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| doi= 10.1007/s12065-020-00559-6
| url= https://www.researchgate.net/publication/348937861 }}</ref> Computing collision or overlap between bounding volumes involves additional computations, therefore, in order for it to beneficial we need the bounding volume to be relatively tight and the computation overhead to due the collisions to be low.
=== Bounding Volume Hierarchy ===
When the space of the objects we are computing collision for is complex, a single bounding volume many not provide tight enough approximation to considerably reduce the number of exact collision detections we have to perform.
=== Triangle centroid segments ===
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