How to enhance the collision detector

[TSy]

The collision detection is by default done only when the world is rendered.

Confidence in collision detection

I think in general VC’s collision detection does not support any kind of “penetration depth” analysis. It simply calculates whether any of the triangles of the chosen mesh geometries intersect, and if distance is desired to be known, minimum distance between those meshes by calculating distances between vertices, edges, and triangle faces. Also the meshes generally don’t have “inside” and “outside” defined, but it makes no difference for this particular purpose which only considers intersection…

You can use IApplication.TestAllCollisionDetectors() to force a test to occur.
If you want to run some logic at specific times of simulation time (such as regular interval), use ISimulation.ScheduleCallback(...) method.