Unity has the Collision Detection option:
- Discrete - When you set the Collision Detection to Discrete, GameObjects with Rigidbody 2Ds and Collider 2Ds can overlap or pass through each other during a physics update, if they are moving fast enough. Collision contacts are only generated at the new position.
- Continuous - When the Collision Detection is set to Continuous, GameObjects with Rigidbody 2Ds and Collider 2Ds do not pass through each other during an update. Instead, Unity calculates the first impact point of any of the Collider 2Ds, and moves the GameObject there. Note that this takes more CPU time than Discrete.
I’m really curious if this option was taken from Box2D or is it Unity specific? I mean did Unity developers implement CCD themselves or did they take it from Box2D?