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James T. Klosowski, Martin Held, Joseph S.B. Mitchell, Henry Sowizral, Karel Zikan, "Efficient Collision Detection Using Bounding Volume Hierarchies of kDOPs," IEEE Transactions on Visualization and Computer Graphics, vol. 4, no. 1, pp. 2136, JanuaryMarch, 1998.  
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@article{ 10.1109/2945.675649, author = {James T. Klosowski and Martin Held and Joseph S.B. Mitchell and Henry Sowizral and Karel Zikan}, title = {Efficient Collision Detection Using Bounding Volume Hierarchies of kDOPs}, journal ={IEEE Transactions on Visualization and Computer Graphics}, volume = {4}, number = {1}, issn = {10772626}, year = {1998}, pages = {2136}, doi = {http://doi.ieeecomputersociety.org/10.1109/2945.675649}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Visualization and Computer Graphics TI  Efficient Collision Detection Using Bounding Volume Hierarchies of kDOPs IS  1 SN  10772626 SP21 EP36 EPD  2136 A1  James T. Klosowski, A1  Martin Held, A1  Joseph S.B. Mitchell, A1  Henry Sowizral, A1  Karel Zikan, PY  1998 KW  Collision detection KW  intersection searching KW  bounding volume hierarchies KW  discrete orientation polytopes KW  bounding boxes KW  virtual reality KW  virtual environments. VL  4 JA  IEEE Transactions on Visualization and Computer Graphics ER   
Abstract—Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment. In addition to determining accurately the contacts that occur between pairs of objects, one needs also to do so at
In this paper, we develop and analyze a method, based on boundingvolume hierarchies, for efficient collision detection for objects moving within highly complex environments. Our choice of bounding volume is to use a "discrete orientation polytope" ("
Our algorithms have been implemented and tested. We provide experimental evidence showing that our approach yields substantially faster collision detection than previous methods.
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