David Cerny,  Jiri Sochor. 

We developed a method for efficient collision/separation detection for objects moving with highly complex environments. The method is based on improved algorithm which uses bounding volume hierarchies of fixed direction hulls (k-DOPs). Better results were obtained using extended fixed direction hulls, which surround free space around moving object in large scenes.

http://www.lbd.dcc.ufmg.br/colecoes/wrv/2000/0017.pdf

Processando consulta.