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I am attempting to determine a two point collision response for a rigid body. One point collision I can calculate, but I can't seem to extend it to two points.

So, I thought, maybe I could get some insight here. :)

**Set up (It'd be great to have the ability to draw this one out!):**

I know the mass, velocity, angular velocity and moment of intertia of a rigid body, which then simultaneously collides at two contact points. For this case, I'm just going to assume a perfectly elastic collision. The mass it is colliding with will be much, much bigger than the rigid body, so I can assume it infinite. This would be akin to an airplane landing on a run way, for instance, where the two rear wheels make contact simultaneously.

*I then am looking for the angular and linear reponse velocities.*

Well, the response velocities should be equal but opposite to the surface of collision (for the perfectly elastic collision). However, determining which portion of the response goes to rotational velocity , and which to linear velocity I'm not sure of.

I did try to set this up using impulse equations for both torque and force, but to no avail.

Thanks for any feed back.