实时碰撞检测算法技术主要包括：碰撞检测系统中的设计问题、数学和几何学入门、包围体、基本图元测试、层次包围体技术、空间划分、BSP树层次结构、凸体算法、基于GPU的碰撞检测、数值健壮性、几何健壮性以及优化操作，实时碰撞检测算法技术还提供了相应的算法、代码以及伪代码，以帮助读者进一步理解计算方案的实现过程。

我所研究碰撞检测时参考的文献及一些代码，对一些刚研究碰撞检测很有帮助

Written by an expert in the game industry, Christer Ericson's new book is a comprehensive guide to the components of efficient real-time collision detection systems. The book provides the tools and know-how needed to implement industrial-strength collision detection for the highly detailed dynamic environments of applications such as 3D games, virtual reality applications, and physical simulators. Of the many topics covered, a key focus is on spatial and object partitioning through a wide variety of grids, trees, and sorting methods. The author also presents a large collection of intersection and distance tests for both simple and complex geometric shapes. Sections on vector and matrix algebra provide the background for advanced topics such as Voronoi regions, Minkowski sums, and linear and quadratic programming. Of utmost importance to programmers but rarely discussed in this much detail in other books are the chapters covering numerical and geometric robustness, both essential topics for collision detection systems. Also unique are the chapters discussing how graphics hardware can assist in collision detection computations and on advanced optimization for modern computer architectures. All in all, this comprehensive book will become the industry standard for years to come.