if (collision){

		float xx, yy, zz;
		xx = 2.0 / 5.0 * (fMass * fRadius * fRadius);
		yy = xx;
		zz = xx;// only this way since a sphere is same from all angles

		glm::mat3 ballInertia;

		ballInertia[0][0] = xx;
		ballInertia[1][1] = yy;
		ballInertia[2][2] = zz;

		glm::mat3 I_ballInertia = glm::inverse(ballInertia);

		std::cout << glm::mat4(ballInertia);
		//variables to get J


		//getting rotation matrix

		float e = 1;
		btVector3 contactNormal;
		float vRel;
		glm::vec3 r1, r2;

		contactNormal = vPosition[1] - vPosition[0];
		contactNormal.normalize();

		vRel = contactNormal.dot(vVelocity[0] - vVelocity[1]);

		//just cause im switching from bt math classes to glm
		glm::vec3 n = glm::vec3(contactNormal.getX(), contactNormal.getY(), contactNormal.getZ());

		r1 = n * fRadius;
		r2 = -r1;






		float topPart = -vRel * (e + 1);

		float bottomFirst = 1 / fMass + 1 / fMass;

		float bottomMiddle = glm::dot(n, (glm::cross(I_ballInertia * (glm::cross(r1, n)), r1)));
		float bottomLast = glm::dot(n, (glm::cross(I_ballInertia * (glm::cross(r2, n)), r2)));


		float J = topPart / (bottomFirst + bottomMiddle + bottomLast);

		glm::vec3 tempVel = glm::vec3(vVelocity[0].getX(), vVelocity[0].getY(), vVelocity[0].getZ());

		glm::vec3 temp = tempVel + (J * n) / fMass;

		vVelocity[0] = btVector3(temp.x, temp.y, temp.z);


		tempVel = glm::vec3(vVelocity[1].getX(), vVelocity[1].getY(), vVelocity[1].getZ());

		temp = tempVel + (-J * n) / fMass;

		vVelocity[1] = btVector3(temp.x, temp.y, temp.z);


	}