The CCD method used when CCDMode is left unspecified but
continuousCollisionDetection is true (§23, §31).
"swept" rather than "speculative": §31's stated purpose is that "fast
objects may tunnel through thin geometry", and sweeping is the mode that
actually prevents tunnelling in every case, where speculative contacts can
still miss geometry thinner than the speculative margin. A caller who wants
the cheaper mode names it (decision, WP-5.1).
The CCD method used when CCDMode is left unspecified but
continuousCollisionDetectionistrue(§23, §31)."swept"rather than"speculative": §31's stated purpose is that "fast objects may tunnel through thin geometry", and sweeping is the mode that actually prevents tunnelling in every case, where speculative contacts can still miss geometry thinner than the speculative margin. A caller who wants the cheaper mode names it (decision, WP-5.1).