A novel algorithm, which can check the collision point of rigid objects continuously and solve the problem of penetration and crossing in collision detection effectively, is presented in this paper. At each simulation moment, the adaptive test lines (ATLs) are first constructed based on the velocity vector of the moving object and then the intersection between the ATLs and the environment is calculated. The collision happens when the intersection is not empty and the collision point is obtained through crossing-frame processing. By checking the interference between body and ATLs instead of bodies, we greatly improve the detection efficiency. It avoids missing collisions for an object with arbitrary shape or in any motion states. Simulation results show that our algorithm runs faster than the general continuous collision detection algorithms and has similar detection effects to the swept volume algorithm.