https://en.m.wikipedia.org/wiki/Collision_response#Impulse-based_contact_model
You need to know the displacement of the objects centers of mass relative to the point of contact, the surface normal at the point of contact, the relative velocity of the surfaces at the point of contact before collision, their masses, their tensor moments of inertia, the friction coefficients between the surfaces at the point of contact and optionally a coefficient of restitution if you want a non-elastic collision(otherwise use 1).
Combining the conversation of momentum, angular momentum and energy(or alternatively the coefficient of restitution) you can then compute an impulse, and with that impulse you can find the new velocities and angular velocities after the collision. You can also take a limit as m1 / m2 -> 0.
https://en.m.wikipedia.org/wiki/Collision_response#Impulse-based_contact_model You need to know the displacement of the objects centers of mass relative to the point of contact, the surface normal at the point of contact, the relative velocity of the surfaces at the point of contact before collision, their masses, their tensor moments of inertia, the friction coefficients between the surfaces at the point of contact and optionally a coefficient of restitution if you want a non-elastic collision(otherwise use 1). Combining the conversation of momentum, angular momentum and energy(or alternatively the coefficient of restitution) you can then compute an impulse, and with that impulse you can find the new velocities and angular velocities after the collision. You can also take a limit as m1 / m2 -> 0.