Ana Paula Piovesan Melchiori Peruzza,  Claudio Kirner,  Eliana Yumi Nakamura. 

Collision detection is an important element to get realism in a virtual environment. However, some collision methods take a long time to be executed, so that they can no be used in real time. This paper presents a system that allows the choice of the best collision method for each application. Using successive filters, a set of collision methods was defined considering the precision of the method and its execution in real time.

http://www.lbd.dcc.ufmg.br/colecoes/wrv/1997/SolucaoDoProblemadaDeteccaodeColisao.pdf

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