ERIT - A Collection of Efficient and Reliable Intersection Tests

We describe ERIT, a collection of C routines for efficiently and reliably handling intersection queries between pairs of primitive objects in three dimensions. ERIT supports intersection queries between the following pairs of primitives: triangle/line-segment, triangle/triangle, sphere/line-segment, sphere/triangle, cylinder/line-segment, cylinder/triangle, cylinder/sphere, cone/line-segment, cone/ triangle, toroid/line-segment, toroid/triangle, and sphere/sphere. All intersection routines are based on standard "epsilon-based" floating-point arithmetic. Practical tests have proved that ERIT's routines are efficient and reliable, and we provide performance statistics for three widely-used hardware platforms.

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