scordee, Irana Denissen will implement ellipsoids and rods
Cilinders
Some 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.
Contact detection
Force computation
Inertial moment computation
Ellipsoids
Contact detection
Option from Matuttis-Cheng book: write as generalised eigenvalue problem (this book advises against using ellipsoids)