Coldet

ColDet only gives you one collision point when two objects collide, no collision normal and also no penetration depth. So not really.

Thanks.
It's rare how ODE uses OPCODE for colliding Trimeshes. OPCODE does the same as COldet.

Different versions of OPCODE do different things. Not sure which version ODE uses...

Does OPCODE calc the nearest points of two arbitrary shapes?
I've check the OPCODE v1.3, and there is not support for physics collisions.
May ODE uses it only for quickly swept volumnes and detect intersections, but ODE has its own algorithms for get contact information and penetration depht.

A promising collision engine would be Solid, it currently calcs distances between two shapes. However, it behaves wrong when objects are touching. I've used, but it is so unstable.