1. Arvo, J.: A simple method for box-sphere intersection testing. In: Graphics Gems I, pp. 335–339 (1990)
2. Edelsbrunner, H.: Algorithms in Combinatorial Geometry. Springer, Berlin (1987)
3. Ericson, C.: Real-Time Collision Detection. Kaufmann, Los Altos (2005)
4. Golub, G.H., Van Loan, C.F.: Matrix Computations. Johns Hopkins University Press, Baltimore (1996)
5. Glaeser, G.: Fast Algorithms for 3D-Graphics. Springer, Berlin (1994)