They almost kind of penetrate each other at the tips of the objects, then they get pushed back a little. For example, when you crash a car into a wall, a small part of the bumper goes through the wall then kinda gets pushed back idk how to explain it.
In:
It did go through the wall and then was pushed back. Every frame in a video game is an approximation. You only have one frame (1/60 or 1/30 or whatever of a second) to decide what happened, and might have to correct it on the next one.
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