Real-time collision detection

Introduction; Collision Detection Design Issues; A Math and Geometry Primer; Bounding Volumes; Basic Primitive Tests; Spatial Partitioning; Bounding Volume Hierarchies; BSP Tree Hierarchies; Convexity-Based Methods; GPU-Assisted Collision Detection; Numerical Robustness; Geometrical Robustness; Optimization; References; Index.

Introduction

Collision detection design issues

A math and geometry primer

Bounding volumes

Basic primitive tests

Bounding volume hierarchies

Spatial partitioning

BSP tree hierarchies

Convexity-based methods

GPU-assisted collision detection

Numerical robustness

Geometrical robustness

Optimization.