@misc{indiciae7eb5ff676e28,
  title = {Hierarchical spherical distance fields for collision detection.},
  author = {Fünfzig Christoph and Torsten Ullrich and Dieter W Fellner},
  doi = {10.1109/mcg.2006.17},
  url = {https://pubmed.ncbi.nlm.nih.gov/16463480/},
  note = {Source identifier: 16463480}
}