometry techniques in an accessible form. It doesn't shy away from math but lowers the threshold of comprehension through clear and concise writing supplemented by pseudo-code. Even better, the book cleverly groups related problems by typology (2D, 3D, intersections, distances etc.), making it a perfect reference index as well as a tool for incremental learning.