Anyone have links to open-source convex hull collision detection with penetration depth?

You might also try the free version of SOLID, which uses GJK to compute static intersection information, and presumably handles arbitrary convex hulls (although I can't say that for sure). Static intersection with penetration depth is fairly easy to code yourself using the separating axis theorem; unfortunately, the SAT doesn't scale well for arbitrary convex polytopes so may not be a viable solution. A Minkowski-based solution such as GJK or the paper nire linked to would probably be preferable.