Mauro Figueiredo Terrence Fernando An Efficient Parallel Collision Detection Algorithm for Virtual Prototype Environments. 249-256 2004 conf/icpads/2004 ICPADS http://doi.ieeecomputersociety.org/10.1109/ICPADS.2004.19 db/conf/icpads/icpads2004.html#FigueiredoF04