Collision Detection between Geometric Models: A Survey
2
M. Lin
S. Gottschalk
To Appear in the Proceedings of IMA Conference on Mathematics of Surfaces 1998. 
1998 IMA
ftp://ftp.cs.unc.edu/pub/users/manocha/PAPERS/COLLISION/cms.ps.gz
In this paper, we survey the state of the art in collision detection
between general geometric models. The set of models include polygonal
objects, spline or algebraic surfaces, CSG models, and deformable
bodies. We present a number of techniques and systems available for
contact determination. We also describe several N-body algorithms to
reduce the number of pairwise intersection tests.