It's obvious that two rigid bodies in tree-dimensional space cannot penetrate their structures. Suppose you want to create Asteroids-3D; the objective architecture is already well-known, and the only thing you have to implement is collision detection (collision sensor: mesh-to-mesh). You've chosen the classical approach to physic simulation: time step with Eulerian velocity integrator.
Two rigid bodies (f.e. convex 
flies in space. It would be a good heuristic if those monoliths have their dt time to move (as the only ones in the scene) for themselves. So the body B doesn't change it's position. The body A and B have the properties:
A,B - position (of the center of mass) in space (as a Vector3),
A,B - orientation (as a Quaternion),
A - velocity (as a Vector3)
A - rotation speed (as a Quaternion),
A,B - proper structure (array of points, if not convex - array of faces)
A,B - inertia tensor (Matrix3x3)
How to find the exact point of collision (if occurs)?
