RealTime Collision Detection, Volume 1Written by an expert in the game industry, Christer Ericson's new book is a comprehensive guide to the components of efficient realtime collision detection systems. The book provides the tools and knowhow needed to implement industrialstrength collision detection for the highly detailed dynamic environments of applications such as 3D games, virtual reality applications, and physical simulators. Of the many topics covered, a key focus is on spatial and object partitioning through a wide variety of grids, trees, and sorting methods. The author also presents a large collection of intersection and distance tests for both simple and complex geometric shapes. Sections on vector and matrix algebra provide the background for advanced topics such as Voronoi regions, Minkowski sums, and linear and quadratic programming. Of utmost importance to programmers but rarely discussed in this much detail in other books are the chapters covering numerical and geometric robustness, both essential topics for collision detection systems. Also unique are the chapters discussing how graphics hardware can assist in collision detection computations and on advanced optimization for modern computer architectures. All in all, this comprehensive book will become the industry standard for years to come. 
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bon bouquin qui détaille beaucoup de tests d'intersection très interressants
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This book has saved me many times when I was trying to write collision code. It's cleanly written, the code is brilliant and well thought out. Ericson has an optimization oriented approach to his code, which may make it harder to understand for a unseasoned programmer, but it is invaluable for practical use.
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AABB algorithm approach arithmetic array axes barycentric coordinates bit arrays bits boundary bounding box bounding sphere bounding volume bounding volume hierarchies BSP tree buffer cache line Chapter closest point collision detection computed concave contained convex hull convex polygon corresponding cross product data structures defined denom described determine distance dividing plane dot product edge endpoint epsilon example faces Figure float floating—point following code function geometry given grid cell halfspaces hash hierarchy illustrates implementation input inserted integer intersection point intersection test interval k—d tree k—DOP leaf node line segment linear matrix memory mesh method Minkowski Minkowski sum moving neighbor cell normal octree optimization overlap pair parallel performed plane equation pointers polyhedra polyhedron primitives problem projection query radius recursive representation result robustness scalar Section separating axis SIMD space sphere center splitting stored subtree traversal triangle ABC updating vector vertex vertices Voronoi region welding zero