unity-convexhull
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semidefined programming
https://ja.wikipedia.org/wiki/%E5%8D%8A%E6%AD%A3%E5%AE%9A%E5%80%A4%E8%A8%88%E7%94%BB%E5%95%8F%E9%A1%8C
https://ja.wikipedia.org/wiki/%E5%8D%8A%E6%AD%A3%E5%AE%9A%E5%80%A4%E8%A8%88%E7%94%BB%E5%95%8F%E9%A1%8C