Brian Mirtich. V-Clip: Fast and Robust Polyhedral Collision Detection. ACM Trans. Graph., 17(3):177-208, 1998. [doi]
@article{Mirtich98, title = {V-Clip: Fast and Robust Polyhedral Collision Detection}, author = {Brian Mirtich}, year = {1998}, doi = {10.1145/285857.285860}, url = {http://doi.acm.org/10.1145/285857.285860}, researchr = {https://researchr.org/publication/Mirtich98}, cites = {0}, citedby = {0}, journal = {ACM Trans. Graph.}, volume = {17}, number = {3}, pages = {177-208}, }