We present a fast and robust narrow-phase continuous collision detection (CCD) method. Our algorithm is based on the method originally proposed by [Provot 1997]. However, the traditional method has been reformulated analytically so as to obtain more robust collision detection results than other previous CCD methods available, while surpassing the performance of the traditional cubic solverbased methods. The novelties of our method are twofold. First, a new area inclusion test is introduced and analyzed to prove it does not miss a collision, proving our method is robust in terms of false negatives. Second, we provide a dimensional reduction technique to handle degenerate cases exhaustively, thereby enabling it to handle such challenging cases without incurring unnecessary computational overhead.
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