O'Rourke [O'R94] is perhaps the best practical introduction to computational geometry available, because of its careful and correct C language implementations of the fundamental algorithms of computational geometry. Fundamental geometric primitives, convex hulls, triangulations, Voronoi diagrams, and motion planning are all included. Although they were implemented primarily for exposition rather than production use, they should be quite reliable. The codes are available from http://grendel.csc.smith.edu/ orourke/.

Mon Jun 2 23:33:50 EDT 1997