A Fast and Practical Algorithm for Generalized Penetration Depth Computation.

Liangjun Zhang Young J. Kim Dinesh Manocha A Fast and Practical Algorithm for Generalized Penetration Depth Computation. 2007 Robotics: Science and Systems http://www.roboticsproceedings.org/rss03/p34.html conf/rss/2007 db/conf/rss/rss2007.html#ZhangKM07