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[Zoe Wilson]

The core failure you’re almost certainly hitting with discrete detection at high velocity is tunneling—when a body’s displacement per frame exceeds the thin dimension of a collider, the solver only samples endpoints and never sees overlap. The fix isn’t just “turn on CCD,” because every engine’s CCD has a velocity activation threshold (Bullet’s CCD_SWEPT_SPHERE_RADIUS, Unity’s continuous/dynamic contact mode) that silences CCD on slow bodies and, more insidiously, lets fast-but-thin colliders slip through if your sweep radius is tuned too small. I’d first confirm you’re actually in a tunneling scenario versus a broad

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