Physics + collision detection

Hello I am implementing a simulation of rigid body dynamics, but I am having torubles with my collision detection lib. Currently I am using the OPCODE collision detection library which works fine but my troube is that the OPCODE just return the list of intersecting triangles and for my physics routins handle collisions, I need the intersection point, the normal, and a penetration depht value. So I really appreciate so much if someone could point me to some triangle - triangle intersection test which return intersection point, normal, and penetration value, or maybe someone could tell me about free collision detection libs which suport phyisics sims. Thanks in advance Oscar