RigidbodyInterpolation.Extrapolate

Extrapolation will predict the position of the rigidbody based on the current velocity.

If you have fast moving objects this can lead to rigidbodies passing through colliders for one frame and then snapping back.

JavaScripts

using UnityEngine;
using System.Collections;

public class example : MonoBehaviour {
void Awake() {
rigidbody.interpolation = RigidbodyInterpolation.Extrapolate;
}
}

import UnityEngine
import System.Collections

class example(MonoBehaviour):

def Awake():
rigidbody.interpolation = RigidbodyInterpolation.Extrapolate