Publications
Collision Detection in Interactive 3D Environments
The book that presents the nitty-gritty of the SOLID collision detection library is available both as hardcover and ebook.
Collision Detection in Interactive 3D Environments by Gino van den Bergen is the second book in the Morgan Kaufmann Series in Interactive 3D Technology. The book's accompanying CDROM includes the full C++ source code of SOLID 3.5 plus example programs that show the application of SOLID in physics-based simulations.
Visit the Amazon.com page for this book to purchase it.
Errata for this book are listed here. The full C++ source code of SOLID 3.5 is currently available from GitHub.
Game Physics Pearls
A collection of pearls of wisdom from a great group of game-physics pioneers is available as hardcover. This book contains a chapter on the GJK shape cast that is applied in the Sensorium library for continuous collision detection.
Game Physics Pearls edited by Gino van den Bergen and Dirk Gregorius is the first Gems-type book covering game physics.
Visit the Amazon.com page for this book to purchase it.
Papers and Presentations
| Title | Appeared in | Downloads |
| "Efficient Collision Detection of Complex Deformable Models using AABB Trees" | Journal of Graphics Tools 2(4):1-13 (1997) | PDF (164KB) |
| "A Fast and Robust GJK Implementation for Collision Detection of Convex Objects" | Journal of Graphics Tools 4(2):7-25 (1999) | PDF (79KB) |
| "Proximity Queries and Penetration Depth Computation on 3D Game Objects" (*) | Game Developers Conference 2001 | PDF (78KB) |
| "Ray Casting against General Convex Objects with Application to Continuous Collision Detection" (**) | unpublished manuscript | PDF (89KB) |
| "Continuous Collision Detection of General Convex Objects under Translation" | Game Developers Conference 2005 | PowerPoint (1.90MB) |
| "Physics for Game Programmers: Continuous Collision Detection" | Game Developers Conference 2006 Tutorial | PowerPoint (1.41MB) |
| "Physics for Game Programmers: Collision Detection" | Game Developers Conference 2007 Tutorial | PowerPoint (1.83MB) |
| "Physics for Game Programmers: Crash Course in Collision Detection" | Game Developers Conference 2008 Tutorial | PowerPoint (1.74MB) |
| "Physics for Game Programmers: Collision Detection Crash Course" | Game Developers Conference 2009 Tutorial | PowerPoint (4.1MB) |
| "Dual Numbers: Simple Math, Easy C++ Coding, and Lots of Tricks" | Game Developers Conference Europe 2009 | PDF (609KB) |
| "Physics for Game Programmers: Contacts" | Game Developers Conference 2011 Tutorial | PDF (609KB) |
| "Math for Game Programmers: Dual Numbers" | Game Developers Conference 2012 Tutorial | PDF (1.12MB) |
| "Physics for Game Programmers: Collision Detection" | Game Developers Conference 2012 Tutorial | PDF (1.45MB) |
| "Math for Game Programmers: Dual Numbers" | Game Developers Conference 2013 Tutorial | PDF (1.12MB) |
| "Physics for Game Programmers: Spatial Data Structures" | Game Developers Conference 2013 Tutorial | PDF (1.45MB) |
| "Math for Game Programmers: Inverse Kinematics" | Game Developers Conference 2014 Tutorial | PDF (987KB) |
| "Math for Game Programmers: Mesh Cutting in Farming Simulator 2015" | Game Developers Conference 2015 Tutorial | PDF (511KB) |
| "Math for Game Programmers: Inverse Kinematics Revisited" | Game Developers Conference 2015 Tutorial | PDF (800KB) |
| "Math for Game Programmers: Rotational Joint Limits in Quaternion Space" | Game Developers Conference 2016 Tutorial | PDF (848KB) |
| "Rotational Joint Limits in Quaternion Space" | Game Engine Gems 3 Chapter 10 (2016) | Purchase from Amazon |
| "Math for Game Programmers: B-rep for Triangle Meshes" | Game Developers Conference 2017 Tutorial | PDF (718KB) |
| "Math for Game Programmers: Understanding and Tracing Numerical Errors in C++" | Game Developers Conference 2019 Tutorial | PDF (667KB) |
| "Math in Game Development Summit: Conservative Mesh Decimation for Collision Detection and Occlusion Culling" | Game Developers Conference 2021 Summit | PDF (918KB) |
(*) The Expanding Polytope Algorithm described in this paper has a flaw that may result in non-optimal penetration depths. The fixed EPA is discussed in the book Collision Detection in Interactive 3D Envrionments.
(**) An in-depth discussion of the GJK ray cast is published as a chapter of Game Physics Pearls. Readers interested in a proof of global convergence of the GJK ray cast should check out the original manuscript.