diff --git a/libs/cg/include/psemek/cg/convex/separation.hpp b/libs/cg/include/psemek/cg/convex/separation.hpp
index f80b43ae..965e4bc8 100644
--- a/libs/cg/include/psemek/cg/convex/separation.hpp
+++ b/libs/cg/include/psemek/cg/convex/separation.hpp
@@ -34,7 +34,7 @@ namespace psemek::cg
 	namespace detail
 	{
 
-		template <typename Body1, typename Body2>
+		template <bool EarlyExit, typename Body1, typename Body2>
 		auto separation_2d(Body1 const & b1, Body2 const & b2)
 		{
 			auto const & vs1 = vertices(b1);
@@ -64,6 +64,8 @@ namespace psemek::cg
 					}
 
 					result |= edge_result;
+					if (EarlyExit && result.distance > 0)
+						break;
 				}
 
 				return result;
@@ -71,11 +73,13 @@ namespace psemek::cg
 
 			result_type result;
 			result |= process_edges(vs1, es1, vs2);
+			if (EarlyExit && result.distance > 0)
+				return result;
 			result |= process_edges(vs2, es2, vs1);
 			return result;
 		}
 
-		template <typename Body1, typename Body2>
+		template <bool EarlyExit, typename Body1, typename Body2>
 		auto separation_3d(Body1 const & b1, Body2 const & b2)
 		{
 			auto const & vs1 = vertices(b1);
@@ -110,6 +114,8 @@ namespace psemek::cg
 					}
 
 					result |= face_result;
+					if (EarlyExit && result.distance > 0)
+						break;
 				}
 
 				return result;
@@ -155,6 +161,9 @@ namespace psemek::cg
 						}
 
 						result |= edge_result;
+
+						if (EarlyExit && result.distance > 0)
+							return result;
 					}
 				}
 
@@ -163,7 +172,11 @@ namespace psemek::cg
 
 			result_type result;
 			result |= process_faces(vs1, fs1, vs2);
+			if (EarlyExit && result.distance > 0)
+				return result;
 			result |= process_faces(vs2, fs2, vs1);
+			if (EarlyExit && result.distance > 0)
+				return result;
 			result |= process_edges(vs1, eds1, vs2, eds2);
 			return result;
 		}
@@ -181,11 +194,34 @@ namespace psemek::cg
 
 		if constexpr (dim1 == 2)
 		{
-			return detail::separation_2d(b1, b2);
+			return detail::separation_2d<false>(b1, b2);
 		}
 		else if constexpr (dim1 == 3)
 		{
-			return detail::separation_3d(b1, b2);
+			return detail::separation_3d<false>(b1, b2);
+		}
+		else
+		{
+			return;
+		}
+	}
+
+	template <typename Body1, typename Body2>
+	auto intersect(Body1 const & b1, Body2 const & b2)
+	{
+		constexpr auto dim1 = dimension<Body1>;
+		constexpr auto dim2 = dimension<Body2>;
+
+		static_assert(dim1 == dim2);
+		static_assert(dim1 == 2 || dim1 == 3);
+
+		if constexpr (dim1 == 2)
+		{
+			return detail::separation_2d<true>(b1, b2).distance <= 0;
+		}
+		else if constexpr (dim1 == 3)
+		{
+			return detail::separation_3d<true>(b1, b2).distance <= 0;
 		}
 		else
 		{