C-DIST: efficient distance computation for rigid and articulated models in configuration space.

Liangjun Zhang Young J. Kim Dinesh Manocha C-DIST: efficient distance computation for rigid and articulated models in configuration space. 159-169 2007 conf/sma/2007 Symposium on Solid and Physical Modeling http://doi.acm.org/10.1145/1236246.1236270 db/conf/sma/spm2007.html#ZhangKM07