This unique book complements traditional textbooks by providing a visual yet rigorous survey of the mathematics used in theoretical physics beyond that typically covered in undergraduate math and physics courses. The exposition is pedagogical but compact, and the emphasis is on defining and visualizing concepts and relationships between them, as well as listing common confusions, alternative notations and jargon, and relevant facts and theorems. Special attention is given to detailed figures and geometric viewpoints. Certain topics which are well covered in textbooks, such as historical motivations, proofs and derivations, and tools for practical calculations, are avoided. The primary physical models targeted are general relativity, spinors, and gauge theories, with notable chapters on Riemannian geometry, Clifford algebras, and fiber bundles.

Expert treatment introduces semi-Riemannian geometry and its principal physical application, Einstein's theory of general relativity, using the Cartan exterior calculus as a principal tool. Prerequisites include linear algebra and advanced calculus. 2012 edition.