Ian J. Palmer, Richard L. Grimsdale. Collision Detection for Animation using Sphere-Trees. Comput. Graph. Forum, 14(2):105-116, 1995.
@article{PalmerG95, title = {Collision Detection for Animation using Sphere-Trees}, author = {Ian J. Palmer and Richard L. Grimsdale}, year = {1995}, researchr = {https://researchr.org/publication/PalmerG95}, cites = {0}, citedby = {0}, journal = {Comput. Graph. Forum}, volume = {14}, number = {2}, pages = {105-116}, }