Hi all! I'm currently working on a graphics/physics engine. The following Wikipedia page was extremely helpful in making rectilinear collisions look natural: https://en.wikipedia.org/wiki/Elastic_collision#Two-dimensional Specifically, the very general vector form of the equation on the bottom of the page. I know the equations of conservation of energy and angular momentum are analogous enough that there should be some angular equivalent of said formula in terms of moments of inertia and angular velocities, but when I input this analogy (all M's become I's and all v's become w's), this system doesn’t look realistic. Is there an equation analogous to the one on the bottom of the above page which would provide me with realistic collision physics of rotating objects? Thank you!