CGAL 5.6 - 3D Spherical Geometry Kernel
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[1]

Pedro M.M. de Castro, Frederic Cazals, Sebastien Loriot, and Monique Teillaud. Design of the CGAL 3D Spherical Kernel and application to arrangements of circles on a sphere. Computational Geometry : Theory and Applications, 42(6-7):536 – 550, 2009.