The heart of any system that simulates the physical interaction between objects is collision detection-the ability to detect when two objects have come into contact. Practitioners, new to the field or vice versa, quickly discovered that efforts to build a fast, accurate, and robust collision detection system that brought them to a long road filled with dangers and pitfalls unlike most they have ever encountered. Without in-depth knowledge and understanding of issues associated with engineering a collision detection system, the end of the road which is a chasm that has swallowed many a good programmer! new book Gino van den Bergen is the story of a successful journey down that road. The result was his well-known collision detection system, Software Library for Interference Detection (SOLID). Along the way, he covers the topic vector algebra and geometry, geometry primitive various interests in the collision system, robust method of separating axes for the purpose of testing the crossing, and the equally powerful Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between convex objects. Algorithm with the direct implementation when using exact arithmetic can have catastrophic failures in a floating-point system. Specifically, intersection and distance algorithms implemented in floating-point system tend to fail exactly in the case of the most important in the collision when the two bodies just touching. * Explain the concept of geometric and numerical algorithms that underlie key fundamental collision detection. * CD-ROM includes full C + + source code of SOLID, a well-known library for collision detection, plus binaries and example programs for Win32. * Discusses algorithms for commonly used primitive types, such as balls, boxes, cylinders, cones, triangles, rays of polyhedra, and convex. * Presents techniques for accelerating collision detection for complex models and scenes.