"Collisions are resolved using a very simple but fast method which doesn't support rotational effects - basically the collision model just applies an impulse based on the velocities and masses of both bodies along the normal of collision to separate them, and computes some sort of dynamic friction along the normals tangential component. A restitution factor is used to simulate energy loss (blend between perfect elastic and inelastic collisions)."
Neat demo of an alternate way to detect collisions.
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