I finally got my ellipsoid-triangle collision code to work perfectly (at least on my testbed application), it was pretty hard getting rotation into consideration and all that but finally works as I wanted to.

In the way I learned a couple of things about barycentric coordinates and quaternions, its great to actually see how you've improved over time [smile]

Anyway, for those who asked for pictures, here is the solution I found for the problem I asked about on this thread:

notice how the blue point under the ellipsoid is positioned exactly where the ellipsoid and the triangle touch.

Finally, I may actually advance the Aeon Engine.