1. A method of determining a depth of penetration of a first object and a second object, the method comprising acts of: constructing a first representation of the first object and a second representation of the second object, the second representation defining at least a surface of the second object; determining at least an original Voronoi diagram of the second representation; detecting at least one intersection between the first representation and the second representation; and determining a distance from the at least one point of intersection to the surface of the second object based on a location of the at least one point of intersection within the original Voronoi diagram.