A computing device, including a processor configured to execute a physics engine. The physics engine may, for a first body having a first position and a velocity vector, determine that a second position along the velocity vector is located outside a first non-collision region for the first body and a second body. The physics engine may determine a safe position along the velocity vector at which the first body would lie tangent to a first separation plane. The physics engine may determine an advanced position along the velocity vector between the safe position and the second position, and may determine an advanced separation plane. The advanced separation plane may have an advanced normal vector based on the advanced position. The physics engine may move the first body to a new position based on the velocity vector and the advanced separation plane.