Try tdo impulse

physics.jai

@@ -9,6 +9,8 @@ TIMESTEP: float = 1.0 / 60.0;
 window_width  : s32 = 1280;
 window_height : s32 = 720;
 
+dbgprint :: print; // so can be 
+
 xy :: (x: int, y: int) -> Vector2 {
     return xy(cast(float)x, cast(float)y);
 }
@@ -105,6 +107,12 @@ apply_force_at_point :: (r: *Rect, force: Vector2, point_world_space: Vector2) {
     offset_from_center_of_mass := point_world_space - r.pos;
     r.torque += offset_from_center_of_mass.x * force.y - offset_from_center_of_mass.y * force.x;
 }
+apply_impulse_at_point :: (using r: *Rect, impulse: Vector2, point_world_space: Vector2) {
+    //apply_force_at_point(r, impulse / TIMESTEP, point_world_space);
+    //return;
+    vel += impulse / r.mass;
+    angle_vel += length(impulse) * (cross(point_world_space - pos, normalize(impulse))/moment_of_inertia(r));
+}
 // everything needed to resolve the collision
 Manifold :: struct {
     a, b: *Rect;
@@ -135,8 +143,8 @@ handle_collision :: (m: Manifold, dt: float) {
         if a.static || b.static impulse_strength *= 2.0;
 
         impulse := m.normal * impulse_strength;
-        apply_force_at_point(b, impulse / dt, m.contact_points[it]);
+        apply_impulse_at_point(b,  impulse, m.contact_points[it]);
-        apply_force_at_point(a, -impulse / dt, m.contact_points[it]);
+        apply_impulse_at_point(a, -impulse, m.contact_points[it]);
     }
     /*k_scalar :: (a: Rectangle, b: Rectangle, r1: Vector2, r2: Vector2, n: Vector2)  {
         k_scalar_rect :: (a: Rectangle, r: Vector2, n: Vector2)
@@ -586,6 +594,8 @@ main :: () {
                     // gravity
                     it.force.y += -9.81;
 
+                    //if !it.static dbgprint("%\n", it.angle_vel);
+
                     if !it.static
                     {
                         it.vel += (it.force/it.mass) * TIMESTEP;