\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)
CGAL 5.0 - K Discrete Oriented Polytope Tree (K-DOP Tree)
Bibliography
[1]

Timothy L Kay and James T Kajiya. Ray tracing complex scenes. In ACM SIGGRAPH computer graphics, volume 20, pages 269–278. ACM, 1986.

[2]

James T Klosowski, Martin Held, Joseph SB Mitchell, Henry Sowizral, and Karel Zikan. Efficient collision detection using bounding volume hierarchies of k-dops. IEEE transactions on Visualization and Computer Graphics, 4(1):21–36, 1998.