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Ans slides
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Wrapped Bounding Sphere Hierarchy for Necklaces
Fixed hierarchical structure
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Wrapped BSH is Tight

• The wrapped hierarchy is at most times
  tighter than the layered hierarchy.

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Wrapped BSH is Stable
before deformation
after deformation
Number of combinatorial changes in BSH under
motion is small
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Collision Detection using WBSH
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Collision Detection using Power Diagram (PD)
PD captures proximity info of a necklacePD can
be maintained using KDS frameworkPD has small
size when necklace is packed
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Spanner for Deformable Chain
Capture proximity information with a sparse
spanner