Hello, 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.