Rigid Body Physics Rotations

Question

I\'m wanting to create a physics engine within Java. However it\'s not the code I\'m bothered about. It\'s simply the math of rigid body physics, specifically forces and how the

Answer 1

Applied forces do not play a role in the calculation of contact impulses because the impulses are said to occur on a time scale much smaller than the simulation time step. Basically the change is velocity during an impact because of gravity or other forces is negligible.