It's a classic ..,
This review is from: Real-Time Collision Detection (The Morgan Kaufmann Series in Interactive 3d Technology) (Hardcover)
Everyone in the field has a copy, so if you're buying your first copy welcome to the club !
Undeniably important and awesome.
I would say, I wish there was perhaps a "fast solutions" companion volume. Sometimes you just want to look up a problem and see ALL of the solution quickly presented with no fuss.
This is not that sort of book: to home in on a problem you'll read, learn, go back a few sections and try to figure out what the summary they are talking about is, and so on.
Nevertheless it's pretty much the standard and really only book in the field, so enjoy!