Evaluation of the volume of intersection of a sphere with a cylinder by elliptic integrals

We have developed an analytic expression for the volume of intersection of any cylinder with any sphere in the usual three-dimensional space. To our knowledge, it is the first time that an exact expression, valid in all cases, is presented for this volume. Here we derive this expression, show how it can be implemented numerically, and give examples of its usefulness for physics, as for example the fast evaluation of the number of participants in relativistic collisions of nuclei.