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edited Oct 16, 2014 at 0:41

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While this old question has been bumped to the front page, let me make a few remarks that might help focus future searches.

First, in the specific problem posed (fixed point, moving triangle), it might be simpler to fix the plane of the (morphing) triangle and transform the point accordingly.

Second, independent of that, there are very sophisticated software libraries available for a variety of collision detection scenarios. The one maintained at UNC (Univ North Carolina) is among the most sophisticatedrobust: see this link. In particular, I-Collide might be the most appropriate software, because it exploits convexity.

![Frame2][1]
^{Image from "I-COLLIDE: An Interactive and Exact Collision Detection System
for Large-Scale Environments"}
^{([PDF download](https://www.cs.jhu.edu/~cohen/Publications/icollide.pdf))}

While this old question has been bumped to the front page, let me make a few remarks that might help focus future searches.

First, in the specific problem posed (fixed point, moving triangle), it might be simpler to fix the plane of the (morphing) triangle and transform the point accordingly.

Second, independent of that, there are very sophisticated software libraries available for a variety of collision detection scenarios. The one maintained at UNC (Univ North Carolina) is among the most sophisticated: see this link. In particular, I-Collide might be the most appropriate software, because it exploits convexity.

![Frame2][1]
^{Image from "I-COLLIDE: An Interactive and Exact Collision Detection System
for Large-Scale Environments"}
^{([PDF download](https://www.cs.jhu.edu/~cohen/Publications/icollide.pdf))}

While this old question has been bumped to the front page, let me make a few remarks that might help focus future searches.

First, in the specific problem posed (fixed point, moving triangle), it might be simpler to fix the plane of the (morphing) triangle and transform the point accordingly.

Second, independent of that, there are very sophisticated software libraries available for a variety of collision detection scenarios. The one maintained at UNC (Univ North Carolina) is among the most robust: see this link. In particular, I-Collide might be the most appropriate software, because it exploits convexity.

![Frame2][1]
^{Image from "I-COLLIDE: An Interactive and Exact Collision Detection System
for Large-Scale Environments"}
^{([PDF download](https://www.cs.jhu.edu/~cohen/Publications/icollide.pdf))}

Source Link

created Oct 16, 2014 at 0:34

Joseph O'Rourke

150.8k
36
358
958

While this old question has been bumped to the front page, let me make a few remarks that might help focus future searches.

First, in the specific problem posed (fixed point, moving triangle), it might be simpler to fix the plane of the (morphing) triangle and transform the point accordingly.

Second, independent of that, there are very sophisticated software libraries available for a variety of collision detection scenarios. The one maintained at UNC (Univ North Carolina) is among the most sophisticated: see this link. In particular, I-Collide might be the most appropriate software, because it exploits convexity.

![Frame2][1]
^{Image from "I-COLLIDE: An Interactive and Exact Collision Detection System
for Large-Scale Environments"}
^{([PDF download](https://www.cs.jhu.edu/~cohen/Publications/icollide.pdf))}