What is Collision Detection

I’ve been using Unity for a while and i realised that there are 3 options to collision detection:
Discrete,Continuous and Continuous Dynamic. But… What this does? I never used it before, and sincerely, i don’t think i need to use it, but what it is and does?

I have read all the collision tab on the manual,searched in the internet, but this isn’t mentioned. NEVER. So… What it does? I selected and tested all options with multiple prefabs but it doesn’t affect them in anything.

Start with Discrete, which has the least impact on performance. If that works for you, great.

However, if you have fast moving objects you might have collisions that don’t get registered with discrete settings though, in which case you should set the fast moving things to Continuous dynamic, and the things that the fast-moving things collide with to Continuous. Note this has a substantial impact on performance though.

This is explained in the manual: Unity - Scripting API: Rigidbody.collisionDetectionMode