Chong Jin Ong, Elmer G. Gilbert. Fast versions of the Gilbert-Johnson-Keerthi distance algorithm: additional results and comparisons. IEEE Transactions on Robotics, 17(4):531-539, 2001. [doi]
@article{OngG01,
title = {Fast versions of the Gilbert-Johnson-Keerthi distance algorithm: additional results and comparisons},
author = {Chong Jin Ong and Elmer G. Gilbert},
year = {2001},
doi = {10.1109/70.954768},
url = {http://dx.doi.org/10.1109/70.954768},
researchr = {https://researchr.org/publication/OngG01},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {17},
number = {4},
pages = {531-539},
}