Its finding that moment. Sphere to sphere collision does alllow both entities to move though. Why is that simpler? There is just a radius and it is unaffected by rotation. Just calculating box to box will I think involve a lot of checks and nasty integration to find the moment of collision. Poly to poly is even nastier of course and is probably based on some sort of bounding box check first. So it can be done as ODE and the like show, just not as quickly or simply. I would not have a clue where to begin anyway. You could look into obb to obb intersection tests, rotational interpolation using quaternions and advanced euler integration though :0)
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