@hplus0603 Sounds good. Reading on had me feel the same way. Thanks for your reply!

If you google some combination of “Erin Catto split impulse pseudo velocity” you should find a few threads about this, here are a couple to get you started:

https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=1644

https://www.gamedev.net/forums/topic/613945-sequential-impulse-bias-velocities/

IMO for p…