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Collision Detection of two CSG solids

We want to determine if two CSG solids share a common point.

1. Bound each primitive and internal node by a ``simpler'' volume, e.g., sphere or brick, forms a boundary hierarchy.
2. Compare down the CSG tree of each solid.
3. If the two ``simpler'' volumes do not intersect, then the enclosed ``complicated'' solids do not either.
4. Otherwise, recurse.