Penetration depth of two convex polytopes in 3D
Pankaj K. Agarwal, Leonidas Guibas, Sariel Har-Peled, Alexander Rabinovitch, Micha Sharir · 2000
Let A and B be two convex polytopes in R 3 with m and n facets, respectively. The penetration depth of A and B, denoted as (A;B), is the minimum distance by which A has to be translated so that A and B do not intersect. We present a randomized algorithm that computes (A;B) in O(m