1Gottschalk S,Lin M C,Manocha D.OBBTree:A hierarchical structure for rapid interference detection [C]//Computer Graphics (SIGGRAPH'96), New Orleans, LA,USA,1996, 30:171-180.
2KlosowskiJ T,Teld M,etal.Efficient collision detection using bounding volume hierarchies of K-DOPs[J].IEEE Transactions on Visualization and Computer Graphics, 1998,4(1): 21-36.
3Nilanjan Chakraborty,student Member,IEEE,Jufeng peng, Srinivas Akella,Member, IEEE,and John E.Mitchell Proximity Queries Between Convex Objects: An Interior Point Approach for Implicit Surfaces IEEE TRANSACTIONS ON ROBOTICS,VOL.24,NO. 1 ,FEBRUARY 2008.
4K.Fukuda.From the Zonotope Construction to the Minkowski Addition of Convex Polytopes.Journal of Symbolic Computation,2004,38(4): 1261-1272.
8Mark de Berg, Marc van Kreveld,Mark Overmars, et al. Com- putational geometry: algorithms and applicationsEMJ. Secau- cus NJ : Springer2Verlag New York Inc, 1997.
