This book provides the tools and knowledge necessary to carry out industrial-strength collision detection for highly detailed dynamic environments of applications such as 3D games, virtual reality applications, and physical simulators. Of the many topics covered, the main focus is on spatial and object partitioning through a variety of grids, trees, and sorting method. Sections on vector and matrix algebra provide the background for advanced topics such as Voronoi regions, Minkowski number, and linear and quadratic programming. It is important to programmers but rarely discussed in much detail in other books are chapters covering numerical and geometric robustness, both essential topics for collision detection system. * Presents algorithms and data structures with wide applications to the field of game development, virtual reality, physically based simulation, CAD / CAM, architectural and scientific visualization, molecular modeling, engineering simulation, GIS, ray tracing, and more. * Describes tested, real-world methods, liberal illustrated with code C & C + +. * Reviews necessary concepts from mathematics and computational geometry, and includes extensive references to other sources and research literature.