Quite old now, but to me the go-to reference is still Brian Mirtich's Ph.D. thesis, "Impulse-based Dynamic Simulation of Rigid Body Systems": https://xkanim.goo

Quite old now, but to me the go-to reference is still Brian Mirtich's Ph.D. thesis, "Impulse-based Dynamic Simulation of Rigid Body Systems": https://xkanim.googlecode.com/svn/trunk/mirtichThesis.pdf https://xkanim.googlecode.com/svn/trunk/mirtichThesis.pdf