Real-Time Collision Detection

The most complete engineering guide to Collision Detection available. Presents algorithms and data structures with wide applications to the fields of game development, virtual reality, physically based simulation, CAD/CAM, architectural and scientific visualization, molecular modeling, engineering simulation, GIS, ray tracing, and more; Describes tested, real-world methods, liberally illustrated by C & C code; Reviews necessary concepts from mathematics and computational geometry, and includes extensive references to other sources and research literature