Tools that assist with penetration in the Unity Engine.
First, install dependencies:
https://github.com/naelstrof/com.naelstrof.splines.git
https://github.com/naelstrof/UnityJigglePhysics.git#upm
then, finally
https://github.com/naelstrof/DynamicPenetrationForGames.git#upm
Alternatively you can install it by git-cloning manually into the Packages folder, since git permissions are wonky with private repos.