**Vr**(1+e) / {1/m1 + 1/m2 +

**n**. [(

**r1**x

**n**)/

**I1**] x

**r1**+

**n**. [(

**r2**x

**n**)/

**I2**] x

**r2**} J - The scalar impulse

**Vr**- The relative closing velocity of the two bodies e - The coefficient of restitution m1 - The mass of rigid body 1 m2 - The mass of rigid body 2

**n**- The normal of the collision

**r1**- The vector from the center of mass of rigid body 1 to the point of collision

**r2**- The vector from the center of mass of rigid body 2 to the point of collision

**I1**- Inertia tensor for rigid body 1

**I2**- Inertia tensor for rigid body 2 I apply the impulse to the objects as such.

**v1**=

**v1**+ (J

**n**)/m1

**v2**=

**v2**+ (-J

**n**)/m2

**w1**=

**w1**+ (

**r1**x J

**n**)/I1

**w2**=

**w2**+ (

**r2**x -J

**n**)/I2

**v1**- Velocity of rigid body 1

**v2**- Velocity of rigid body 2

**w1**- Angular velocity of rigid body 1

**w2**- Angular velocity of rigid body 2 I have tested this and everything works correctly. The thing that I'm clueless about is when I then decide to throw dynamic/kinetic friction into the equation. So far from the books I'm reading this is what I have been able to figure out. This is the updated equations to update the rigid bodies.

**v1**=

**v1**+ [J

**n**+ (uJ)

**t**]/m1

**v2**=

**v2**+ [-J

**n**+ (uJ)

**t**]/m2

**w1**=

**w1**+ {

**r1**x [J

**n**+ (uJ)

**t**]}/I1

**w2**=

**w2**+ {

**r2**x [-J

**n**+ (uJ)

**t**]}/I2 u - The coefficient of friction

**t**- The tangent normal, this is a unit vector that is perpendicular to the contact normal. The tangent normal is calculated with this equation.

**t**= [(

**n**x

**Vr**) x

**n**]

**t**=

**t**/|

**t**| I can understand the concept of what his happening in the above equations. I also know that I'm going to need to change the impulse calculation equation because of friction, although I'm not sure how this is done. The books I have only skim over this aspect and I'm a little unsure how to continue. I would imagine it is not difficult, although my searching has not turned up any useful information. So my question is, when two rigid bodies collide in a frictional envionrment how does one go about calculating the impulse? Thank for reading. :p