In his paper (Milnor, The Schläfli Differential equality, Collected Works, vol 1, Publish or Perish, Houston, 1994) Milnor conjectured that the volume V n of compact n-dimensional hyperbolic and spherical simplices, as a function of the dihedral angles, extends continuously to the closure A of the space A of allowable angles ("The continuity conjecture"), and furthermore, V n (a ∈ ∂A) = 0 if and only if a lies in the closure of the space of angles of Euclidean simplices ("the Vanishing Conjecture"). A proof of the Continuity Conjecture was given by Luo (Commun. Contemp. Math. 8(3), 411-431, 2006 -Luo's argument uses Kneser's formula, Deutsche Mathematik 1, [337][338][339][340] 1936 together with some delicate geometric estimates). In this paper we give a simple proof of both parts of Milnor's conjecture, prove much sharper regularity results, and then extend the method to apply to all convex polytopes. We also give a precise description of the boundary of the space of angles of convex polyhedra in H 3 , and sharp estimates on the diameter of a polyhedron in terms of the length of the shortest polar geodesic.