  This paper extends a recently proposed robust computational framework for
constructing the boundary representation (brep) of the volume swept by a given
smooth solid moving along a one parameter family $h$ of rigid motions. Our
extension allows the input solid to have sharp features, i.e., to be of class
G0 wherein, the unit outward normal to the solid may be discontinuous. In the
earlier framework, the solid to be swept was restricted to be G1, and thus this
is a significant and useful extension of that work. This naturally requires a
precise description of the geometry of the surface generated by the sweep of a
sharp edge supported by two intersecting smooth faces. We uncover the geometry
along with the related issues like parametrization, self-intersection and
singularities via a novel mathematical analysis. Correct trimming of such a
surface is achieved by a delicate analysis of the interplay between the cone of
normals at a sharp point and its trajectory under $h$. The overall topology is
explicated by a key lifting theorem which allows us to compute the adjacency
relations amongst entities in the swept volume by relating them to
corresponding adjacencies in the input solid. Moreover, global issues related
to body-check such as orientation are efficiently resolved. Many examples from
a pilot implementation illustrate the efficiency and effectiveness of our
framework.
