Continuous Collision Detection
From Wouter's wiki
A long time ago, I started taking an interest in CCD. Continuous Collision Detection is modeled in 4D, but is actually 3.5D. I started out making a demo in 2D to kick-start my master's project.
The initial 2D project heavily relied on first-order Taylor-models and interval-arithmetic.
The 3D-version computes the TOC between two rigid-bodies that are simultaneously translating and rotating.
If you want a gentle introduction into CCD, read [1].
For skilled mathematicians there is also a paper [2].
Within the paper, D2M refers to the root-finder as well as to the CCD package. The root-finder can find roots within any function of continuity class C_2 (all roots are reported in chronological order).