scordee, Irana Denissen will implement ellipsoids and rods
General non-spherical particles
http://www.sciencedirect.com/science/article/pii/S0009250914007040: article with many references and some basics about moment of inertia.
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Notes from Wouter, this is what Thomas used to implement quaternions.
Cylinders
Contact detection
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This group has already implemented rods, maybe we can just copy their algorithms? They seem to work pretty well. First paper is algorithm description, second paper validation.
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More modern paper, which reduces contact detection of cylinders to 2D contact detection between sphere and ellipse, and sphere and line.
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Old paper, which does not cover all cases. Source code is available though:
http://www.sklogwiki.org/SklogWiki/index.php/Rev._source_code_for_the_minimum_distance_between_two_rods_in_C
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Inertial moment computation
Ellipsoids (or maybe superquadrics?)
Contact detection
Option from Matuttis-Cheng book: write as generalised eigenvalue problem (this book advises against using ellipsoids)
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