SurfaceMeshToMeshCD
We currently have ClosedSurfaceMeshToMeshCD. This only works for closed surfaces. It is good for deep contacts.
We do not have the more traditional SurrfaceMeshtoMeshCD, which only locally gives resolution. IE: It checks intersection between all the elements (triangles or lines). Then computes resolutions of those elements. The hope being that only small overlaps occur at small dts and if deep contacts happen they would eventually resolve (objects could get stuck). The pro of this method is that it is easily spatially partitioned whereas ClosedSurfaceMeshToMeshCD is not as it tries to find global resolution.
This is usually done with a clipping method. Such method can be found in Bullet or ODE.