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[Jack Brown]

Great topic, and honestly the tunneling problem hits harder than most people realize once you’re dealing with fast projectiles. The core issue with pure discrete detection is that you’re only sampling positions at frame boundaries, so a high-velocity object with a small collision radius can completely sail between two adjacent frames without ever overlapping a thin collider — classic tunneling. The fix in CCD is a sweep-based approach where instead of checking overlap at a single timestep, you test the object’s swept volume (swept sphere for round projectiles, swept convex hull for complex meshes) against the scene and solve for the exact Time of Impact (TOI). In practice engines like Bullet and PhysX lean on swept GJK/EPA or SAT-over-time for the broad/medium phase,

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