The FMB algorithm
A collision detection based on the
Fourier-Motzkin elimination method

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This thesis introduces how to perform intersection detection of pair of static/dynamic cuboid/tetrahedron in 2D/3D by using the Fourier-Motzkin elimination method.

It includes the mathematical definition of the problem, its mathematical resolution with the Fourier-Motzkin elimination method, the resulting algorithm and its implementation in C, and its validation and qualification against the SAT algorithm. Results are commented and show that the FMB algorithm can be in average up to 4.8 times faster than the SAT algorithm.
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