Real-time collision detection. Ericson, C. Elsevier, Amsterdam ; Boston, 2005.
bibtex   
@book{ericson_real-time_2005,
	address = {Amsterdam ; Boston},
	series = {Morgan {Kaufmann} series in interactive {3D} technology},
	title = {Real-time collision detection},
	isbn = {1-55860-732-3},
	publisher = {Elsevier},
	author = {Ericson, Christer},
	year = {2005},
	keywords = {Computer games, Programming}
}

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