restitution method

[clamidias]

Hi im working with contacts and i would like to know if somebody knows how ADAMS/view calculate the contact in the restitution method because i want to calculate the final velocity in the instant of the impact, i read that uses the COR of POISSON and uses a penalty parameter too i calculated analitically the velocities using lagrange's equations and gives me a very aproximated result comparing with ADAMS but when i give an angular velocity my results are different what is going on?.
Look my problem is a double pendullum that have lineal velocities (dx,dy) and impacts with a flat not smooth superfice.

Regards