Minkowski sum 3D

[FolmerBrem]

Hi!

I have been using Geometry3Sharp with greate success for a long time. I have been given a task to make collision detection of industrial robots. If I was able to calculate a 3D Minkowski sum of two 3D surfaces/objects I could solve this task.

For reference, a Minkowski sum is kinda like moving one mesh along the surface of another and finding the area covered during this operation

Question
Is there an obvious (or complex) way to generate the 3D Minkowski sum of two 3D models using Geometry3Sharp - perhaps using the distance field representation?

Thank you for your help!