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给出了任意图形的多边形逼近、非凸图形的凸组合、利用NFP做碰撞检测和扫描线搜索图形间缝隙等方法。
The paper gives out a method to combine non-convex figures into a convex one, a method to get bumping region by using NFP, and a scanning-line method to search the gaps among adjacent figures;
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