So, the function you gave me may work just fine for what I need.. but, if there's a different way to go about it, lemme know. OR, if there's a better alternative to Xith I'm open to all ears.. I just don't know enough about *game* programming to tell if it's the best option or not.
Well, of course, there's no better option than Xith3D

. There's jmonkey-engine. I've never used it... There may be some differences... But I tell you, that Xith3D will be fine for you. If there's anything missing, just tell us, and we will see, if we can add it

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For the keyframe animation and collision detection thing: I've never used keyframe animation. Well, if it is, what the MD2Model does when its own animations are used, then I have. Anyway MDS supports animations, our loader supports them, too. And they're displayed in a xith3d scenegraph.
We also have a collision system built in in xith3d. But it's quite slow and doesn't alsways work. We're currently discussing, how to go to better way. This better way, which is already working very well, is to use
JOODE. It is a full featured physics lib, which of course has a collision system.
So you don't need to check all the vertices, normals, etc. from the geometry on your own. JOODE does everything for you

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Marvin