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|pages=153–162
| publisher=ACM
| doi=10.1145/37402.37421}}</ref> [[collision detection]] in [[robotics]] and 3D video games, [[ray tracing (graphics)|ray tracing]], virtual landscape simulation<ref>{{Cite journal |last=Etherington |first=Thomas R. |last2=Morgan |first2=Fraser J. |last3=O’Sullivan |first3=David
=={{Anchor|Timeline}}History==
|