Position-based physics: simulating the motion of many highly interacting spheres and polyhedra
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fast collision detection among multiple moving spheres
SCG '97 Proceedings of the thirteenth annual symposium on Computational geometry
Fast Collision Detection Among Multiple Moving Spheres
IEEE Transactions on Visualization and Computer Graphics
Kinematics-based characterization of the collision course
International Journal of Robotics and Automation
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