MaxPhysics Community Project : Main

Good links
http://www.peroxide.dk/download/tutorials/tut10/pxdtut10.html

www.three14.demon.nl/sweptellipsoid/SweptEllipsoid.pdf

http://www.fluidstudios.com/pub/FluidStudios/CollisionDetection/Fluid_Studios_Generic_Collision_Detection_for_Games_Using_Ellipsoids.pdf