Polyhedra inscribed in a quadric

We study convex polyhedra in three-space that are inscribed in a quadric surface. Up to projective transformations, there are three such surfaces: the sphere, the hyperboloid, and the cylinder. Our main result is that a planar graph $$\Gamma $$ is realized as the 1-skeleton of a polyhedron inscribed in the hyperboloid or cylinder if and only if $$\Gamma $$ is realized as the 1-skeleton of a polyhedron inscribed in the sphere and $$\Gamma $$ admits a Hamiltonian cycle. This answers a question asked by Steiner in 1832. Rivin characterized convex polyhedra inscribed in the sphere by studying the geometry of ideal polyhedra in hyperbolic space. We study the case of the hyperboloid and the cylinder by parameterizing the space of convex ideal polyhedra in anti-de Sitter geometry and in half-pipe geometry. Just as the cylinder can be seen as a degeneration of the sphere and the hyperboloid, half-pipe geometry is naturally a limit of both hyperbolic and anti-de Sitter geometry. We promote a unified point of view to the study of the three cases throughout.