We present an event-based scheduling method for time-critical collision detection that meets time constraints by balancing and prioritizing computation spent on intersection tests without starvation. Our approach tests each potentially colliding pair of objects at a different frequency, with unbounded temporal resolution. We preserve believability by adaptively prioritizing intersection tests to reduce errors in collision detection, using information about the objects and scene. By combining kinetic sweep and prune with stride scheduling we interleave rendering, broad phase collision pruning, narrow phase intersection testing, and collision response. This approach accrues no per-frame overhead and allows interruption at any point in collision detection, including the broad phase.