Well it seems that autumn came early this year and it's raining "methods"
Here is another one!
Based on the "compound" collision course concept already mentioned
here but extended so as to be easily implemented (graphically) in SH4.
The text describing the method is
here.
Have a look at it and post a comment.
Considered W.I.P.
And BTW I don't claim that the method is original or novel in any way (I would REALLY be suprised if it was).
.