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Springer Series on Touch and Haptic Systems Series Editors Manuel Ferre Marc O. Ernst Alan Wing Series Editorial Board Carlo A. Avizzano José M. Azorín Soledad Ballesteros Massimo Bergamasco Antonio Bicchi Martin Buss Jan van Erp Matthias Harders William S. Harwin Vincent Hayward Juan M. Ibarra Astrid Kappers Abderrahmane Kheddar Miguel A. Otaduy Angelika Peer Jerome Perret Jean-Louis Thonnard

For further volumes: www.springer.com/series/8786

René Weller

New Geometric Data Structures for Collision Detection and Haptics

René Weller Department of Computer Science University of Bremen Bremen, Germany

ISSN 2192-2977 ISSN 2192-2985 (electronic) Springer Series on Touch and Haptic Systems ISBN 978-3-319-01019-9 ISBN 978-3-319-01020-5 (eBook) DOI 10.1007/978-3-319-01020-5 Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013944756 © Springer International Publishing Switzerland 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)

Dedicated to my parents

Series Editors’ Foreword

This is the eighth volume of the “Springer Series on Touch and Haptic Systems”, which is published in collaboration between Springer and the EuroHaptics Society. New Geometric Data Structures for Collision Detection and Haptics is focused on solving