Inverse SDF Collision Detection
Whilst we have static SDF collision detection rigid SDF collision detection is also relatively easy. Supply the CD with a rigid transform and we can inverse transform back into the SDF for CD. This should be as simple as applying the currently set geometries transform inverse to every point before sampling in the SDF for ImplicitGeometryToPointSetCD.
We can also do it for tetrahedral meshes by inversing the deformation of the tetrahedron.