The following simulation show a ball bouncing off the ground.
The ratio of velocity after bouncing to velocity before bouncing is eta.
i.e. vy'=eta *vy; (eta=0.95 as default)

The momentum change \Delta P= m (eta+1)vy
Assume the friction coeffieient is mu=0.1
The friction between ball and the ground produce momentum change and angular momentum change during bouncing.

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