Hi, op684, welcome to PF!
You've already gotten some replies but let me weigh in with partially redundant comments:
op684 said:
A topic that has always bothered me is the curvature of space.
The general theory of relativity (gtr) and allied relativistic classical field theories of gravitation (in a large class called "metric theories") treat gravitation in all or in part in terms of
spacetime curvature. In this context,
spatial curvature usually refers to the curvature of a
spatial hyperslice. A very good introductory book which will give you some good intuition is Geroch,
General Relativity from A to B, University of Chicago Press.
op684 said:
If space is curved, due to the planets and stars, then why don't the rays of the sun curve around the Earth and pass it, instead of penetrating the atmosphere as they do?
I don't understand what you think "should" happen (bend around and
pass the Earth? as in the so-called "cloak of invisibility"?) and why, but see another good popular book by Wald,
Space, Time, And Gravity: The Theory Of The Big Bang And Black Holes for the so-called
light bending effect, one of the classical solar system effects which is explained by gtr.
op684 said:
Edit: if it's due to the small size of the Earth
Due to the small size of the Earth? I don't understand what you mean, but this certainly doesn't sound like a good description of light-bending as that term is used in gtr.
op684 said:
is there any way to measure the curvature of space around an object?
You probably meant to ask about the
curvature of spacetime. In gtr (and allied theories), a spacetime model is a
Lorentzian manifold with additional mathematical structure (e.g. a stress-energy tensor). In gtr (not in most other theories) all gravitational phenomena are understood entirely as effects of spacetime curvature. The curvature of a Lorentzian manifold is measured by a (fourth rank)
tensor called the
Riemann curvature tensor. The
Einstein field equation EFE features the "trace-reverse" of a "trace" of the Riemann tensor, a (second rank) tensor called the
Einstein tensor, on the left hand side (LHS). The EFE can be written G^{ab} = 8 \pi \, T^{ab}. The RHS is the stress-energy tensor which measures how much ("nongravitational") mass-energy and momentum there is at each
event in the spacetime. This all gets rather technical and you probably will need an advanced undergraduate background to understand it, but now you have something to aim at over the next few years!
(For advanced students: the
Gauss-Weingarten equations related the Riemann tensor of the spacetime to the
Riemann tensor of a spatial hyperslice, say a slice from the hyperslicing orthogonal to a
vorticity-free timelike congruence.)