If the effects of friction are ignored, a collision is seen as affecting only the component of the velocities that are directed along the contact normal and as leaving the tangential components unaffected
2.
The coefficient of restitution between two given materials is modeled as the ratio e \ in [ 0 . . 1 ] of the relative post-collision speed of a point of contact along the contact normal, with respect to the relative pre-collision speed of the same point along the same normal.
3.
The decomposition \ pm \ mathbf { j } _ r = \ pm j _ r \ mathbf { \ hat { n } } into the impulse magnitude j _ r \ in \ mathbb { R } and direction along the contact normal \ mathbf { \ hat { n } } and its negation-\ mathbf { \ hat { n } } allows for the derivation of a formula to compute the change in linear and angular velocities of the bodies resulting from the collision impulses.
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