TY  - RPRT
TI  - Hierarchical spherical distance fields for collision detection.
AU  - Fünfzig Christoph
AU  - Torsten Ullrich
AU  - Dieter W Fellner
DO  - 10.1109/mcg.2006.17
UR  - https://pubmed.ncbi.nlm.nih.gov/16463480/
ID  - 16463480
ER  -