Intersection of two patch surfaces

I do have to visualize the intersection/collision of two bodies in matlab. So far, I have imported the models through an stl-reader and visualize them in a figure. The "bodies" are visualized by patches and moved along a trajectory. On the path, I would like to visualize any intersection / collision by coloring the patch in a different colour.

Is there an easy way to do this, just by comparing the vertex of each patch giving a tolerance for collision?