Kinetic collision detection between simple polygons

Julien Basch, Jeffrey Gordon Erickson, Leonidas J. Guibas, John E. Hershberger, and Li Zhang
Proc. 10th Symp. Discrete Algorithms, ACM and SIAM, Jan 1999, pp. 102–111
http://compgeom.cs.uiuc.edu/~jeffe/pubs/cdsimple.html

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