I've always enjoyed this document regarding continuous collision detection: https://github.com/bepu/bepuphysics2/blob/master/Documentation/ContinuousCollisionD

I've always enjoyed this document regarding continuous collision detection: https://github.com/bepu/bepuphysics2/blob/master/Documentation/ContinuousCollisionDetection.md https://github.com/bepu/bepuphysics2/blob/master/Documentati... The library itself is amazing in terms of performance. It is a bit challenging to integrate with though due to the amount of optimization involved.