I just looked if there was a newer version of it. There doesn't seem to be, but Christer Ericson does still have a dedicated page for the book. The errata section[0] is surprisingly small given that it is 632 pages. I thought this snippet was interesting:

> All illustrations in the book were redrawn from my original illustrations. Unfortunately, the company in charge of redrawing the illustrations mangled almost all of the illustrations doing so (right angles became accute or obtuse, etc). I thought I had caught all their errors before the book went to print but sadly it seems I missed a few.

Tangent: his 2003 presentation on memory optimisation[1] is also still a very interesting read, especially the last section on aliasing. I wonder how much of those comments still apply to modern languages (or C and C++ compilers, for that matter).

[0] http://realtimecollisiondetection.net/books/rtcd/errata/`

[1] http://realtimecollisiondetection.net/pubs/

Pure gold, indeed. It is a very important reference book (can be found in Amazon both new and used), not only for collision detection, but also for space partition, geometry, code optimization, etc. Also, the author has an amazing blog in the web page of the book:

http://realtimecollisiondetection.net/blog/

Thanks for the title. Btw, can someone recommend a good C library that does octrees?