Kai Poutrain Magali Contensin Dual Brep-CSG Collision Detection for General Polyhedra. 124-133 2001 conf/pg/2001 Pacific Conference on Computer Graphics and Applications http://csdl.computer.org/comp/proceedings/pg/2001/1227/00/12270124abs.htm db/conf/pg/pg2001.html#PoutrainC01