How to calculate linear and angular velocity of a 3d object pushed at a certain point

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Hi I've got a got a triangular pyramid and if I were to push one of it's surfaces at a certain point, direction and force, I want to be able calculate its linear and angular velocity as a result of that. So what equations would I use to do this? eg using mass, torque etc. Thanks

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A classic reference on the subject is the series of papers by David Baraff. I'm not sure where to find these online, though (anyone have a link?). Another great reference is Chris Hecker's articles.

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Ok what I've got so far is:
Vector3 pushPoint(5,3,10);Vector3 force(3,3,3);Vector3 torque = (pushPoint-objectPosition).getCrossProduct(force);linearVelocity+=force;angularVelocity+=torque;

Except right now I'm not sure if this is very correct, and how would I incorporate the mass of the object having any effect on the force and the amount of the object's linear and angular velocity.

btw I'm finding those tutorials a bit hard to get by so bear with me :), as i've forgotten alot about calculus.

thanks

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hey where did jyk's post go? i was going implement that when i got home!

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