Paper and Errata on OBBTrees

The fundamental data structure underlying RAPID is the OBBTree, which is a hierarchy of oriented bounding boxes (a 3D analog to the "strip trees" of Ballard). The paper describing OBBTrees is given below. Please note that there are errors in the paper. A list of errata follow.

OBB-Tree: A Hierarchical Structure for Rapid Interference Detection, Stefan Gottschalk, Ming C. Lin, and Dinesh Manocha (27 pages PostScript) 493K, Technical report TR96-013, Department of Computer Science, University of North Carolina at Chapel Hill. Proc. of ACM SIGGRAPH '96.

Geometric Algorithms for Modeling, Motion, and Animation

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