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Abstract:
In this paper we consider the following problem: given two general polyhedra
of complexity $n$, one of which is moving translationally or rotating about a fixed axis, determine the first collision (if any) between them. We present an
algorithm with running time $O(n^{8/5 + \epsilon})$ for the case of
translational movements and running time $O(n^{5/3 + \epsilon})$ for
rotational movements, where $\epsilon$ is an arbitrary positive constant.
This is the first known algorithm with sub-quadratic running time.
