Angular velocities are ignored, Position velocities is be used.
Convex-convex and convex-mesh collisions.
CSO(configuration space obstacle) of A ad B is the set of all vector from B to A ( A - B )
Point queries are easier than queries on pairs of shapes.
Intersection testing: if object is involved in CSO.
Separating Axis method
Test all face normals and all cross products of edge directions.
GJK Ray test ?