Game Development Reference
D'Alembert's principle also applies to rotations:
which include the torques generated from off-center forces.
The separating velocity of two colliding objects v s is related to their velocity im-
mediately before the collision v c by
v s =−
where c is the coefficient of restitution.
O THER F ORMULAE
Hook's law relates the force of a spring f to its length:
l 0 d
where d is the vector from one end of the spring to another.
Simple fluid flow can be modeled with an aerodynamic tensor:
f a =
A v w
where f a is the resulting force, A is the aerodynamic tensor, and v w is the velocity of