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Sunil Hadap, David Eberle, Pascal Volino, Ming C. Lin, Stephane Redon, Christer Ericson. Collision detection and proximity queries. In 31. International Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2004, Los Angeles, California, USA, August 8-12, 2004, Course Notes. pages 15, ACM, 2004. [doi]

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