Graphics Reference
In-Depth Information
allows for efficient tests for the separation of these objects, as further discussed in
Chapters 5 and 9. The Minkowski sum and difference operations allow certain col-
lision detection problems to be recast in a different form, which may be easier to
compute. Chapters 5 and 9 discuss such transformations as well.
A good introduction to the field of computational geometry is [O'Rourke98]. The
theory of convex sets (in the context of convex optimization) is discussed in [Boyd04].
