Young J. Kim, Miguel A. Otaduy, Ming C. Lin, Dinesh Manocha. Fast penetration depth computation for physically-based animation. In Jessica K. Hodgins, Michiel van de Panne, Michael F. Cohen, Nancy S. Pollard, editors, Proceedings of the 2002 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, San Antonio, TX, USA, July 21-22, 2002. pages 23-31, ACM, 2002. [doi]
Abstract is missing.