Unity Game Optimization - Third Edition

Preferring discrete collision detection

Discrete collision detection is relatively cheap since teleporting objects once and performing a single overlap check between nearby object pairs is a relatively trivial amount of work to perform in a single timestep. The amount of calculation required to perform continuous collision detection is significantly higher since it involves interpolating both objects between their starting and ending positions while analyzing for any slight bounding volume overlaps between these points as they might occur during the timestep.

Consequently, the Continuous collision detection option is an order of magnitude more expensive than the Discrete detection method, whereas the ContinuousDynamic collision detection ...