Exact and Efficient Collision Detection for Convex Polyhedra

proximity queries about the relative placement of two convex
polyhedra in R^2 and R^3. The set of algorithms also include an
efficient computation of exact three dimensional Minkowski sums.
The algorithms that operate in three dimensions use a dual
representation of convex polyhedra, and their implementations are
mainly based on the Arrangement package of CGAL, the Computational
Geometry Algorithm and Data Structure library. The Polyhedral-Surface
package also comes useful. The results of extensive experimentation
with a broad family of convex polyhedra in R^3 are reported.