The brilliant book does not tell you, that's the point of the book!
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The settings in "The Hitchhiker's Guide to the Galaxy" include Earth, Magrathea, the Heart of Gold spaceship, the Infinite Improbability Drive, and various alien planets and spacecraft. The story takes place in a comically absurd universe filled with fantastical locations and bizarre characters.
It is Zaphod Beebleprox (who, in time, becomes a fugitive after he steals a revolutionary space craft)
Some metaphors in The Hitchhiker's Guide to the Galaxy include Earth being likened to a computer simulation, the destruction of Earth representing the complexities of bureaucracy, and the journey through space symbolizing the search for meaning and purpose in life.
A towel is considered the most massively useful thing for an interstellar hitchhiker to have in the book "Hitchhiker's Guide to the Galaxy." The guide advises that a towel can be used for various practical purposes during travels through the galaxy.
The Hitchhiker's Guide to the Galaxy takes place in various time periods, including the distant future and contemporary settings. The story follows the adventures of Arthur Dent as he travels through space and time after Earth is destroyed.
The main antagonist in "The Hitchhiker's Guide to the Galaxy" series is the bureaucratic and officious race of aliens known as the Vogons. They are notorious for their love of paperwork and their destruction of Earth to make way for a hyperspace bypass.