N-Body problem n^2 brute force lots of reinventing the wheel linear possible [Chalmers Vis96] [Amenta InfoVis02] [Walshaw GD00] [Harel/Koren GD00] [Quigley/Eades GD00] [Gajer/Goodrich/Kovourov GD00] [Koren InfoVis02] same fundamental idea hierarchical subdivision of space multigrid 26