diff --git a/EGkCDeBoxClosedSurfTm.h b/EGkCDeBoxClosedSurfTm.h
new file mode 100644
index 0000000..5778093
--- /dev/null
+++ b/EGkCDeBoxClosedSurfTm.h
@@ -0,0 +1,27 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2016-2020
+//----------------------------------------------------------------------------
+// File : EGkCDeBoxClosedSurfTm.h      Data : 09.01.20    Versione : 2.2a2
+// Contenuto : Dichiarazione funzione verifica collisione tra
+//             BoundingBox e Closed SurfTriMesh.
+//
+// Modifiche : 05.10.16 DS Creazione modulo.
+//             09.01.20 DS Cambio nome alla funzione e cambio parametri.
+//
+//----------------------------------------------------------------------------
+
+#pragma once
+
+#include "/EgtDev/Include/EGkBBox3d.h"
+#include "/EgtDev/Include/EGkSurfTriMesh.h"
+
+//----------------------- Macro per import/export ----------------------------
+#undef EGK_EXPORT
+#if defined( I_AM_EGK)            // da definirsi solo nella DLL
+   #define EGK_EXPORT __declspec( dllexport)
+#else
+   #define EGK_EXPORT __declspec( dllimport)
+#endif
+
+//----------------------------------------------------------------------------
+EGK_EXPORT bool CDeBoxClosedSurfTm( const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, const ISurfTriMesh& Stm) ;
diff --git a/EGkCDeBoxTria.h b/EGkCDeBoxTria.h
index 439c3a6..77e024a 100644
--- a/EGkCDeBoxTria.h
+++ b/EGkCDeBoxTria.h
@@ -1,12 +1,12 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2016-2018
+//  EgalTech 2016-2020
 //----------------------------------------------------------------------------
-// File : EGkCDeBoxTria.h      Data : 28.04.18    Versione : 1.9e1
+// File : EGkCDeBoxTria.h      Data : 09.01.20    Versione : 2.2a2
 // Contenuto : Dichiarazione funzione verifica collisione tra
 //             BoundingBox e Triangle3d.
 //
 // Modifiche : 05.10.16 DS Creazione modulo.
-//
+//             09.01.20 DS Cambiati parametri.
 //
 //----------------------------------------------------------------------------
 
@@ -24,4 +24,4 @@
 #endif
 
 //----------------------------------------------------------------------------
-EGK_EXPORT bool CDeBoxTria( const BBox3d& b3Box, const Triangle3d& trTria) ;
+EGK_EXPORT bool CDeBoxTria( const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, const Triangle3d& trTria) ;
diff --git a/EGkCDeCylClosedSurfTm.h b/EGkCDeCylClosedSurfTm.h
new file mode 100644
index 0000000..2007e04
--- /dev/null
+++ b/EGkCDeCylClosedSurfTm.h
@@ -0,0 +1,26 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2020-2020
+//----------------------------------------------------------------------------
+// File : EGkCDeCylClosedSurfTm.h      Data : 09.01.20    Versione : 2.2a2
+// Contenuto : Dichiarazione funzione verifica collisione tra
+//             Cylinder e Closed SurfTriMesh.
+//
+// Modifiche : 09.01.20 DS Creazione modulo.
+//
+//
+//----------------------------------------------------------------------------
+
+#pragma once
+
+#include "/EgtDev/Include/EGkSurfTriMesh.h"
+
+//----------------------- Macro per import/export ----------------------------
+#undef EGK_EXPORT
+#if defined( I_AM_EGK)            // da definirsi solo nella DLL
+   #define EGK_EXPORT __declspec( dllexport)
+#else
+   #define EGK_EXPORT __declspec( dllimport)
+#endif
+
+//----------------------------------------------------------------------------
+EGK_EXPORT bool CDeCylClosedSurfTm( const Frame3d& frCyl, double dH, double dR, double dSafeDist, const ISurfTriMesh& Stm) ;
diff --git a/EGkCDeCylTria.h b/EGkCDeCylTria.h
new file mode 100644
index 0000000..be7e305
--- /dev/null
+++ b/EGkCDeCylTria.h
@@ -0,0 +1,26 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2020-2020
+//----------------------------------------------------------------------------
+// File : EGkCDeCylTria.h      Data : 09.01.20    Versione : 2.2a2
+// Contenuto : Dichiarazione funzione verifica collisione tra
+//             Cylinder e Triangle3d.
+//
+// Modifiche : 09.01.20 DS Creazione modulo.
+//
+//
+//----------------------------------------------------------------------------
+
+#pragma once
+
+#include "/EgtDev/Include/EGkTriangle3d.h"
+
+//----------------------- Macro per import/export ----------------------------
+#undef EGK_EXPORT
+#if defined( I_AM_EGK)            // da definirsi solo nella DLL
+   #define EGK_EXPORT __declspec( dllexport)
+#else
+   #define EGK_EXPORT __declspec( dllimport)
+#endif
+
+//----------------------------------------------------------------------------
+EGK_EXPORT bool CDeCylTria( const Frame3d& frCyl, double dH, double dR, double dSafeDist, const Triangle3d& trTria) ;
diff --git a/EGkCDeBoxPolyhedron.h b/EGkCDeSpheClosedSurfTm.h
similarity index 68%
rename from EGkCDeBoxPolyhedron.h
rename to EGkCDeSpheClosedSurfTm.h
index 72c426a..abbb59a 100644
--- a/EGkCDeBoxPolyhedron.h
+++ b/EGkCDeSpheClosedSurfTm.h
@@ -1,18 +1,17 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2016-2018
+//  EgalTech 2020-2020
 //----------------------------------------------------------------------------
-// File : EGkCDeBoxPolyhedron.h      Data : 28.04.18    Versione : 1.9e1
+// File : EGkCDeSpheClosedSurfTm.h      Data : 09.01.20    Versione : 2.2a2
 // Contenuto : Dichiarazione funzione verifica collisione tra
-//             BoundingBox e Polyhedron.
+//             Sphere e Closed SurfTriMesh.
 //
-// Modifiche : 05.10.16 DS Creazione modulo.
+// Modifiche : 09.01.20 DS Creazione modulo.
 //
 //
 //----------------------------------------------------------------------------
 
 #pragma once
 
-#include "/EgtDev/Include/EGkBBox3d.h"
 #include "/EgtDev/Include/EGkSurfTriMesh.h"
 
 //----------------------- Macro per import/export ----------------------------
@@ -24,4 +23,4 @@
 #endif
 
 //----------------------------------------------------------------------------
-EGK_EXPORT bool CDeBoxPolyhedron( const BBox3d& b3Box, const ISurfTriMesh& Stm) ;
+EGK_EXPORT bool CDeSpheClosedSurfTm( const Point3d& ptCen, double dR, double dSafeDist, const ISurfTriMesh& Stm) ;
diff --git a/EGkCDeSpheTria.h b/EGkCDeSpheTria.h
new file mode 100644
index 0000000..f4b650e
--- /dev/null
+++ b/EGkCDeSpheTria.h
@@ -0,0 +1,26 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2020-2020
+//----------------------------------------------------------------------------
+// File : EGkCDeSpheTria.h      Data : 09.01.20    Versione : 2.2a2
+// Contenuto : Dichiarazione funzione verifica collisione tra
+//             Sphere e Triangle3d.
+//
+// Modifiche : 09.01.20 DS Creazione modulo.
+//
+//
+//----------------------------------------------------------------------------
+
+#pragma once
+
+#include "/EgtDev/Include/EGkTriangle3d.h"
+
+//----------------------- Macro per import/export ----------------------------
+#undef EGK_EXPORT
+#if defined( I_AM_EGK)            // da definirsi solo nella DLL
+   #define EGK_EXPORT __declspec( dllexport)
+#else
+   #define EGK_EXPORT __declspec( dllimport)
+#endif
+
+//----------------------------------------------------------------------------
+EGK_EXPORT bool CDeSpheTria( const Point3d& ptCen, double dR, double dSafeDist, const Triangle3d& trTria) ;
diff --git a/EGkPolygon3d.h b/EGkPolygon3d.h
index a2c581d..2a7c520 100644
--- a/EGkPolygon3d.h
+++ b/EGkPolygon3d.h
@@ -15,6 +15,7 @@
 #pragma once
 
 #include "/EgtDev/Include/EGkPlane3d.h"
+#include "/EgtDev/Include/EGkTriangle3d.h"
 #include "/EgtDev/Include/EGkPolyLine.h"
 #include "/EgtDev/Include/EGkGeoCollection.h"
 
@@ -32,6 +33,7 @@ class Polygon3d
    public :
       EGK_EXPORT bool Clear( void) ;
       EGK_EXPORT bool ClearSides( void) ;
+      EGK_EXPORT bool FromTriangle( const Triangle3d& trTria) ;
       EGK_EXPORT bool FromRectangle( double dDimX, double dDimY) ;
       EGK_EXPORT bool FromPolyLine( const PolyLine& PL) ;
       EGK_EXPORT bool FromPlaneTrimmedWithBox( const Plane3d& plPlane, const Point3d& ptMin, const Point3d& ptMax) ;
diff --git a/EXeExecutor.h b/EXeExecutor.h
index 9acdbed..72f361b 100644
--- a/EXeExecutor.h
+++ b/EXeExecutor.h
@@ -539,9 +539,6 @@ EXE_EXPORT bool ExeVolZmapMillingStep( int nId, const Point3d& ptPs, const Vecto
 EXE_EXPORT bool ExeVolZmapGetDepth( int nId, const Point3d& ptP, const Vector3d& vtDir, int nRefType, bool bExact,
                                     double& dInLen, double& dOutLen) ;
 EXE_EXPORT int  ExeVolZmapGetEdges( int nId, int nDestGrpId, int* pnCount) ;
-EXE_EXPORT bool ExeVolZmapAvoidBox( int nId, const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, int nRefType) ;
-EXE_EXPORT bool ExeVolZmapAvoidCylinder( int nId, const Frame3d& frCyl, double dL, double dR, double dSafeDist, int nRefType) ;
-EXE_EXPORT bool ExeVolZmapAvoidSphere( int nId, const Point3d& ptCen, double dRad, double dSafeDist, int nRefType) ;
 EXE_EXPORT bool ExeCutVolZmapPlane( int nId, const Point3d& ptOn, const Vector3d& vtN, int nRefType) ;
 
 // Geo Snap Vector/Point/Frame
@@ -648,6 +645,14 @@ EXE_EXPORT bool ExeLineVolZmapInters( const Point3d& ptP, const Vector3d& vtDir,
 EXE_EXPORT int  ExePlaneVolZmapInters( const Point3d& ptOn, const Vector3d& vtN, int nId, int nDestGrpId, int nRefType,
                                        int* pnCount) ;
 
+// Collision Detection
+EXE_EXPORT int  ExeCDeBoxClosedSurfTm( const Frame3d& frBox, const Vector3d& vtDiag, int nSurfTmId, double dSafeDist, int nRefType) ;
+EXE_EXPORT int  ExeCDeCylClosedSurfTm( const Frame3d& frCyl, double dH, double dR, int nSurfTmId, double dSafeDist, int nRefType) ;
+EXE_EXPORT int  ExeCDeSpheClosedSurfTm( const Point3d& ptCen, double dR, int nSurfTmId, double dSafeDist, int nRefType) ;
+EXE_EXPORT bool ExeVolZmapAvoidBox( int nId, const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, int nRefType) ;
+EXE_EXPORT bool ExeVolZmapAvoidCylinder( int nId, const Frame3d& frCyl, double dL, double dR, double dSafeDist, int nRefType) ;
+EXE_EXPORT bool ExeVolZmapAvoidSphere( int nId, const Point3d& ptCen, double dRad, double dSafeDist, int nRefType) ;
+
 // Nesting
 // CreateFlatParts
 EXE_EXPORT bool ExeCreateAdjustFlatParts( int nType, double dToler) ;