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Collision Detection VRML MATLAB

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I want to detect the collision of specific objects, I'm currently using their difference for that sake, but its only works on one axis at a time, I'm doing this on y-axis currently. 
My Code: 
 if ((abs(Obj1.translation(2)-Obj2.translation(2))<=Obj2.translation(2)) ) 
                CollisionCount=CollisionCount+1; 
end 

How I can improve this, other techniques are also favorable for me, as the two objects haven't well defined shapes, like circle or square. 

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Collision Detection VRML MATLAB Ahsham Ali <hafiz.m.ahsan.ali@gmail.com> - 2014-05-05 08:34 -0700

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