1. The quickhull algorithm for convex hulls
2. Cameron, S. “Enhancing GJK: Computing minimum and penetration distances between convex polyhedra.”. Proc. IEEE Int. Conf. on Robotics and Automation. pp.3112–3117. Los Alamitos: IEEE Computer Society. [Cameron 97]
3. Cameron, S. A. and Culley, R. K. “Determining the minimum translational distance between convex polyhedra.”. Proc. IEEE Int. Conf. on Robotics and Automation. pp.591–596. Los Alamitos: IEEE Computer Society. [Cameron, Culley 86]
4. Chung, K. and Wang, W. “Quick collision detection of polytopes in virtual environments.”. Proc. ACM Symposium on Virtual Reality Software and Technology. pp.125–131. New York: ACM SIGGRAPH. [Chung, Wang 96]