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We present a general real-time continuous collision detection algorithm for arbitrary systems of moving bodies connected to each other in a kinematic tree of joints. Here "joint" as a general term refers to the measured relative motion between two bodies, which may be physically connected or not. We provide a basic set of joints covering revolute and prismatic joints, vehicle motion, and 3d positioning which is sufficient for many applications in particular those involved with mobiledoi:10.1109/humanoids.2012.6651560 dblp:conf/humanoids/TaubigBF12 fatcat:non7cgm5vnfblbkbx4irzubami