High speed Object Collisionhow to avoid pass through collider object?

Here is a new link to it. http://wiki.unity3d.com/index.php?title=DontGoThroughThings

And here's the C# code.

 // Script from $$anonymous$$ Brauer, Adrian
 // http://wiki.unity3d.com/index.php?title=DontGoThroughThings
 
 using UnityEngine;
 
 public class DontGoThroughThings : $$anonymous$$onoBehaviour
 {
     // Careful when setting this to true - it might cause double
     // events to be fired - but it won't pass through the trigger
     public bool sendTrigger$$anonymous$$essage = false;
 
     public Layer$$anonymous$$ask layer$$anonymous$$ask = -1; //make sure we aren't in this layer
     public float skinWidth = 0.1f; //probably doesn't need to be changed
 
     private float $$anonymous$$imumExtent;
     private float partialExtent;
     private float sqr$$anonymous$$inimumExtent;
     private Vector3 previousPosition;
     private Rigidbody myRigidbody;
     private Collider myCollider;
 
     //initialize values
     void Start()
     {
            myRigidbody = GetComponent<Rigidbody>();
         myCollider = GetComponent<Collider>();
         previousPosition = myRigidbody.position;
         $$anonymous$$imumExtent = $$anonymous$$athf.$$anonymous$$in($$anonymous$$athf.$$anonymous$$in(myCollider.bounds.extents.x, myCollider.bounds.extents.y), myCollider.bounds.extents.z);
         partialExtent = $$anonymous$$imumExtent * (1.0f - skinWidth);
         sqr$$anonymous$$inimumExtent = $$anonymous$$imumExtent * $$anonymous$$imumExtent;
     }
 
     void FixedUpdate()
     {
         //have we moved more than our $$anonymous$$imum extent?
         Vector3 movementThisStep = myRigidbody.position - previousPosition;
         float movementSqr$$anonymous$$agnitude = movementThisStep.sqr$$anonymous$$agnitude;
 
         if (movementSqr$$anonymous$$agnitude > sqr$$anonymous$$inimumExtent)
         {
             float movement$$anonymous$$agnitude = $$anonymous$$athf.Sqrt(movementSqr$$anonymous$$agnitude);
             RaycastHit hitInfo;
 
             //check for obstructions we might have missed
             if (Physics.Raycast(previousPosition, movementThisStep, out hitInfo, movement$$anonymous$$agnitude, layer$$anonymous$$ask.value))
             {
                 if (!hitInfo.collider)
                     return;
 
                 if (hitInfo.collider.isTrigger)
                     hitInfo.collider.Send$$anonymous$$essage("OnTriggerEnter", myCollider);
 
                 if (!hitInfo.collider.isTrigger)
                     myRigidbody.position = hitInfo.point - (movementThisStep / movement$$anonymous$$agnitude) * partialExtent;
             }
            }
 
         previousPosition = myRigidbody.position;
     }
 }