diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 70f9b9c4bf..6ccf9df9c6 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -10,6 +10,7 @@
 
 #include <glm/gtx/norm.hpp>
 
+#include "GeometryUtil.h"
 #include "ShapeCollider.h"
 
 // NOTE:
@@ -19,7 +20,7 @@
 
 namespace ShapeCollider {
 
-bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions) {
+bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions) {
     // ATM we only have two shape types so we just check every case.
     // TODO: make a fast lookup for correct method
     int typeA = shapeA->getType();
@@ -49,6 +50,30 @@ bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisi
     return false;
 }
 
+static CollisionList tempCollisions(32);
+
+bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision) {
+    tempCollisions.clear();
+    foreach (const Shape* shapeA, shapesA) {
+        foreach (const Shape* shapeB, shapesB) {
+            ShapeCollider::collideShapes(shapeA, shapeB, tempCollisions);
+        }
+    }
+    if (tempCollisions.size() > 0) {
+        glm::vec3 totalPenetration(0.f);
+        glm::vec3 averageContactPoint(0.f);
+        for (int j = 0; j < tempCollisions.size(); ++j) {
+            CollisionInfo* c = tempCollisions.getCollision(j);
+            totalPenetration = addPenetrations(totalPenetration, c->_penetration);
+            averageContactPoint += c->_contactPoint;
+        }
+        collision._penetration = totalPenetration;
+        collision._contactPoint = averageContactPoint / (float)(tempCollisions.size());
+        return true;
+    }
+    return false;
+}
+
 bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, CollisionList& collisions) {
     glm::vec3 BA = sphereB->getPosition() - sphereA->getPosition();
     float distanceSquared = glm::dot(BA, BA);
@@ -407,7 +432,7 @@ bool listList(const ListShape* listA, const ListShape* listB, CollisionList& col
     for (int i = 0; i < listA->size() && !collisions.isFull(); ++i) {
         const Shape* subShape = listA->getSubShape(i);
         for (int j = 0; j < listB->size() && !collisions.isFull(); ++j) {
-            touching = shapeShape(subShape, listB->getSubShape(j), collisions) || touching;
+            touching = collideShapes(subShape, listB->getSubShape(j), collisions) || touching;
         }
     }
     return touching;
diff --git a/libraries/shared/src/ShapeCollider.h b/libraries/shared/src/ShapeCollider.h
index e3e044c8fe..841a607bc3 100644
--- a/libraries/shared/src/ShapeCollider.h
+++ b/libraries/shared/src/ShapeCollider.h
@@ -19,9 +19,15 @@ namespace ShapeCollider {
 
     /// \param shapeA pointer to first shape
     /// \param shapeB pointer to second shape
-    /// \param[out] collisions where to append collision details
+    /// \param collisions[out] collision details
     /// \return true if shapes collide
-    bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions);
+    bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions);
+
+    /// \param shapesA list of shapes
+    /// \param shapeB list of shapes
+    /// \param collisions[out] average collision details
+    /// \return true if any shapes collide
+    bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision);
 
     /// \param sphereA pointer to first shape
     /// \param sphereB pointer to second shape
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index 7aeec84651..0960f7628a 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -40,7 +40,7 @@ void ShapeColliderTests::sphereMissesSphere() {
 
     // collide A to B...
     {
-        bool touching = ShapeCollider::shapeShape(&sphereA, &sphereB, collisions);
+        bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
         if (touching) {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -49,7 +49,7 @@ void ShapeColliderTests::sphereMissesSphere() {
 
     // collide B to A...
     {
-        bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
         if (touching) {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -58,7 +58,7 @@ void ShapeColliderTests::sphereMissesSphere() {
 
     // also test shapeShape
     {
-        bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
         if (touching) {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -90,7 +90,7 @@ void ShapeColliderTests::sphereTouchesSphere() {
 
     // collide A to B...
     {
-        bool touching = ShapeCollider::shapeShape(&sphereA, &sphereB, collisions);
+        bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
         if (!touching) {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphereA and sphereB should touch" << std::endl;
@@ -133,7 +133,7 @@ void ShapeColliderTests::sphereTouchesSphere() {
 
     // collide B to A...
     {
-        bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
         if (!touching) {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphereA and sphereB should touch" << std::endl;
@@ -196,7 +196,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
         sphereA.setPosition(rotation * localPosition + translation);
 
         // sphereA agains capsuleB
-        if (ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+        if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphere and capsule should NOT touch"
@@ -204,7 +204,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
         }
 
         // capsuleB against sphereA
-        if (ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+        if (ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphere and capsule should NOT touch"
@@ -238,7 +238,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     {   // sphereA collides with capsuleB's cylindrical wall
         sphereA.setPosition(radialOffset * xAxis);
 
-        if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphere and capsule should touch"
@@ -269,7 +269,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
 
         // capsuleB collides with sphereA
-        if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and sphere should touch"
@@ -305,7 +305,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
         sphereA.setPosition(axialOffset * yAxis);
         
-        if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphere and capsule should touch"
@@ -336,7 +336,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
 
         // capsuleB collides with sphereA
-        if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and sphere should touch"
@@ -372,7 +372,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
         sphereA.setPosition(axialOffset * yAxis);
         
-        if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: sphere and capsule should touch"
@@ -403,7 +403,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
 
         // capsuleB collides with sphereA
-        if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and sphere should touch"
@@ -459,13 +459,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
 
     // side by side
     capsuleB.setPosition((1.01f * totalRadius) * xAxis);
-    if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
             << std::endl;
     }
-    if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
@@ -474,13 +474,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
 
     // end to end
     capsuleB.setPosition((1.01f * totalHalfLength) * xAxis);
-    if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
             << std::endl;
     }
-    if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
@@ -491,13 +491,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
     capsuleB.setRotation(rotation);
     capsuleB.setPosition((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
-    if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
             << std::endl;
     }
-    if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: capsule and capsule should NOT touch"
@@ -529,7 +529,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
 
     { // side by side
         capsuleB.setPosition((0.99f * totalRadius) * xAxis);
-        if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -537,7 +537,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         } else {
             ++numCollisions;
         }
-        if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -550,7 +550,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     { // end to end
         capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
 
-        if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -558,7 +558,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         } else {
             ++numCollisions;
         }
-        if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -573,7 +573,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         capsuleB.setRotation(rotation);
         capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
 
-        if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -581,7 +581,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         } else {
             ++numCollisions;
         }
-        if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -599,7 +599,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         capsuleB.setPosition(positionB);
 
         // capsuleA vs capsuleB
-        if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -628,7 +628,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         }
 
         // capsuleB vs capsuleA
-        if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"
@@ -666,7 +666,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         capsuleB.setPosition(positionB);
 
         // capsuleA vs capsuleB
-        if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
                 << " ERROR: capsule and capsule should touch"