Offset Geometric Contact

[Zefirchiky]

OGC can guarantee fast penetration-less collision. Especially useful for cloth and such.

It is cheap, highly parallelizable, and seems to benefit greatly from ECS.

I'm not expert, so don't take my words for granted.
Not sure if you will be interested, this is pretty new, but it might be worth looking into.

[Jondolf]

My understanding is that OGC (like you mention) is primarily useful for things like cloth, which we don't really have currently. It's worth looking into if/when we add cloth support though!