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DongJin Kim, Leonidas J. Guibas, Sung Yong Shin, "Fast Collision Detection Among Multiple Moving Spheres," IEEE Transactions on Visualization and Computer Graphics, vol. 4, no. 3, pp. 230242, JulySeptember, 1998.  
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@article{ 10.1109/2945.722297, author = {DongJin Kim and Leonidas J. Guibas and Sung Yong Shin}, title = {Fast Collision Detection Among Multiple Moving Spheres}, journal ={IEEE Transactions on Visualization and Computer Graphics}, volume = {4}, number = {3}, issn = {10772626}, year = {1998}, pages = {230242}, doi = {http://doi.ieeecomputersociety.org/10.1109/2945.722297}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Visualization and Computer Graphics TI  Fast Collision Detection Among Multiple Moving Spheres IS  3 SN  10772626 SP230 EP242 EPD  230242 A1  DongJin Kim, A1  Leonidas J. Guibas, A1  Sung Yong Shin, PY  1998 KW  Collision detection KW  eventdriven approach KW  physical simulation KW  computer animation KW  computational geometry. VL  4 JA  IEEE Transactions on Visualization and Computer Graphics ER   
Abstract—This paper presents an eventdriven approach that efficiently detects collisions among multiple ballistic spheres moving in the 3D space. Adopting a hierarchical uniform space subdivision scheme, we are able to trace the trajectories of spheres and their timevarying spatial distribution. We identify three types of events to detect the sequence of all collisions during our simulation: collision, entering, and leaving. The first type of events is due to actual collisions, and the other two types occur when spheres move from subspace to subspace in the space. Tracing all such events in the order of their occurring times, we are able to avoid fixed time step simulation. When the size of the largest sphere is bounded by a constant multiple of that of the smallest, it takes
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