Instrinsic definition of concave and convex polyhedron

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Is it possible to distinguish a concave polyhedron from a convex one by mesurements made only on its surface, without a reference to the 3d space around it?

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No. Consider (a) a pyramid atop a cube (convex), and (b) a cube with a pyramidal piece cut out of one face (not convex). As intrinsic surfaces, these are isometric.

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