   Dynamic sphere vs Dynamic Polygon collision detection
  I'm trying to detect collision detection between a dynamic sphere and a dynamic polygon. I have in place a working system for detecting collision detection between a dynamic sphere and a static polygon and I wish to extend this system to handle dynamic sphere - dynamic polygon collision.The question is: what to do when a collision is found? I'm planning to give the polygon total right of way and move the sphere into it's new position, tangent to the moving polygon. This will look like the sphere will get knocked off by the dynamic polygon when a collision will be found.To extend the static polygon - dynamic sphere collision detection system I'm planning to make some hacks. I'm currently just adjusting the sphere's velocity to compensate for the dynamic polygon's movement, and then just treat the collision as a swept sphere-static polygon collision. To make this even simpler, I'm gonna let the dynamic polygon only to move(by translation) and not to rotate.So here's what I'm doing:// currentPos = current sphere position// nextPos    = next sphere position// velocity   = velocity of the sphereCVector3D vAdjust = currentPolygonPosition - previousPolygonPosition;velocity -= vAdjust;nextPos = currentPos + velocity;// make a swept sphere - static polygon test IntersectionPoint += vAdjust;  The problem is: the collision is sometimes missed(not all the time) when the objects move very fast, and I don't understand why. What could be the cause?   