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J. T. Klosowski, M. Held, J. S. B. Mitchell, H. Sowizral, and K. Zikan, “Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs,” IEEE Transactions on Visualization and Computer Graphics, Vol. 4, No. 1, 1998, pp. 21-36. doi:10.1109/2945.675649

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