game physics: contact constraint and relative velocity

If I understood the quesion, NO.

Here follows a simple resolvecollision , from How to Create a Custom 2D Physics Engine: The Basics and Impulse Resolution , as you can see you put yourself in object A frame of reference , then subtract collision impulse from A and add it to B.

void ResolveCollision( Object A, Object B ) { // Calculate relative velocity Vec2 rv = B.velocity - A.velocity // Calculate relative velocity in terms of the normal direction float velAlongNormal = DotProduct( rv, normal ) // Do not resolve if velocities are separating if(velAlongNormal > 0) return; // Calculate restitution float e = min( A.restitution, B.restitution) // Calculate impulse scalar float j = -(1 + e) * velAlongNormal j /= 1 / A.mass + 1 / B.mass // Apply impulse Vec2 impulse = j * normal A.velocity -= 1 / A.mass * impulse B.velocity += 1 / B.mass * impulse } 

Be carefull not to re-execute resolvecollision(B,A) as you has already execuitetd resolvecollision(A,B), even if :

 // Do not resolve if velocities are separating if(velAlongNormal > 0) return; 

may prevent this.