detection systems. The book provides the tools and know-how needed to implement industrial-strength collision detection for the highly detailed dynamic environments of applications such as 3D games, virtual reality applications, and physical simulators.Of the many topics covered, a key focus is on spatial and object partitioning through a wide variety of grids, trees, and sorting methods. The author also presents a large collection of intersection and distance tests for both simple and complex geometric shapes. Sections on vector and matrix algebra provide the background for advanced topics such as Voronoi regions, Minkowski sums, and linear and quadratic programming.Of utmost importance to programmers but rarely discussed in this much detail in other books are the chapters covering numerical and geometric robustness, both essential topics for collision detection systems. Also unique are the chapters discussing how graphics hardware can assist in collision detection computations and on advanced optimization for modern computer architectures. All in all, this comprehensive book will become the industry standard for years to come.

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