For information about how to use this in the program see dynamics tutorial . The following is an analytical approach to collisions, see here for a numerical approach to collisions . The dynamics equations for a single object were covered in the previous page . Here we extend this analysis to two objects so that we can calculate the result of a collision between the objects. Linear momentum, angular momentum and energy is passed between the colliding shapes at the point of collision by means of impulse.
Impulse is the integral of force over time.
This is measured in Newton-seconds. For rigid body collisions, this is assumed to happen in an infinitesimally small time. Collisions in 3 dimensions is quite a complex problem, so I think I'll try 1 dimension first, then try to build up to 2 and then 3 dimensions. To work out the velocities after the collision we use conservation of momentum. The objects connect, the final velocity of each object is the same, energy is lost to deform the objects.