Findout surface to surface intersection between two 3d shapes

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I have two independent 3d shape,like one is square and another is cone. --lets Assume cone is inside square. -- now how can i find out that surface of cone is touching the surface of sqare when i start moving cone in any direction.
It will be Helpful if anyone can suggest algorithm to check surface is touching to another shape surface. I am working with matlab application. but logic in any laungauge will be appriciated.
Thanks in Advance.

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KSSV
KSSV 2017-11-17

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