diff --git a/src/game.c b/src/game.c
index 11f493a5..3432d3cb 100644
--- a/src/game.c
+++ b/src/game.c
@@ -969,9 +969,6 @@ INTERNAL void solve_contacts(f32 dt, b32 apply_bias)
 
 
 
-
-
-
 /* ========================== *
  * TESTING MOTOR JOINT
  * ========================== */
@@ -1476,8 +1473,15 @@ INTERNAL void integrate_positions_from_velocities(f32 dt)
 INTERNAL f32 toi(struct collider_shape *c0, struct collider_shape *c1,
                  struct xform xf0_t0, struct xform xf1_t0,
                  struct xform xf0_t1, struct xform xf1_t1,
-                 f32 tolerance)
+                 f32 tolerance, u32 max_iterations)
 {
+    f32 t0 = 0;
+    f32 t1 = 1;
+    f32 t0_sep = 0;
+    f32 t1_sep = 0;
+    f32 t = 0;
+    f32 t_sep = F32_INFINITY;
+
     /* Find direction p0 -> p1 at t=0 */
     struct v2 dir;
     struct v2 dir_neg;
@@ -1487,49 +1491,71 @@ INTERNAL f32 toi(struct collider_shape *c0, struct collider_shape *c1,
             /* Shapes are penetrating at t=0 */
             return 0;
         }
-        dir = v2_norm(v2_sub(closest_points_res.p1, closest_points_res.p0));
+        dir = v2_sub(closest_points_res.p1, closest_points_res.p0);
+        t0_sep = v2_len(dir);
+        dir = v2_div(dir, t0_sep);  /* Normalize */
         dir_neg = v2_neg(dir);
     }
 
-    /* Safety check that shapes penetrate at t=1 */
-    f32 sep;
     {
         struct v2 p0 = collider_support_point(c0, xf0_t1, dir);
         struct v2 p1 = collider_support_point(c1, xf1_t1, dir_neg);
-        sep = v2_dot(dir, v2_sub(p1, p0));
-        if (sep > tolerance) {
+        t1_sep = v2_dot(dir, v2_sub(p1, p0));
+        if (t1_sep > 0) {
             /* Shapes are not penetrating at t=1 */
             return 1;
         }
     }
 
-    /* Bisect until distance is within tolerance */
-    /* TODO: Implement false position method as well? (should speed up more linear cases) */
-    f32 t0 = 0.0;
-    f32 t1 = 1.0;
-    f32 t = 0.5f;
-    while (math_fabs(sep) > tolerance) {
+    u32 iteration = 0;
+    while (math_fabs(t_sep) > tolerance) {
+        if (iteration >= max_iterations) {
+            /* Not necessarily an error, but this should rarely occur and
+             * should be investigated if it does. If determined not an error then
+             * this assert should be removed or max_iterations / tolerance
+             * adjusted at call site. */
+            ASSERT(false);
+            break;
+        }
+
+        /* Use mix of bisection & false position method to find root
+         * (as described in https://box2d.org/files/ErinCatto_ContinuousCollision_GDC2013.pdf) */
+        if (iteration & 1) {
+            /* Bisect */
+            t = (t1 + t0) / 2.0;
+        } else {
+            /* False position (fastest for linear case) */
+            f32 m = (t1_sep - t0_sep) / (t1 - t0);
+            t = (-t1_sep / m) + t1;
+        }
+
         struct xform xf0 = xform_lerp(xf0_t0, xf0_t1, t);
         struct xform xf1 = xform_lerp(xf1_t0, xf1_t1, t);
 
         struct v2 p0 = collider_support_point(c0, xf0, dir);
         struct v2 p1 = collider_support_point(c1, xf1, dir_neg);
-
-        sep = v2_dot(dir, v2_sub(p1, p0));
+        t_sep = v2_dot(dir, v2_sub(p1, p0));
 
         /* Update bracket */
-        if (sep > 0) {
+        if (t_sep > 0) {
             t0 = t;
+            t0_sep = t_sep;
         } else {
             t1 = t;
+            t1_sep = t_sep;
         }
-        t = (t1 + t0) / 2.0;
+
+        ++iteration;
+    }
+
+    if (iteration > 1) {
+        DEBUGBREAKABLE;
     }
 
     return t;
 }
 
-INTERNAL f32 determine_earliest_toi(f32 dt, f32 tolerance)
+INTERNAL f32 determine_earliest_toi(f32 dt, f32 tolerance, u32 max_iterations)
 {
     __prof;
     f32 smallest_t = 1;
@@ -1579,7 +1605,7 @@ INTERNAL f32 determine_earliest_toi(f32 dt, f32 tolerance)
                 e1_xf_t1 = xform_basis_rotated_world(e1_xf_t1, tick_angular_velocity);
             }
 
-            f32 t = toi(&e0_collider, &e1_collider, e0_xf_t0, e1_xf_t0, e0_xf_t1, e1_xf_t1, tolerance);
+            f32 t = toi(&e0_collider, &e1_collider, e0_xf_t0, e1_xf_t0, e0_xf_t1, e1_xf_t1, tolerance, max_iterations);
             if (t != 0 && t < smallest_t) {
                 smallest_t = t;
             }
@@ -2029,8 +2055,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
                 bullet->bullet_src_dir = rel_dir;
                 //bullet->bullet_impulse = 0.1f;
                 //bullet->bullet_impulse = 0.25f;
-                //bullet->bullet_impulse = 5.f;
-                bullet->bullet_impulse = 100000.f;
+                bullet->bullet_impulse = 5.f;
                 bullet->mass_unscaled = 0.04f;
                 bullet->inertia_unscaled = 0.00001f;
                 bullet->sprite_collider_slice = STR("shape");
@@ -2227,13 +2252,13 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
 #if 1
     {
         f32 remaining_dt = dt;
+        integrate_velocities_from_forces(dt);
         while (remaining_dt > 0) {
-            f32 min_toi = 0.000001f;
-            f32 tolerance = 0.001f;
-            f32 earliest_toi = max_f32(determine_earliest_toi(remaining_dt, tolerance), min_toi);
+            const f32 min_toi = 0.000001f;
+            const f32 tolerance = 0.00001f;
+            const u32 max_iterations = 128;
+            f32 earliest_toi = max_f32(determine_earliest_toi(remaining_dt, tolerance, max_iterations), min_toi);
             f32 step_dt = remaining_dt * earliest_toi;
-
-            integrate_velocities_from_forces(step_dt);
             create_contacts();
             create_mouse_joints(game_cmds);