diff --git a/packages/physics-physx/src/PhysXDynamicCollider.ts b/packages/physics-physx/src/PhysXDynamicCollider.ts
index 207795ec32..fa65867c88 100644
--- a/packages/physics-physx/src/PhysXDynamicCollider.ts
+++ b/packages/physics-physx/src/PhysXDynamicCollider.ts
@@ -24,6 +24,8 @@ export class PhysXDynamicCollider extends PhysXCollider implements IDynamicColli
   private static _tempTranslation = new Vector3();
   private static _tempRotation = new Quaternion();
 
+  private _isKinematic = false;
+
   constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {
     super(physXPhysics);
     const transform = this._transform(position, rotation);
@@ -160,30 +162,11 @@ export class PhysXDynamicCollider extends PhysXCollider implements IDynamicColli
    * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
    */
   setCollisionDetectionMode(value: number): void {
-    const physX = this._physXPhysics._physX;
-
-    switch (value) {
-      case CollisionDetectionMode.Continuous:
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-        break;
-      case CollisionDetectionMode.ContinuousDynamic:
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-        break;
-      case CollisionDetectionMode.ContinuousSpeculative:
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
-        break;
-      case CollisionDetectionMode.Discrete:
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-        break;
-    }
+    const effectiveMode =
+      this._isKinematic && value !== CollisionDetectionMode.ContinuousSpeculative
+        ? CollisionDetectionMode.Discrete
+        : value;
+    this._applyCollisionDetectionFlags(effectiveMode);
   }
 
   /**
@@ -197,11 +180,15 @@ export class PhysXDynamicCollider extends PhysXCollider implements IDynamicColli
    * {@inheritDoc IDynamicCollider.setIsKinematic }
    */
   setIsKinematic(value: boolean): void {
-    if (value) {
-      this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
-    } else {
-      this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
+    if (this._isKinematic === value) return;
+    const physX = this._physXPhysics._physX;
+    // PhysX rejects swept CCD when eKINEMATIC is raised
+    if (value && this._pxActor.getRigidBodyFlags(physX.PxRigidBodyFlag.eENABLE_CCD)) {
+      this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
+      this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
     }
+    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eKINEMATIC, value);
+    this._isKinematic = value;
   }
 
   /**
@@ -271,4 +258,24 @@ export class PhysXDynamicCollider extends PhysXCollider implements IDynamicColli
   wakeUp(): void {
     return this._pxActor.wakeUp();
   }
+
+  private _applyCollisionDetectionFlags(value: number): void {
+    const physX = this._physXPhysics._physX;
+    const enableCCD = value === CollisionDetectionMode.Continuous || value === CollisionDetectionMode.ContinuousDynamic;
+    // PhysX rejects enabling swept and speculative CCD at the same time
+    if (enableCCD) {
+      this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
+    }
+    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, enableCCD);
+    this._pxActor.setRigidBodyFlag(
+      physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION,
+      value === CollisionDetectionMode.ContinuousDynamic
+    );
+    if (!enableCCD) {
+      this._pxActor.setRigidBodyFlag(
+        physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,
+        value === CollisionDetectionMode.ContinuousSpeculative
+      );
+    }
+  }
 }
diff --git a/tests/src/core/physics/DynamicCollider.test.ts b/tests/src/core/physics/DynamicCollider.test.ts
index 0ed815b9ca..26c1fac13b 100644
--- a/tests/src/core/physics/DynamicCollider.test.ts
+++ b/tests/src/core/physics/DynamicCollider.test.ts
@@ -56,6 +56,21 @@ describe("DynamicCollider", function () {
     return Math.round(value * 100000) / 100000;
   }
 
+  function getPhysXRigidBody(collider: DynamicCollider) {
+    const nativeCollider = collider._nativeCollider as any;
+    return {
+      actor: nativeCollider._pxActor,
+      flags: nativeCollider._physXPhysics._physX.PxRigidBodyFlag
+    };
+  }
+
+  function expectFlagDisabledBeforeEnabled(calls: unknown[][], disabledFlag: unknown, enabledFlag: unknown) {
+    const disableCallIndex = calls.findIndex(([flag, enabled]) => flag === disabledFlag && enabled === false);
+    const enableCallIndex = calls.findIndex(([flag, enabled]) => flag === enabledFlag && enabled === true);
+    expect(disableCallIndex).toBeGreaterThanOrEqual(0);
+    expect(enableCallIndex).toBeGreaterThan(disableCallIndex);
+  }
+
   beforeAll(async function () {
     engine = await WebGLEngine.create({
       canvas: document.createElement("canvas"),
@@ -503,6 +518,58 @@ describe("DynamicCollider", function () {
     ).toBeTruthy();
   });
 
+  it("defers swept CCD across kinematic transitions", function () {
+    const box = addBox(new Vector3(2, 2, 2), DynamicCollider, new Vector3(0, 0, 0));
+    const boxCollider = box.getComponent(DynamicCollider);
+    const { actor, flags } = getPhysXRigidBody(boxCollider);
+    const setRigidBodyFlag = vi.spyOn(actor, "setRigidBodyFlag");
+    const ccdFlag = () => actor.getRigidBodyFlags(flags.eENABLE_CCD);
+
+    boxCollider.collisionDetectionMode = CollisionDetectionMode.Continuous;
+    expect(ccdFlag()).toBeTruthy();
+
+    setRigidBodyFlag.mockClear();
+    boxCollider.isKinematic = true;
+    expect(ccdFlag()).toBeFalsy();
+    expectFlagDisabledBeforeEnabled(setRigidBodyFlag.mock.calls, flags.eENABLE_CCD, flags.eKINEMATIC);
+
+    setRigidBodyFlag.mockClear();
+    boxCollider.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic;
+    expect(setRigidBodyFlag).not.toHaveBeenCalledWith(flags.eENABLE_CCD, true);
+    expect(ccdFlag()).toBeFalsy();
+    expect(boxCollider.collisionDetectionMode).toEqual(CollisionDetectionMode.ContinuousDynamic);
+
+    boxCollider.isKinematic = false;
+    expect(ccdFlag()).toBeTruthy();
+    expect(actor.getRigidBodyFlags(flags.eENABLE_CCD_FRICTION)).toBeTruthy();
+  });
+
+  it("switches between swept and speculative CCD without overlapping flags", function () {
+    const box = addBox(new Vector3(2, 2, 2), DynamicCollider, new Vector3(0, 0, 0));
+    const boxCollider = box.getComponent(DynamicCollider);
+    const { actor, flags } = getPhysXRigidBody(boxCollider);
+    const setRigidBodyFlag = vi.spyOn(actor, "setRigidBodyFlag");
+    const ccdFlag = () => actor.getRigidBodyFlags(flags.eENABLE_CCD);
+    const speculativeCCDFlag = () => actor.getRigidBodyFlags(flags.eENABLE_SPECULATIVE_CCD);
+
+    boxCollider.collisionDetectionMode = CollisionDetectionMode.ContinuousSpeculative;
+    expect(speculativeCCDFlag()).toBeTruthy();
+
+    setRigidBodyFlag.mockClear();
+    boxCollider.collisionDetectionMode = CollisionDetectionMode.Continuous;
+    expectFlagDisabledBeforeEnabled(setRigidBodyFlag.mock.calls, flags.eENABLE_SPECULATIVE_CCD, flags.eENABLE_CCD);
+    expect(ccdFlag()).toBeTruthy();
+    expect(speculativeCCDFlag()).toBeFalsy();
+
+    setRigidBodyFlag.mockClear();
+    boxCollider.collisionDetectionMode = CollisionDetectionMode.ContinuousSpeculative;
+    expectFlagDisabledBeforeEnabled(setRigidBodyFlag.mock.calls, flags.eENABLE_CCD, flags.eENABLE_SPECULATIVE_CCD);
+    expect(speculativeCCDFlag()).toBeTruthy();
+
+    boxCollider.isKinematic = true;
+    expect(speculativeCCDFlag()).toBeTruthy();
+  });
+
   it("sleep", function () {
     const box = addBox(new Vector3(2, 2, 2), DynamicCollider, new Vector3(0, 0, 0));
     const boxCollider = box.getComponent(DynamicCollider);