OBB-Tree: A Hierarchical Structure for Rapid Interference Detection,
S. Gottschalk, M. C. Lin and D. Manocha, Proc. of ACM SIGGRAPH 1996, pp. 171-180. Also available as Technical report TR96-013, Department of Computer Science, University of N. Carolina, Chapel Hill, 1996.
Postscript - 27 pages, 493K
Fast Proximity Queries with Swept Sphere Volumes,
Eric Larsen, Stefan Gottschalk, Ming C. Lin, Dinesh Manocha, Proc. of Int. Conf. on Robotics and Automation, pp. 3719-3726, April 2000. Also available as Technical report TR99-018, Department of Computer Science, University of N. Carolina, Chapel Hill, 1999.
Postscript - 32 pages, 964K, PDF - 32 pages, 344K