Marcello Kera,  Hélio Pedrini,  Fátima L. S. Nunes. 

Collision detection is a fundamental requirementfor a Virtual Reality application to simulate the real worldwith high degree of fidelity. Precision and performance aretwo main characteristics on collision detection algorithms.This paper presents a number of collision detection methodsfor rigid and deformable objects and, from such analysis,describes an algorithm for supporting medical training invirtual environments.

http://www.lbd.dcc.ufmg.br/colecoes/wrva/2007/0019.pdf

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