I'm trying to program collision detection between moving convex polygons. To detect collisions, my program uses the GJK algorithm, and to resolve the collisions, it uses EPA. The problem with EPA is that it returns the vector to resolve the collision with the minimum distance, rather than returning the locations of the polygons at the time of the collision. Is there an algorithm that does that?
Edit: I realize my question is hard to understand, so let me rephrase/slightly change it: What continuous/predictive collision detection algorithm would you suggest?