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Triangulation of two Segments in 3D

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I have two segments in 3D space. I want to triangulate these segments, but there is a problem because sometimes the constructed triangles cross each other. Is there an efficient method to triangulate four points in 3D.

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How about this?

There are three possible assignments of four points to two line-segments. In each case, compute the dot-product of the two normalised edge vectors. I assert that the assignment pertaining to the largest product, in magnitude, will not produce a complex quadrilateral [citation needed].

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