Kinetic triangulation problems are formulated similar to this. I've written an algorithm for a specific kind of triangulation schema [1] where collision events

Kinetic triangulation problems are formulated similar to this. I've written an algorithm for a specific kind of triangulation schema [1] where collision events are sorted as quadratic inequalities. The math becomes quite involved when robustness is required and floating point representation is avoided. You have to treat the irrational time points of collision events as existing but expressed implicitly, as in a sort of unevaluated symbolic form. Kind of like imaginary numbers. [1] https://github.com/mpihlstrom/femton https://github.com/mpihlstrom/femton