Liangjun Zhang, Young J. Kim, Gokul Varadhan, Dinesh Manocha. Generalized penetration depth computation. In Ralph R. Martin, Shi-Min Hu, editors, Proceedings of the Tenth ACM Symposium on Solid and Physical Modeling 2006, Cardiff University, Wales, UK, June 6-8, 2006. pages 173-184, ACM, 2006. [doi]
Abstract is missing.