In my physics engine, I'm using impulses to solve collisions. I'm basing all calculations on these equations: impulse = desired_velocity_change * mass impulse = force * time friction_force <= normal_force * coefficient If an object moves along flat ground (infinite mass), after integration it'll be moving slowly "into" the ground due to gravity. This means that the impulse needed to react to that (given the restitution equals 0) will be the velocity in the direction of the contact normal, mul...
