79 Let amax be an upper bound on the relative acceleration between any two points on any pair of objects. The bound amax can be easily obtained from bounds on the relative absolute linear ~ lin and relative rotational accelerations ~ rot and relative a a rotational velocities ~ r of the bodies and their diameters: ~ max = ~ lin + ~ rot ~ + ~ r ! a a a r ! ~ r ~ where r is the vector di erence between the centers of mass of two bodies. Let ! r d be the. | amax points dlm ữr ữr r r d ttmax max Vi ữrot dun 0-rot r ữr vt vUn ữr r tc tc fit maxd max tcf train tmin tc r ramertate min t min The Overall Approach Ai t t t t tmin wt p n Sweep Sort and Interval Tree X -ị y y - Z X z update Using Bounding Volumes .
