Proceedings of the Industrial Simulation Conference 2003, 401-407 This work focuses on the subject of impact response modeling in Real Time rigid body simulation, and more precisely in those applications where a very high accuracy in the solution is not required. The problem of impact response has several aspects to overcome, such as the instantaneous nature of the forces that appear during the contact, the absence of a unique solution in the case of contacts with friction, of the stiffness of the resultant models. This makes the impact management to be one of the most problematic parts to resolve during the implementation of computational models for rigid body systems. We present a model for contacts that is much simpler than the usual methods and that achieves an accuracy of the same order than the integration step size respect to the usual method. The model is valid both for frictional and non-frictional contacts.