I don’t know specifically, but the general trick is to get your approximate solve to have the impact happen at a consistent time, since that’s what players have

I don’t know specifically, but the general trick is to get your approximate solve to have the impact happen at a consistent time, since that’s what players have fine-grained control over. Other stuff involved in restitution, like angle of deflection and force at the point of impact, you can basically fudge to be close enough for gameplay purposes. If a game feels really satisfying, it generally means that stuff has been tuned really carefully. (So it is with games.) You work that stuff out with numerical accuracy if you can be careful about when you need to, but since the animations and audio cues need to be carefully tuned anyway, it tends to add unnecessary complexity.