Comment from your resident lawyer:

>It'd be a great project if someone wants to tackle it, though.  If you
>could plug in a C module (like UNC's VCollide) you could leverage someone
>else's work. Maybe we could talk one of Mark Guzdial's students into doing
>it.  Or y'all can wait until after I get my PhD.  =)

According to the website, VCollide is not freely available for 
commercial use. (I haven't studied the license)

Accordingly, we might run into a license trap if we adopted it.

I know this isn't what anyone wants to hear.  Sorry.