"speculative" — contacts are generated ahead of the body from its
predicted motion, so the solver can stop it before it passes through.
"swept" — the body's motion over the step is swept and the step is
sub-divided at the first time of impact.
§23 exposes the on/off switch as RigidBody.continuousCollisionDetection;
this union names which method is used when it is on. ColliderDescriptor
and RigidBodyDescriptor carry both, and their relationship is validated —
see RigidBodyDescriptor.ccdMode.
Which modes an adapter actually implements is declared in
PhysicsCapabilities.ccdModes (§37); an adapter that offers none still lists
"disabled", because doing nothing is always available.
How a body is swept against thin geometry between steps (§31).
"disabled"— discrete collision detection only; the default (DEFAULT_CCD_MODE, Appendix A)."speculative"— contacts are generated ahead of the body from its predicted motion, so the solver can stop it before it passes through."swept"— the body's motion over the step is swept and the step is sub-divided at the first time of impact.§23 exposes the on/off switch as
RigidBody.continuousCollisionDetection; this union names which method is used when it is on.ColliderDescriptorandRigidBodyDescriptorcarry both, and their relationship is validated — seeRigidBodyDescriptor.ccdMode.Which modes an adapter actually implements is declared in
PhysicsCapabilities.ccdModes(§37); an adapter that offers none still lists"disabled", because doing nothing is always available.