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tenseiga

Angular Collision Momentun Xfer Question

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Hey, looks like its my first post. shame that its a question though. But here goes. I'm trying to implement a 2d physics engine which will have rotation as well as local forces i.e. forces that could rotate the object. The problem i'm facing is that if objects collide, their velocity at the point of collision can be calculated as linear velocity + tangential velocity due to rotation at that point. However i cant figure out how to transfer momentum from one object to another, since the momentum is mixed up as angular as well as lateral motion. For example the momentum from the angular motion of one object can be transfered as lateral momentum to anotehr object through a collision. However the equation of conservation of momentum requires initial velocity, final velocity and mass. theres no provision for angular momentum xfer. The closest thing i can think of is taking the tangential velocity + lateral velocity at taht point as the velocity, and the mass + moment of inertia as M anyone got any suggestions?

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