The algorithm proposed by us for polygonal chains intersection based on the sweep line algorithm is extended, and it is used to detect and delete global self-intersections in the rough offset curve.

拓展了我们已有的平面上单调链求交的扫描线算法，将其应用到初步等距线中的全局自交点和全局无效环的确定上。

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At the same time, the curvature of the triangles is introduced to minimize the number of self-intersections detection of the cloth.

同时，在自碰撞检测中，作者利用三角形表面曲率简化计算。

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With an assigned time and path, these lightweight, self-guided cars would proceed steadily through crowded intersections without all the stop-and-go that chokes roadways and saps fuel efficiency.

FORBES: Magazine Article