2d collision ,angular velocity, friction
im developing a 2d physics engine. its very simple at the moment, circles can collide with each other and with stationary polygons. but i would like to add a new dimention to my solution: friction.
this would then also introduce angular velocity to my particles.
so here is my question:
at the point of collision between 2 moving circles I know the following:
circle1 with center P1, radius r1,mass m1, velocity V1, angular velocity w1;
circle2 with center P2, radius r2,mass m2, velocity V2, angular velocity w2;
and
ive got a point of contact C and a normal N to one of the circles center at the point, and a friction coefficient mu.
i want to calculate the following:
the change in linear velocity for each ball; dV1 and dV2, and
the change in angular velocity for each ball; dw1 and dw2.
im a programmer, not a mathematician or physicist, so help is much appreciated. if you could show me simple formulas i can implement that would be perfect. the variables i gave i use a capital letter in the name to indicate it is a vector.
