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The SPICE (Spacecraft Planet Instrument C-matrix [“Camera matrix”] Events) toolkit offers a set of building blocks for constructing tools supporting multi-mission, international space exploration programs and research in planetary science, heliophysics, Earth science, and for observations from terrestrial observatories. It computes many kinds of observation geometry parameters, including the ephemerides, orientations, sizes, and shapes of planets, satellites, comets and asteroids. It can also compute the orientation of a spacecraft, its various moving structures, and an instrument's field-of-view location on a planet's surface or atmosphere. It can determine when a specified geometric event occurs, such as when an object is in shadow or is in transit across another object. The SPICE toolkit is available in FORTRAN 77, ANSI C, IDL, and MATLAB.