Fast penetration depth computation for physically-based animation
Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations
Presence: Teleoperators and Virtual Environments
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA ’02
Dinesh Manocha
Ming C. Lin
Young J. Kim
Interactive generalized penetration depth computation for rigid and articulated models using object norm