So after some thought, i decided tha GJK was interesting enough, so i gave a shot at implementing it. So far, i got a working version based on the freeSOLID code that detects whether a collision has occured. Now, i need to implement penetration depth. I took a look at the expanding polytope algo (EPA), but it seems that it only finds the the shortest penetration depth, regardless of direction. What i need is the penetration depth in a specific direction (ie. relative velocity of the objects). Anyone know of any good algos for finding this? Thanks.

nevermind, i think i got it. Just a slightly modified version of EPA.