Detection is easier than computation . Proceedings of the Twelfth Annual ACM Symposium on Theory of Computing. If the chains do not intersect then we need only keep the leftmost of the two chains. There are many different algorithms for detecting or avoiding collisions of convex objects. B. Chazelle and D. P.Dobkin.
Detection is easier than computation .
In Case 2, when Q lies entirely within one pocket of P, the situation is slightly more involved. Let ab denote the pocket lid of some pocket K j of P and refer to Fig. B. M. Chazelle and D. P. Dobkin, Detection is easier than computation , Proc. Determining the Separation of Preprocessed. . . Chazelle, B. and Dobkin, D. Detection is easier than computation , ACM Sympos. on Theory of Comput.