Due to sickness and unexpected work, I haven’t had a chance to do some of the updates I’d planned. I’m working on a write-up about computing center of mass, since I botched that badly during the presentation. I still need to do a little more research to make sure I got it right, though. The Mirtich and Eberly presentations are mostly formula manipulation, and not intuitive from the geometric standpoint.
Until then, here’s an article by Joe van den Heuvel and
Miles Jackson regarding sphere collision: Pool Hall Lessons. Someone recommended it as an alternative method for dynamic sphere-sphere collision. Looking at it, it appears that it might be faster than the one I came up with; certainly so in the average case, as it culls out obvious misses early. But again, I haven’t had a chance to do an in-depth analysis of it.