Continuous Collision Detection

Continuous Collision Detection is the science of deciding how an when multiple bodies collide. Sometimes CCD is referred to as 4D-CCD, but this term is not really valid because CCD only uses time-axis-orthogonal hyper-slices.

Rigid Body Continuous Collision Detection

Rigid-body-CCD, was the topic of Wouter L. B. Buddingh' his Master's thesis [1].

The reference above is to Wouter Buddingh' his master thesis. You might also want to read the paper. The original publication date would have been The third or Janurari 2017 [2]. D2M is a product of Eindhoven University of Technology.