1. A method of speculating a collision, comprising: determining vertices of a first object, a second object, and a motion vector indicative of a motion of the first object, wherein the first and second objects are polyhedra; detecting a collision by determining if an origin, comprising an intersection of the motion vector and the second object, is within a vectorial sum that comprises a vector set of vertices of the first object, the second object and the motion vector; if a collision is detected: determining a shifted motion vector beginning at about the origin and having substantially the same orientation as the motion vector; determining at least one tetrahedron comprising four vertices of the vectorial sum, wherein the origin is within the tetrahedron; if a side of the tetrahedron overlaps with a side of the vectorial sum, wherein the shifted motion vector intersects the side, determining a length of a line segment between the origin and an intersection point of the shifted motion vector and the side based on a set of coordinates of the vertices of the side and the shifted motion vector; and determining a time of the collision based, in part, on the length of the line segment and shifted motion vector.