Quantum gravity is perhaps the most important open problem in fundamental physics. It is the problem of merging quantum mechanics and general relativity, the two great conceptual revolutions in the physics of the twentieth century. The loop and spinfoam approach, presented in this 2004 book, is one of the leading research programs in the field. The first part of the book discusses the reformulation of the basis of classical and quantum Hamiltonian physics required by general relativity. The seco