Collision Detection of two CSG solids
We want to determine if two CSG solids share a common point.
- Bound each primitive and internal node by a ``simpler'' volume, e.g., sphere or brick, forms a boundary hierarchy.
- Compare down the CSG tree of each solid.
- If the two ``simpler'' volumes do not intersect, then the enclosed ``complicated'' solids do not either.
- Otherwise, recurse.