Contact detection between two solid bodies

2017 4 17
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Dear Sir/ Madam
I have the information of geometry of two solid bodies in the form of point clouds. these points having the coordinate value in X, Y and Z direction.
I want to detect the contact between two solid bodies whether they are in contact or not.
alsoI want to identify the contact points between two solid bodies when they are in contact.
Please help me. I am in so trouble
Thanks

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Respected sir
I am new in matlab. can you guide me to implemented the concept? I am not understanding the concept because I have the geometry in the form of points.
Pi(xi, yi, zi).............
KSSV
KSSV 2017-4-17
Attach your data..
Attached data are the information of two bones which are present in our wrist. I want to know that moment when they are in contact, if I am applying force to one of them. How to know that
Dear sir
Hav you got something. Please help me
KSSV
KSSV 2017-4-18
You have [x,y,z] points. Along with that do you have nodal connectivity matrix?
I have the complete information of surface. Please find the attachments

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KSSV
KSSV 2017-4-18
编辑：KSSV 2017-4-18

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%%surface 1
fid1 = fopen('22985_lun_R.txt') ;
S = textscan(fid1,'%s','delimiter','\n') ;
S = S{1} ;
coor1 = cell2mat(cellfun(@str2num,S(11:16819),'un',0)) ;
tri1 = cell2mat(cellfun(@str2num,S(16824:50437),'un',0)) ;
tri1 = tri1(:,1:end-1)+1 ;
x1 = coor1(:,1) ; y1 = coor1(:,2) ; z1 = coor1(:,3) ;
%%surface 2
fid1 = fopen('22985_sca_R.txt') ;
S = textscan(fid1,'%s','delimiter','\n') ;
S = S{1} ;
coor2 = cell2mat(cellfun(@str2num,S(11:14547),'un',0)) ;
tri2 = cell2mat(cellfun(@str2num,S(14552:43621),'un',0)) ;
tri2 = tri2(:,1:end-1)+1 ;
x2 = coor2(:,1) ; y2 = coor2(:,2) ; z2 = coor2(:,3) ;
figure(1)
trisurf(tri1,x1,y1,z1,z1)
hold on
trisurf(tri2,x2,y2,z2,z2)
hold off
%%Get intersection
S1.vertices = coor1 ;
S1.faces = tri1 ;
S2.vertices = coor2 ;
S2.faces = tri2 ;
[intMatrix, intSurface] = SurfaceIntersection(S1,S2) ;
download the function SurfaceIntersection from https://in.mathworks.com/matlabcentral/fileexchange/48613-surface-intersection. I have tried running it, but the function taking very high memory and I could not see the result. Try it and let me know.
Any ways, in the present case, the two surfaces are not intersection. I can see this from the generated picture. I suggest you to know about the function using small mesh first.

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Dear sir
Thanks for your kind support. The code is working properly.
But my concern is to identify that moment when two bodies will come in contact. what I do actually, that I do not want the intersection of two bodies. so what would be the boundary conditions to cheque whether both bodies are in contact or not?
can we apply any algorithm to identify the moment of the contact? also, it tells me about the information of the contact points for both bodies?

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