diff --git a/docs/documentation/case.md b/docs/documentation/case.md
index ecdeb786d4..7b62e5d42f 100644
--- a/docs/documentation/case.md
+++ b/docs/documentation/case.md
@@ -331,6 +331,10 @@ This is enabled by adding ``'elliptic_smoothing': "T",`` and ``'elliptic_smoothi
 | `moving_ibm`         | Integer | Sets the method used for IB movement. |
 | `vel(i)`             | Real    | Initial velocity of the moving IB in the i-th direction. |
 | `angular_vel(i)`     | Real    | Initial angular velocity of the moving IB in the i-th direction. |
+| `coefficient_of_restitution`     | Real    | A number 0 to 1 describing how elastic IB collisions are |
+| `collision_model`     | Integer    | Integer to select the collision model being used for IB collisions. |
+| `collision_time`     | Real    | Amount of simulation time used to resolve collisions |
+| `ib_coefficient_of_friction`     | Real    | Coefficient of friction used in IB collisions |
 
 These parameters should be prepended with `patch_ib(j)%` where $j$ is the patch index.
 
@@ -361,6 +365,14 @@ Additional details on this specification can be found in [NACA airfoil](https://
 
 - `angular_vel(i)` is the initial angular velocity of the IB about the x, y, z axes for i=1, 2, 3 in radians per second. When `moving_ibm` equals 2, this rotation rate is just the starting rate of the object, which will then change due to external torques. If `moving_ibm` equals 1, then this is constant if it is a number, or can be described analytically with an expression. 
 
+- `coefficient_of_restitution` is a number from 0 (exclusive) to 1 (inclusive) describing how elastic IB collisions are. 0 is for perfectly inellastic collisions while 1 is for perfectly ellastic collisions.
+
+- `collision_model` is an integer to select the collision model being used for IB collisions. Using 0 disables collisions and collisiono checking. 1 enables the soft-sphere collision model, where all IBs must be circles or sphere and those IBs can collide with each other as well as walls.
+
+- `collision_time` is approximately the amount of simulation time used to resolve collisions. This is handled by modifying the spring gonstant used to apply collision forces.
+
+- `ib_coefficient_of_friction` is the coefficient of friction used in IB collisions.
+
 ### 5. Fluid Material's {#sec-fluid-materials}
 
 | Parameter | Type   | Description                                    |
diff --git a/docs/module_categories.json b/docs/module_categories.json
index d1da0ed5ed..246ffd59de 100644
--- a/docs/module_categories.json
+++ b/docs/module_categories.json
@@ -26,7 +26,8 @@
             "m_chemistry",
             "m_acoustic_src",
             "m_body_forces",
-            "m_pressure_relaxation"
+            "m_pressure_relaxation",
+            "m_collisions"
         ]
     },
     {
diff --git a/examples/3D_mibm_sphere_head_on_collision/case.py b/examples/3D_mibm_sphere_head_on_collision/case.py
new file mode 100644
index 0000000000..0a2fe3ba67
--- /dev/null
+++ b/examples/3D_mibm_sphere_head_on_collision/case.py
@@ -0,0 +1,129 @@
+import json
+import math
+
+# This case file is based on verification cases run in
+# "Analytical solution for the problem of frictional-elastic collisions
+# of spherical particles using the linear model"
+# by Francesco Paolo Di Maio and Alberto Di Renzo
+
+# This can be used to check collision rebound angles to recreate
+# figure 4 of that  paper
+
+Mu = 1.84e-05
+gam_a = 1.4
+
+# lead-up-properties
+velocity = 3.9
+dt = 5.0e-6
+collision_time = 20.0 * dt
+
+# parerticle properties
+radius = 5.0
+collision_angle_degrees = 30.0
+collision_angle_radians = collision_angle_degrees * math.pi / 180.0
+domain_size = 4.0 * radius
+lead_distance = 0.2 * radius
+
+# simulation runs long enough to collide and travel about lead distance away again
+simulation_time = 2.0 * (lead_distance / velocity) + collision_time
+num_time_steps = int(simulation_time / dt)
+num_saves = 10
+t_step_save = int(num_time_steps / num_saves)
+
+# Configuring case dictionary
+print(
+    json.dumps(
+        {
+            # Logistics
+            "run_time_info": "T",
+            # Computational Domain Parameters
+            "x_domain%beg": -0.5 * domain_size,
+            "x_domain%end": 0.5 * domain_size,
+            "y_domain%beg": 0.0,
+            "y_domain%end": domain_size,
+            "z_domain%beg": -0.5 * domain_size,
+            "z_domain%end": 0.5 * domain_size,
+            "cyl_coord": "F",
+            "m": 60,
+            "n": 60,
+            "p": 60,
+            "dt": dt,
+            "t_step_start": 0,
+            "t_step_stop": num_time_steps,
+            "t_step_save": t_step_save,
+            # Simulation Algorithm Parameters
+            "num_patches": 1,
+            # Use the 5 equation model
+            "model_eqns": 2,
+            "alt_soundspeed": "F",
+            # One fluids: air
+            "num_fluids": 1,
+            "mpp_lim": "F",
+            # Correct errors when computing speed of sound
+            "mixture_err": "T",
+            # Use TVD RK3 for time marching
+            "time_stepper": 3,
+            # Use WENO5
+            "weno_order": 5,
+            "weno_eps": 1.0e-16,
+            "weno_avg": "T",
+            "avg_state": 2,
+            "mapped_weno": "T",
+            "null_weights": "F",
+            "mp_weno": "T",
+            "riemann_solver": 2,
+            "wave_speeds": 1,
+            # We use ghost-cell
+            "bc_x%beg": -3,
+            "bc_x%end": -3,
+            "bc_y%beg": -15,
+            "bc_y%end": -15,
+            "bc_z%beg": -3,
+            "bc_z%end": -3,
+            # Set IB to True and add 1 patch
+            "ib": "T",
+            "num_ibs": 1,
+            # Formatted Database Files Structure Parameters
+            "format": 1,
+            "precision": 2,
+            "prim_vars_wrt": "T",
+            "E_wrt": "T",
+            "parallel_io": "T",
+            # Patch: Constant Tube filled with air
+            # Specify the cylindrical air tube grid geometry
+            "patch_icpp(1)%geometry": 9,
+            "patch_icpp(1)%x_centroid": 0.0,
+            "patch_icpp(1)%y_centroid": 0.5 * domain_size,
+            "patch_icpp(1)%z_centroid": 0.0,
+            "patch_icpp(1)%length_x": domain_size,
+            "patch_icpp(1)%length_y": domain_size,
+            "patch_icpp(1)%length_z": domain_size,
+            # Specify the patch primitive variables
+            "patch_icpp(1)%vel(1)": 0.0e00,
+            "patch_icpp(1)%vel(2)": 0.0e00,
+            "patch_icpp(1)%vel(3)": 0.0e00,
+            "patch_icpp(1)%pres": 1.0e00,
+            "patch_icpp(1)%alpha_rho(1)": 1.0e00,
+            "patch_icpp(1)%alpha(1)": 1.0e00,
+            # Patch: Sphere Immersed Boundary
+            "patch_ib(1)%geometry": 8,
+            "patch_ib(1)%x_centroid": -1.0 * lead_distance * math.sin(collision_angle_radians),  # get a lead up distance to the collision
+            "patch_ib(1)%y_centroid": radius + lead_distance * math.sin(collision_angle_radians),
+            "patch_ib(1)%z_centroid": 0.0,
+            "patch_ib(1)%radius": radius,
+            "patch_ib(1)%slip": "F",
+            "patch_ib(1)%mass": 1.0e6,  # arbitrarily high mass to ignore fluid
+            "patch_ib(1)%vel(1)": velocity * math.sin(collision_angle_radians),
+            "patch_ib(1)%vel(2)": -velocity * math.cos(collision_angle_radians),
+            "patch_ib(1)%moving_ibm": 2,
+            # Collisions
+            "collision_model": 1,  # soft-sphere collision model
+            "ib_coefficient_of_friction": 0.092,
+            "collision_time": collision_time,
+            "coefficient_of_restitution": 0.98,  # almost perfectly elastic
+            # Fluids Physical Parameters
+            "fluid_pp(1)%gamma": 1.0e00 / (gam_a - 1.0e00),  # 2.50(Not 1.40)
+            "fluid_pp(1)%pi_inf": 0,
+        }
+    )
+)
diff --git a/src/common/m_constants.fpp b/src/common/m_constants.fpp
index 8e01059691..cacc50f528 100644
--- a/src/common/m_constants.fpp
+++ b/src/common/m_constants.fpp
@@ -23,7 +23,8 @@ module m_constants
     integer, parameter  :: fourier_rings = 5                   !< Fourier filter ring limit
     integer, parameter  :: num_fluids_max = 10                 !< Maximum number of fluids in the simulation
     integer, parameter  :: num_probes_max = 10                 !< Maximum number of flow probes in the simulation
-    integer, parameter  :: num_patches_max = 1000              !< Maximum number of IC patches
+    integer, parameter  :: num_patches_max = 10                !< Maximum number of IC patches
+    integer, parameter  :: num_ib_patches_max = 50000          !< Maximum number of immersed boundary patches (patch_ib)
     integer, parameter  :: num_bc_patches_max = 10             !< Maximum number of boundary condition patches
     integer, parameter  :: max_2d_fourier_modes = 10           !< Max Fourier mode index for 2D modal patch (geometry 13)
     integer, parameter  :: max_sph_harm_degree = 5             !< Max degree L for 3D spherical harmonic patch (geometry 14)
diff --git a/src/common/m_helper.fpp b/src/common/m_helper.fpp
index f643f55eed..6bd9718dbb 100644
--- a/src/common/m_helper.fpp
+++ b/src/common/m_helper.fpp
@@ -18,7 +18,7 @@ module m_helper
     public :: s_comp_n_from_prim, s_comp_n_from_cons, s_initialize_bubbles_model, s_initialize_nonpoly, s_simpson, s_transcoeff, &
         & s_int_to_str, s_transform_vec, s_transform_triangle, s_transform_model, s_swap, f_cross, f_create_transform_matrix, &
         & f_create_bbox, s_print_2D_array, f_xor, f_logical_to_int, associated_legendre, real_ylm, double_factorial, factorial, &
-        & f_cut_on, f_cut_off, s_downsample_data, s_upsample_data
+        & f_cut_on, f_cut_off, s_downsample_data, s_upsample_data, s_cross_product
 
 contains
 
@@ -297,7 +297,22 @@ contains
 
     end function f_cross
 
-    !> Swap two real numbers.
+    !> @brief Computes the cross product c = a x b of two 3D vectors.
+    subroutine s_cross_product(a, b, c)
+
+        $:GPU_ROUTINE(parallelism='[seq]')
+        real(wp), intent(in)  :: a(3), b(3)
+        real(wp), intent(out) :: c(3)
+
+        c(1) = a(2)*b(3) - a(3)*b(2)
+        c(2) = a(3)*b(1) - a(1)*b(3)
+        c(3) = a(1)*b(2) - a(2)*b(1)
+
+    end subroutine s_cross_product
+
+    !> This procedure swaps two real numbers.
+    !! @param lhs Left-hand side.
+    !! @param rhs Right-hand side.
     elemental subroutine s_swap(lhs, rhs)
 
         real(wp), intent(inout) :: lhs, rhs
diff --git a/src/post_process/m_data_input.f90 b/src/post_process/m_data_input.f90
index e7d6f2b716..e7d1bd3e07 100644
--- a/src/post_process/m_data_input.f90
+++ b/src/post_process/m_data_input.f90
@@ -108,12 +108,13 @@ impure subroutine s_read_ib_data_files(file_loc_base, t_step)
         integer, intent(in), optional               :: t_step
         character(LEN=len_trim(file_loc_base) + 20) :: file_loc
         logical                                     :: file_exist
-        integer                                     :: ifile, ierr, data_size, var_MOK
+        integer                                     :: ifile, ierr, data_size
 
 #ifdef MFC_MPI
         integer, dimension(MPI_STATUS_SIZE) :: status
         integer(KIND=MPI_OFFSET_KIND)       :: disp
-        integer                             :: m_MOK, n_MOK, p_MOK, MOK, WP_MOK, save_index
+        integer(KIND=MPI_OFFSET_KIND)       :: m_MOK, n_MOK, p_MOK, MOK, WP_MOK, var_MOK
+        integer                             :: save_index
 #endif
 
         if (.not. ib) return
diff --git a/src/pre_process/m_global_parameters.fpp b/src/pre_process/m_global_parameters.fpp
index 077262aece..dd867daa29 100644
--- a/src/pre_process/m_global_parameters.fpp
+++ b/src/pre_process/m_global_parameters.fpp
@@ -168,11 +168,11 @@ module m_global_parameters
 
     !> @name Immersed Boundaries
     !> @{
-    logical                                               :: ib        !< Turn immersed boundaries on
-    integer                                               :: num_ibs   !< Number of immersed boundaries
-    integer                                               :: Np
-    type(ib_patch_parameters), dimension(num_patches_max) :: patch_ib  !< Immersed boundary patch parameters
-    type(vec3_dt), allocatable, dimension(:)              :: airfoil_grid_u, airfoil_grid_l
+    logical                                                  :: ib        !< Turn immersed boundaries on
+    integer                                                  :: num_ibs   !< Number of immersed boundaries
+    integer                                                  :: Np
+    type(ib_patch_parameters), dimension(num_ib_patches_max) :: patch_ib  !< Immersed boundary patch parameters
+    type(vec3_dt), allocatable, dimension(:)                 :: airfoil_grid_u, airfoil_grid_l
     !> @}
 
     !> @name Non-polytropic bubble gas compression
@@ -462,7 +462,7 @@ contains
         ib = .false.
         num_ibs = dflt_int
 
-        do i = 1, num_patches_max
+        do i = 1, num_ib_patches_max
             patch_ib(i)%geometry = dflt_int
             patch_ib(i)%x_centroid = dflt_real
             patch_ib(i)%y_centroid = dflt_real
diff --git a/src/pre_process/m_mpi_proxy.fpp b/src/pre_process/m_mpi_proxy.fpp
index e9545ce865..991f351722 100644
--- a/src/pre_process/m_mpi_proxy.fpp
+++ b/src/pre_process/m_mpi_proxy.fpp
@@ -112,8 +112,9 @@ contains
             if (chemistry) then
                 call MPI_BCAST(patch_icpp(i)%Y, size(patch_icpp(i)%Y), mpi_p, 0, MPI_COMM_WORLD, ierr)
             end if
-            ! Broadcast IB variables: patch_ib is indexed 1:num_patches_max, not 1:num_bc_patches_max, so these must live in the
-            ! num_patches_max loop.
+        end do
+
+        do i = 1, num_ibs
             #:for VAR in ['vel', 'angular_vel', 'angles']
                 call MPI_BCAST(patch_ib(i)%${VAR}$, size(patch_ib(i)%${VAR}$), mpi_p, 0, MPI_COMM_WORLD, ierr)
             #:endfor
diff --git a/src/simulation/m_collisions.fpp b/src/simulation/m_collisions.fpp
new file mode 100644
index 0000000000..ad1235c7b8
--- /dev/null
+++ b/src/simulation/m_collisions.fpp
@@ -0,0 +1,447 @@
+!>
+!! @file
+!! @brief Contains module m_collisions
+
+#:include 'macros.fpp'
+
+!> @brief Ghost-node immersed boundary method: locates ghost/image points, computes interpolation coefficients, and corrects the
+!! flow state
+module m_collisions
+
+    use m_derived_types      !< Definitions of the derived types
+    use m_global_parameters  !< Definitions of the global parameters
+    use m_helper
+    use m_helper_basic       !< Functions to compare floating point numbers
+    use m_constants
+    use m_compute_levelset
+    use m_ib_patches
+    use m_model
+
+    implicit none
+
+    private; public :: s_apply_collision_forces, s_initialize_collisions_module, s_finalize_collisions_module
+    ! overlap distances for computing collisions
+    integer, allocatable, dimension(:,:)  :: collision_lookup
+    real(wp), allocatable, dimension(:,:) :: wall_overlap_distances
+    real(wp)                              :: spring_stiffness, damping_parameter
+    $:GPU_DECLARE(create='[spring_stiffness, damping_parameter]')
+    $:GPU_DECLARE(create='[collision_lookup, wall_overlap_distances]')
+
+contains
+
+    subroutine s_initialize_collisions_module()
+
+        real(wp) :: e
+
+        e = coefficient_of_restitution
+        damping_parameter = -2._wp*log(e)/collision_time
+        spring_stiffness = (pi**2 + log(e)**2)/(collision_time**2)
+        $:GPU_UPDATE(device='[damping_parameter, spring_stiffness]')
+
+        @:ALLOCATE(collision_lookup(num_ibs * (num_ibs-1) / 2, 4))
+        @:ALLOCATE(wall_overlap_distances(num_ibs, 6))
+
+        wall_overlap_distances = 0
+        $:GPU_UPDATE(device='[wall_overlap_distances]')
+        $:GPU_UPDATE(device='[ib_coefficient_of_friction]')
+
+    end subroutine s_initialize_collisions_module
+
+    subroutine s_apply_collision_forces(ghost_points, num_gps, ib_markers, forces, torques)
+
+        type(ghost_point), dimension(:), intent(in)    :: ghost_points
+        integer, intent(in)                            :: num_gps
+        type(integer_field), intent(in)                :: ib_markers
+        real(wp), dimension(num_ibs, 3), intent(inout) :: forces, torques
+        integer                                        :: num_considered_collisions
+
+        ! return if no collisions
+
+        if (collision_model == 0) return
+
+        ! get is distance used in the force calculation with each IB and each wall
+        call s_detect_wall_collisions()
+        call s_detect_ib_collisions(ghost_points, ib_markers, num_gps, num_considered_collisions)
+
+        select case (collision_model)
+        case (1)  ! soft sphere model
+            call s_apply_wall_collision_forces_soft_sphere(forces, torques)
+            call s_apply_ib_collision_forces_soft_sphere(num_considered_collisions, forces, torques)
+        end select
+
+    end subroutine s_apply_collision_forces
+
+    !> @brief applies collision forces to IBs assuming a soft-sphere collision model (all IBs are circles or spheres)
+    subroutine s_apply_ib_collision_forces_soft_sphere(num_considered_collisions, forces, torques)
+
+        integer, intent(in) :: num_considered_collisions
+        real(wp), dimension(num_ibs, 3), intent(inout) :: forces, torques
+        integer :: i, encoded_pid1, encoded_pid2, xp1, xp2, yp1, yp2, zp1, zp2, pid1, pid2, l  ! iterators and patch IDs
+        real(wp) :: overlap_distance
+        real(wp), dimension(3) :: normal_vector, centroid_1, centroid_2
+        real(wp), dimension(3) :: normal_velocity, tangental_vector, normal_force, tangental_force, torque, radial_vector, &
+             & rotation_velocity, vel1, vel2
+        real(wp) :: k, eta, effective_mass  ! the spring stiffness and damping coefficient and mass of a specific interaction
+
+        if (num_considered_collisions == 0) return
+
+        ! print *, "Checking Collisions: ", num_considered_collisions, " on rank ", proc_rank
+
+        ! Iterate over all collisions detected
+        $:GPU_PARALLEL_LOOP(private='[i, l, encoded_pid1, encoded_pid2, xp1, xp2, yp1, yp2, zp1, zp2, pid1, pid2, centroid_1, &
+                            & centroid_2, normal_vector, overlap_distance, effective_mass, k, eta, normal_velocity, &
+                            & tangental_vector, normal_force, tangental_force, torque, radial_vector, rotation_velocity, vel1, &
+                            & vel2]', copy='[forces, torques]')
+        do i = 1, num_considered_collisions
+            encoded_pid1 = collision_lookup(i, 3)
+            encoded_pid2 = collision_lookup(i, 4)
+            call s_decode_patch_periodicity(encoded_pid1, pid1, xp1, yp1, zp1)
+            call s_decode_patch_periodicity(encoded_pid2, pid2, xp2, yp2, zp2)
+
+            centroid_1(1) = patch_ib(pid1)%x_centroid + real(xp1, wp)*(x_domain%end - x_domain%beg)
+            centroid_1(2) = patch_ib(pid1)%y_centroid + real(yp1, wp)*(y_domain%end - y_domain%beg)
+            centroid_1(3) = 0._wp
+            centroid_2(1) = patch_ib(pid2)%x_centroid + real(xp2, wp)*(x_domain%end - x_domain%beg)
+            centroid_2(2) = patch_ib(pid2)%y_centroid + real(yp2, wp)*(y_domain%end - y_domain%beg)
+            centroid_2(3) = 0._wp
+            if (num_dims == 3) then
+                centroid_1(3) = patch_ib(pid1)%z_centroid + real(zp1, wp)*(z_domain%end - z_domain%beg)
+                centroid_2(3) = patch_ib(pid2)%z_centroid + real(zp2, wp)*(z_domain%end - z_domain%beg)
+            end if
+
+            normal_vector = centroid_2 - centroid_1
+            overlap_distance = patch_ib(pid1)%radius + patch_ib(pid2)%radius - norm2(normal_vector)
+            if (overlap_distance > 0._wp) then  ! if the two patches are close enough to collide
+                normal_vector = normal_vector/norm2(normal_vector)
+                if (f_local_rank_owns_collision(centroid_1)) then
+                    ! compute constants of the collision
+                    effective_mass = 1.0_wp/((1.0_wp/patch_ib(pid1)%mass) + (1._wp/(patch_ib(pid2)%mass)))
+                    k = spring_stiffness*effective_mass
+                    eta = damping_parameter*effective_mass
+
+                    ! Get the vectors and velcoities
+                    radial_vector = normal_vector*(patch_ib(pid1)%radius - 0.5_wp*overlap_distance)
+                    call s_cross_product(patch_ib(pid1)%angular_vel, radial_vector, rotation_velocity)
+                    vel1 = patch_ib(pid1)%vel + rotation_velocity
+                    radial_vector = normal_vector*(-1.0_wp)*(patch_ib(pid2)%radius - 0.5_wp*overlap_distance)
+                    call s_cross_product(patch_ib(pid2)%angular_vel, radial_vector, rotation_velocity)
+                    vel2 = patch_ib(pid2)%vel + rotation_velocity
+
+                    normal_velocity = dot_product(vel1 - vel2, normal_vector)*normal_vector
+                    tangental_vector = (vel1 - vel2) - normal_velocity
+                    if (.not. f_approx_equal(norm2(tangental_vector), &
+                        & 0._wp)) tangental_vector = tangental_vector/norm2(tangental_vector)
+
+                    ! compute force and torque
+                    normal_force = -k*overlap_distance*normal_vector - eta*normal_velocity
+                    tangental_force = -ib_coefficient_of_friction*norm2(normal_force)*tangental_vector
+                    call s_cross_product(normal_vector*patch_ib(pid1)%radius, tangental_force, torque)
+
+                    do l = 1, num_dims
+                        ! update the first IB
+                        $:GPU_ATOMIC(atomic='update')
+                        forces(pid1, l) = forces(pid1, l) + (normal_force(l) + tangental_force(l))
+                        $:GPU_ATOMIC(atomic='update')
+                        torques(pid1, l) = torques(pid1, l) + torque(l)
+
+                        ! apply equal and opposite force/torque to second IB
+                        $:GPU_ATOMIC(atomic='update')
+                        forces(pid2, l) = forces(pid2, l) - (normal_force(l) + tangental_force(l))
+                        $:GPU_ATOMIC(atomic='update')
+                        torques(pid2, l) = torques(pid2, l) - torque(l)*patch_ib(pid2)%radius/patch_ib(pid1)%radius
+                    end do
+                end if
+            end if
+        end do
+        $:END_GPU_PARALLEL_LOOP()
+
+    end subroutine s_apply_ib_collision_forces_soft_sphere
+
+    !> @brief applies collision forces to IBs assuming a soft-sphere collision model (all IBs are circles or spheres)
+    subroutine s_apply_wall_collision_forces_soft_sphere(forces, torques)
+
+        real(wp), dimension(num_ibs, 3), intent(inout) :: forces, torques
+        integer :: patch_id, i, l
+        real(wp), dimension(3) :: normal_force, tangental_force, normal_vector, normal_velocity, tangental_vector, &
+             & collision_location, torque, radial_vector, rotation_velocity, velocity
+        real(wp) :: k, eta  ! the spring stiffness and damping coefficient for a specific IB
+
+        $:GPU_PARALLEL_LOOP(private='[patch_id, i, l, collision_location, normal_vector, k, eta, normal_velocity, &
+                            & tangental_vector, normal_force, tangental_force, torque, radial_vector, rotation_velocity, &
+                            & velocity]', copy='[forces, torques]', collapse=2)
+        do patch_id = 1, num_ibs
+            do i = 1, num_dims*2
+                ! only compute force contributions if there was an overlap
+                if (f_approx_equal(wall_overlap_distances(patch_id, i), 0._wp)) cycle
+
+                select case (i)
+                case (1)  ! x domain left
+                    normal_vector = [-1._wp, 0._wp, 0._wp]
+                case (2)  ! x domain right
+                    normal_vector = [1._wp, 0._wp, 0._wp]
+                case (3)  ! y domain bottom
+                    normal_vector = [0._wp, -1._wp, 0._wp]
+                case (4)  ! y domain top
+                    normal_vector = [0._wp, 1._wp, 0._wp]
+                case (5)  ! z domain back
+                    normal_vector = [0._wp, 0._wp, -1._wp]
+                case (6)  ! z domain front
+                    normal_vector = [0._wp, 0._wp, 1._wp]
+                end select
+
+                ! ensure the local rank owns that collision before proceeding
+                collision_location = [patch_ib(patch_id)%x_centroid, patch_ib(patch_id)%y_centroid, 0._wp]
+                if (num_dims == 3) collision_location(3) = patch_ib(patch_id)%z_centroid
+                if (f_local_rank_owns_collision(collision_location)) then
+                    k = spring_stiffness*patch_ib(patch_id)%mass
+                    eta = damping_parameter*patch_ib(patch_id)%mass
+
+                    ! get the vector that points from the centroid to the point of collision
+                    radial_vector = normal_vector*(patch_ib(patch_id)%radius - wall_overlap_distances(patch_id, i))
+                    ! convert the angular velocity to linear velocity
+                    call s_cross_product(patch_ib(patch_id)%angular_vel, radial_vector, rotation_velocity)
+                    velocity = patch_ib(patch_id)%vel + rotation_velocity
+
+                    ! standard soft-sphere collision  with the wall
+                    normal_velocity = dot_product(velocity, normal_vector)*normal_vector
+                    tangental_vector = velocity - normal_velocity
+                    if (.not. f_approx_equal(norm2(tangental_vector), &
+                        & 0._wp)) tangental_vector = tangental_vector/norm2(tangental_vector)
+                    normal_force = -k*wall_overlap_distances(patch_id, i)*normal_vector - eta*normal_velocity
+                    tangental_force = -ib_coefficient_of_friction*norm2(normal_force)*tangental_vector
+                    call s_cross_product(normal_vector*patch_ib(patch_id)%radius, tangental_force, torque)
+
+                    do l = 1, num_dims
+                        $:GPU_ATOMIC(atomic='update')
+                        forces(patch_id, l) = forces(patch_id, l) + (normal_force(l) + tangental_force(l))
+                        $:GPU_ATOMIC(atomic='update')
+                        torques(patch_id, l) = torques(patch_id, l) + torque(l)
+                    end do
+                end if
+            end do
+        end do
+        $:END_GPU_PARALLEL_LOOP()
+
+    end subroutine s_apply_wall_collision_forces_soft_sphere
+
+    !> uses ghost-point/image-point information to determine if it is possible if two IBs are colliding, effectively an optimized
+    !! nearest neighbor search
+    subroutine s_detect_ib_collisions(gps, ib_markers, num_gps, num_considered_collisions)
+
+        type(ghost_point), dimension(num_gps), intent(in) :: gps
+        type(integer_field), intent(in)                   :: ib_markers
+        integer, intent(in)                               :: num_gps
+        integer, intent(out)                              :: num_considered_collisions
+        integer                                           :: i, j, k, z_bound, ii, jj, kk
+        integer, dimension(2)                             :: decoded_pairs
+        integer                                           :: gp_idx, gp_patch_id, neighbor_patch_id
+        integer                                           :: pair_idx, out_idx
+        logical                                           :: already_found
+
+        ! Temporary array to hold all detected pairs (with potential duplicates)
+        integer, dimension(num_gps, 2) :: raw_pairs
+        integer                        :: num_raw, local_num_raw
+
+        num_raw = 0
+        z_bound = 0; if (num_dims == 3) z_bound = 1
+
+        $:GPU_PARALLEL_LOOP(private='[gp_idx, gp_patch_id, neighbor_patch_id, local_num_raw, i, j, k, ii, jj, kk]', &
+                            & copy='[raw_pairs, num_raw]', copyin='[z_bound]')
+        do gp_idx = 1, num_gps
+            i = gps(gp_idx)%loc(1)
+            j = gps(gp_idx)%loc(2)
+            k = 0; if (num_dims == 3) k = gps(gp_idx)%loc(3)
+            gp_patch_id = ib_markers%sf(i, j, k)
+
+            ! search in a cube around the BG for Ib markers belonging to another patch
+            neighbor_search: do ii = i - 1, i + 1
+                do jj = j - 1, j + 1
+                    do kk = k - z_bound, k + z_bound
+                        neighbor_patch_id = ib_markers%sf(ii, jj, kk)
+
+                        ! If any neighbors are of a different/higher marker value, we consider it for possible collision
+                        if (gp_patch_id < neighbor_patch_id) then
+                            $:GPU_ATOMIC(atomic='capture')
+                            num_raw = num_raw + 1
+                            local_num_raw = num_raw
+                            $:END_GPU_ATOMIC_CAPTURE()
+
+                            ! Store with smaller ID first for consistent ordering
+                            raw_pairs(local_num_raw, 1) = gp_patch_id
+                            raw_pairs(local_num_raw, 2) = neighbor_patch_id
+                            exit neighbor_search
+                        end if
+                    end do
+                end do
+            end do neighbor_search
+        end do
+        $:END_GPU_PARALLEL_LOOP()
+
+        ! Coalesce collisions unique pairs
+        num_considered_collisions = 0
+        collision_lookup = 0
+        ! for each pair found in the raw collection
+        do pair_idx = 1, num_raw
+            already_found = .false.
+
+            ! get the decoded pairs for checking if they exist, using ii,jj,kk as dummy indices
+            call s_decode_patch_periodicity(raw_pairs(pair_idx, 1), decoded_pairs(1), ii, jj, kk)
+            call s_decode_patch_periodicity(raw_pairs(pair_idx, 2), decoded_pairs(2), ii, jj, kk)
+
+            ! skip self-collisions (an IB cannot collide with its own periodic image)
+            if (decoded_pairs(1) == decoded_pairs(2)) cycle
+
+            ! need to swap to guarantee the smaller decoded marker value is in index 1 and prevent double-counting
+            if (decoded_pairs(2) < decoded_pairs(1)) then
+                decoded_pairs(1) = decoded_pairs(1) + decoded_pairs(2)
+                decoded_pairs(2) = decoded_pairs(1) - decoded_pairs(2)
+                decoded_pairs(1) = decoded_pairs(1) - decoded_pairs(2)
+                raw_pairs(pair_idx, 1) = raw_pairs(pair_idx, 1) + raw_pairs(pair_idx, 2)
+                raw_pairs(pair_idx, 2) = raw_pairs(pair_idx, 1) - raw_pairs(pair_idx, 2)
+                raw_pairs(pair_idx, 1) = raw_pairs(pair_idx, 1) - raw_pairs(pair_idx, 2)
+            end if
+
+            ! check if it is already in the list
+            do out_idx = 1, num_considered_collisions
+                if (collision_lookup(out_idx, 1) == decoded_pairs(1) .and. collision_lookup(out_idx, 2) == decoded_pairs(2)) then
+                    already_found = .true.
+                    exit
+                end if
+            end do
+
+            ! and if it is not, append it to the list of pairs
+            if (.not. already_found) then
+                num_considered_collisions = num_considered_collisions + 1
+                collision_lookup(num_considered_collisions, 1) = decoded_pairs(1)
+                collision_lookup(num_considered_collisions, 2) = decoded_pairs(2)
+                collision_lookup(num_considered_collisions, 3) = raw_pairs(pair_idx, 1)
+                collision_lookup(num_considered_collisions, 4) = raw_pairs(pair_idx, 2)
+            end if
+        end do
+        $:GPU_UPDATE(device='[collision_lookup]')
+
+    end subroutine s_detect_ib_collisions
+
+    subroutine s_detect_ib_collisions_n2(num_considered_collisions)
+
+        integer, intent(out)   :: num_considered_collisions
+        integer                :: pid1, pid2, encoded_pid1, encoded_pid2, current_collisions
+        real(wp), dimension(3) :: centroid_1, centroid_2, distance_vec
+
+        num_considered_collisions = 0
+
+        $:GPU_PARALLEL_LOOP(private='[pid1, pid2, centroid_1, centroid_2, distance_vec, current_collisions]', &
+                            & copy='[num_considered_collisions]')
+        do pid1 = 1, num_ibs - 1
+            do pid2 = pid1 + 1, num_ibs
+                centroid_1 = [patch_ib(pid1)%x_centroid, patch_ib(pid1)%y_centroid, 0._wp]
+                centroid_2 = [patch_ib(pid2)%x_centroid, patch_ib(pid2)%y_centroid, 0._wp]
+                if (num_dims == 3) then
+                    centroid_1(3) = patch_ib(pid1)%z_centroid
+                    centroid_2(3) = patch_ib(pid2)%z_centroid
+                end if
+                distance_vec = centroid_2 - centroid_1
+
+                if (norm2(distance_vec) < patch_ib(pid1)%radius + patch_ib(pid2)%radius) then
+                    $:GPU_ATOMIC(atomic='capture')
+                    num_considered_collisions = num_considered_collisions + 1
+                    current_collisions = num_considered_collisions
+                    $:END_GPU_ATOMIC_CAPTURE()
+
+                    collision_lookup(current_collisions, 1) = pid1
+                    collision_lookup(current_collisions, 2) = pid2
+                end if
+            end do
+        end do
+        $:END_GPU_PARALLEL_LOOP()
+
+    end subroutine s_detect_ib_collisions_n2
+
+    !> @brief uses boundary conditions and particle locations to check for wall conditions
+    subroutine s_detect_wall_collisions()
+
+        integer  :: gp_idx, i, j, k, patch_id
+        real(wp) :: edge_location, overlap_distance
+
+        ! iterate over all ghost points to detect the one that is most-overlapping in each direction
+
+        $:GPU_PARALLEL_LOOP(private='[patch_id, edge_location, overlap_distance]')
+        do patch_id = 1, num_ibs
+            #:for X, IDX in [('x', 1), ('y', 3), ('z', 5)]
+                ! check if the boundaries are either of the two conditions we should compute collisions with
+                if (ib_bc_${X}$%beg == BC_SLIP_WALL .or. ib_bc_${X}$%beg == BC_NO_SLIP_WALL) then
+                    ! get the location of the true IB surface towards the domain boundary
+                    edge_location = patch_ib(patch_id)%${X}$_centroid - patch_ib(patch_id)%radius
+                    ! check if that edge actually extends out of the comutational domain
+                    if (edge_location < ${X}$_domain%beg) then
+                        overlap_distance = ${X}$_domain%beg - edge_location  ! the distance that the IB extends out of the domain
+                    else
+                        overlap_distance = 0._wp
+                    end if
+                    wall_overlap_distances(patch_id, ${IDX}$) = overlap_distance
+                end if
+
+                if (ib_bc_${X}$%end == BC_SLIP_WALL .or. ib_bc_${X}$%end == BC_NO_SLIP_WALL) then
+                    edge_location = patch_ib(patch_id)%${X}$_centroid + patch_ib(patch_id)%radius
+                    if (edge_location > ${X}$_domain%end) then
+                        overlap_distance = edge_location - ${X}$_domain%end
+                    else
+                        overlap_distance = 0._wp
+                    end if
+                    wall_overlap_distances(patch_id, ${IDX}$ + 1) = overlap_distance
+                end if
+            #:endfor
+        end do
+        $:END_GPU_PARALLEL_LOOP()
+
+    end subroutine s_detect_wall_collisions
+
+    !> @brief function checks if this local MPI processor owns this specific collision
+    function f_local_rank_owns_collision(collision_location) result(owns_collision)
+
+        $:GPU_ROUTINE(parallelism='[seq]')
+
+        real(wp), dimension(3), intent(in) :: collision_location
+        logical                            :: owns_collision
+        real(wp), dimension(3)             :: projected_location
+
+        #:if defined('MFC_MPI')
+            if (num_procs == 1) then
+                owns_collision = .true.
+            else
+                projected_location(:) = collision_location(:)
+
+                ! catch the edge case where th collision lies just outside the computational domain
+                #:for X, ID in [('x', 1), ('y', 2), ('z', 3)]
+                    if (num_dims >= ${ID}$) then
+                        if (ib_bc_${X}$%beg /= BC_PERIODIC) then
+                            ! if it is outside the domain in one direction, project it somewhere inside so at least one rank owns it
+                            if (collision_location(${ID}$) < ${X}$_domain%beg) then
+                                projected_location(${ID}$) = ${X}$_domain%beg
+                            else if (${X}$_domain%end < collision_location(${ID}$)) then
+                                projected_location(${ID}$) = ${X}$_domain%end - 1.0e-10
+                            end if
+                        end if
+                    end if
+                #:endfor
+
+                ! the object that contains the collision location owns the collisions
+                owns_collision = x_cb(-1) <= projected_location(1) .and. projected_location(1) < x_cb(m)
+                owns_collision = owns_collision .and. y_cb(-1) <= projected_location(2) .and. projected_location(2) < y_cb(n)
+                if (num_dims == 3) owns_collision = owns_collision .and. z_cb(-1) <= projected_location(3) &
+                    & .and. projected_location(3) < z_cb(p)
+            end if
+        #:else
+            owns_collision = .true.
+        #:endif
+
+    end function f_local_rank_owns_collision
+
+    subroutine s_finalize_collisions_module()
+
+        @:DEALLOCATE(collision_lookup)
+        @:DEALLOCATE(wall_overlap_distances)
+
+    end subroutine s_finalize_collisions_module
+
+end module m_collisions
diff --git a/src/simulation/m_data_output.fpp b/src/simulation/m_data_output.fpp
index 01f0d95100..8007ad3634 100644
--- a/src/simulation/m_data_output.fpp
+++ b/src/simulation/m_data_output.fpp
@@ -167,9 +167,16 @@ contains
         character(len=path_len + 2*name_len) :: file_loc
         integer                              :: ios
 
+        call s_create_directory(trim(case_dir) // '/restart_data')
         write (file_loc, '(A)') 'ib_state.dat'
-        file_loc = trim(case_dir) // '/D/' // trim(file_loc)
-        open (newunit=ib_state_unit, file=trim(file_loc), form='unformatted', access='stream', status='replace', iostat=ios)
+        file_loc = trim(case_dir) // '/restart_data/' // trim(file_loc)
+        if (t_step_start /= 0) then
+            ! On restart, append to existing file to preserve history
+            open (newunit=ib_state_unit, file=trim(file_loc), form='unformatted', access='stream', status='old', &
+                  & position='append', iostat=ios)
+        else
+            open (newunit=ib_state_unit, file=trim(file_loc), form='unformatted', access='stream', status='replace', iostat=ios)
+        end if
         if (ios /= 0) call s_mpi_abort('Cannot open IB state output file: ' // trim(file_loc))
 
     end subroutine s_open_ib_state_file
@@ -909,7 +916,7 @@ contains
 
     end subroutine s_write_ib_data_file
 
-    !> Write IB state records to D/ib_state.dat (rank 0 only)
+    !> @brief Writes IB state records to restart_data/ib_state.dat. Must be called only on rank 0.
     impure subroutine s_write_ib_state_file()
 
         integer :: i
@@ -918,6 +925,7 @@ contains
             write (ib_state_unit) mytime, i, patch_ib(i)%force, patch_ib(i)%torque, patch_ib(i)%vel, patch_ib(i)%angular_vel, &
                    & patch_ib(i)%angles, patch_ib(i)%x_centroid, patch_ib(i)%y_centroid, patch_ib(i)%z_centroid
         end do
+        flush (ib_state_unit)
 
     end subroutine s_write_ib_state_file
 
diff --git a/src/simulation/m_global_parameters.fpp b/src/simulation/m_global_parameters.fpp
index 079d36ebc2..a8b5d301a1 100644
--- a/src/simulation/m_global_parameters.fpp
+++ b/src/simulation/m_global_parameters.fpp
@@ -214,6 +214,12 @@ module m_global_parameters
     !> @{
     type(int_bounds_info) :: bc_x, bc_y, bc_z
     !> @}
+    !> @name Original boundary conditions preserved for immersed boundary code
+    !> (bc_x/y/z get overwritten with MPI neighbor ranks during decomposition)
+    !> @{
+    type(int_bounds_info) :: ib_bc_x, ib_bc_y, ib_bc_z
+    $:GPU_DECLARE(create='[ib_bc_x, ib_bc_y, ib_bc_z]')
+    !> @}ib_bc_z
 #if defined(MFC_OpenACC)
     $:GPU_DECLARE(create='[bc_x%vb1, bc_x%vb2, bc_x%vb3, bc_x%ve1, bc_x%ve2, bc_x%ve3]')
     $:GPU_DECLARE(create='[bc_y%vb1, bc_y%vb2, bc_y%vb3, bc_y%ve1, bc_y%ve2, bc_y%ve3]')
@@ -346,14 +352,19 @@ module m_global_parameters
 
     !> @name Immersed Boundaries
     !> @{
-    logical                                               :: ib
-    integer                                               :: num_ibs
-    logical                                               :: ib_state_wrt
-    type(ib_patch_parameters), dimension(num_patches_max) :: patch_ib  !< Immersed boundary patch parameters
-    type(vec3_dt), allocatable, dimension(:)              :: airfoil_grid_u, airfoil_grid_l
-    integer                                               :: Np
+    logical                                                  :: ib
+    integer                                                  :: num_ibs
+    integer                                                  :: collision_model
+    real(wp)                                                 :: coefficient_of_restitution
+    real(wp)                                                 :: collision_time
+    real(wp)                                                 :: ib_coefficient_of_friction
+    logical                                                  :: ib_state_wrt
+    type(ib_patch_parameters), dimension(num_ib_patches_max) :: patch_ib  !< Immersed boundary patch parameters
+    type(vec3_dt), allocatable, dimension(:)                 :: airfoil_grid_u, airfoil_grid_l
+    integer                                                  :: Np
 
     $:GPU_DECLARE(create='[ib, num_ibs, patch_ib, Np, airfoil_grid_u, airfoil_grid_l]')
+    $:GPU_DECLARE(create='[ib_coefficient_of_friction]')
     !> @}
 
     !> @name Bubble modeling
@@ -652,6 +663,10 @@ contains
         ! Immersed Boundaries
         ib = .false.
         num_ibs = dflt_int
+        collision_model = 0
+        coefficient_of_restitution = dflt_real
+        collision_time = dflt_real
+        ib_coefficient_of_friction = dflt_real
         ib_state_wrt = .false.
 
         ! Bubble modeling
@@ -794,7 +809,7 @@ contains
             relativity = .false.
         #:endif
 
-        do i = 1, num_patches_max
+        do i = 1, num_ib_patches_max
             patch_ib(i)%geometry = dflt_int
             patch_ib(i)%x_centroid = 0._wp
             patch_ib(i)%y_centroid = 0._wp
diff --git a/src/simulation/m_ib_patches.fpp b/src/simulation/m_ib_patches.fpp
index 0758aa6f9f..3735d9a8a0 100644
--- a/src/simulation/m_ib_patches.fpp
+++ b/src/simulation/m_ib_patches.fpp
@@ -519,6 +519,13 @@ contains
         center(3) = patch_ib(patch_id)%z_centroid + real(zp, wp)*(z_domain%end - z_domain%beg)
         radius = patch_ib(patch_id)%radius
 
+        ! completely skip particles no in the domain
+        if (center(1) - radius > x_cc(m + gp_layers + 1) .or. center(1) + radius < x_cc(-gp_layers - 1) .or. center(2) &
+            & - radius > y_cc(n + gp_layers + 1) .or. center(2) + radius < y_cc(-gp_layers - 1) .or. center(3) - radius > z_cc(p &
+            & + gp_layers + 1) .or. center(3) + radius < z_cc(-gp_layers - 1)) then
+            return
+        end if
+
         ! encode the periodicity information into the patch_id
         call s_encode_patch_periodicity(patch_id, xp, yp, zp, encoded_patch_id)
 
@@ -1073,8 +1080,7 @@ contains
 
         #:for X in [('x'), ('y')]
             ! check for periodicity
-
-            if (bc_${X}$%beg == BC_PERIODIC) then
+            if (ib_bc_${X}$%beg == BC_PERIODIC) then
                 ${X}$p_lower = -1
                 ${X}$p_upper = 1
             else
@@ -1086,7 +1092,7 @@ contains
 
         ! z only if 3D
         if (present(zp_lower) .and. p /= 0) then
-            if (bc_z%beg == BC_PERIODIC) then
+            if (ib_bc_z%beg == BC_PERIODIC) then
                 zp_lower = -1
                 zp_upper = 1
             else
diff --git a/src/simulation/m_ibm.fpp b/src/simulation/m_ibm.fpp
index 1323235887..a73acac42c 100644
--- a/src/simulation/m_ibm.fpp
+++ b/src/simulation/m_ibm.fpp
@@ -19,6 +19,7 @@ module m_ibm
     use m_ib_patches
     use m_viscous
     use m_model
+    use m_collisions
 
     implicit none
 
@@ -57,6 +58,8 @@ contains
 
         $:GPU_ENTER_DATA(copyin='[num_gps]')
 
+        if (collision_model > 0) call s_initialize_collisions_module()
+
     end subroutine s_initialize_ibm_module
 
     !> Initializes the values of various IBM variables, such as ghost points and image points.
@@ -79,9 +82,9 @@ contains
         $:GPU_UPDATE(device='[patch_ib(1:num_ibs)]')
 
         ! GPU routines require updated cell centers
-        $:GPU_UPDATE(device='[num_ibs, x_cc, y_cc, dx, dy, x_domain, y_domain]')
+        $:GPU_UPDATE(device='[num_ibs, x_cc, y_cc, dx, dy, x_domain, y_domain, ib_bc_x, ib_bc_y]')
         if (p /= 0) then
-            $:GPU_UPDATE(device='[z_cc, dz, z_domain]')
+            $:GPU_UPDATE(device='[z_cc, dz, z_domain, ib_bc_z]')
         end if
 
         ! allocate STL models
@@ -268,8 +271,7 @@ contains
                         ! compute the linear velocity of the ghost point due to rotation
                         radial_vector = physical_loc - [patch_ib(patch_id)%x_centroid, patch_ib(patch_id)%y_centroid, &
                             & patch_ib(patch_id)%z_centroid]
-                        call s_cross_product(matmul(patch_ib(patch_id)%rotation_matrix, patch_ib(patch_id)%angular_vel), &
-                                             & radial_vector, rotation_velocity)
+                        call s_cross_product(patch_ib(patch_id)%angular_vel, radial_vector, rotation_velocity)
 
                         ! add only the component of the IB's motion that is normal to the surface
                         vel_g = vel_g + sum((patch_ib(patch_id)%vel + rotation_velocity)*norm)*norm
@@ -284,8 +286,7 @@ contains
                             & patch_ib(patch_id)%z_centroid]
                         ! convert the angular velocity from the inertial reference frame to the fluids frame, then convert to linear
                         ! velocity
-                        call s_cross_product(matmul(patch_ib(patch_id)%rotation_matrix, patch_ib(patch_id)%angular_vel), &
-                                             & radial_vector, rotation_velocity)
+                        call s_cross_product(patch_ib(patch_id)%angular_vel, radial_vector, rotation_velocity)
                         do q = 1, 3
                             ! if mibm is 1 or 2, then the boundary may be moving
                             vel_g(q) = patch_ib(patch_id)%vel(q)  ! add the linear velocity
@@ -570,7 +571,7 @@ contains
                             encoded_patch_id = ib_markers%sf(i, j, k)
                             call s_decode_patch_periodicity(encoded_patch_id, patch_id, xp, yp, zp)
                             ghost_points_in(local_idx)%ib_patch_id = patch_id
-                            ib_markers%sf(i, j, k) = patch_id
+                            ! ib_markers%sf(i, j, k) = patch_id
                             ghost_points_in(local_idx)%x_periodicity = xp
                             ghost_points_in(local_idx)%y_periodicity = yp
                             ghost_points_in(local_idx)%z_periodicity = zp
@@ -914,7 +915,7 @@ contains
 
         $:GPU_PARALLEL_LOOP(private='[ib_idx, fluid_idx, radial_vector, local_force_contribution, cell_volume, &
                             & local_torque_contribution, dynamic_viscosity, viscous_stress_div, viscous_stress_div_1, &
-                            & viscous_stress_div_2, dx, dy, dz]', copy='[forces, torques]', copyin='[ib_markers, patch_ib, &
+                            & viscous_stress_div_2, dx, dy, dz]', copy='[forces, torques]', copyin='[patch_ib, &
                             & dynamic_viscosities]', collapse=3)
         do i = 0, m
             do j = 0, n
@@ -1003,6 +1004,8 @@ contains
         end do
         $:END_GPU_PARALLEL_LOOP()
 
+        call s_apply_collision_forces(ghost_points, num_gps, ib_markers, forces, torques)
+
         ! reduce the forces across all MPI ranks
         call s_mpi_allreduce_vectors_sum(forces, forces, num_ibs, 3)
         call s_mpi_allreduce_vectors_sum(torques, torques, num_ibs, 3)
@@ -1023,8 +1026,7 @@ contains
         ! apply the summed forces
         do i = 1, num_ibs
             patch_ib(i)%force(:) = forces(i,:)
-            patch_ib(i)%torque(:) = matmul(patch_ib(i)%rotation_matrix_inverse, torques(i, &
-                     & :))  ! torques must be converted to the local coordinates of the IB
+            patch_ib(i)%torque(:) = torques(i,:)
         end do
 
         call nvtxEndRange
@@ -1040,6 +1042,8 @@ contains
             @:DEALLOCATE(airfoil_grid_l)
         end if
 
+        if (collision_model > 0) call s_finalize_collisions_module()
+
     end subroutine s_finalize_ibm_module
 
     !> Computes the center of mass for IB patch types where we are unable to determine their center of mass analytically.
@@ -1186,7 +1190,7 @@ contains
             ! check domain wraps in x, y,
             #:for X in [('x'), ('y')]
                 ! check for periodicity
-                if (bc_${X}$%beg == BC_PERIODIC) then
+                if (ib_bc_${X}$%beg == BC_PERIODIC) then
                     ! check if the boundary has left the domain, and then correct
                     if (patch_ib(patch_id)%${X}$_centroid < ${X}$_domain%beg) then
                         ! if the boundary exited "left", wrap it back around to the "right"
@@ -1202,7 +1206,7 @@ contains
 
             if (p /= 0) then
                 ! check for periodicity
-                if (bc_z%beg == BC_PERIODIC) then
+                if (ib_bc_z%beg == BC_PERIODIC) then
                     ! check if the boundary has left the domain, and then correct
                     if (patch_ib(patch_id)%z_centroid < z_domain%beg) then
                         ! if the boundary exited "left", wrap it back around to the "right"
@@ -1217,17 +1221,4 @@ contains
 
     end subroutine s_wrap_periodic_ibs
 
-    !> Compute the cross product c = a x b of two 3D vectors
-    subroutine s_cross_product(a, b, c)
-
-        $:GPU_ROUTINE(parallelism='[seq]')
-        real(wp), intent(in)  :: a(3), b(3)
-        real(wp), intent(out) :: c(3)
-
-        c(1) = a(2)*b(3) - a(3)*b(2)
-        c(2) = a(3)*b(1) - a(1)*b(3)
-        c(3) = a(1)*b(2) - a(2)*b(1)
-
-    end subroutine s_cross_product
-
 end module m_ibm
diff --git a/src/simulation/m_mpi_proxy.fpp b/src/simulation/m_mpi_proxy.fpp
index a2b6c84326..2307a9918a 100644
--- a/src/simulation/m_mpi_proxy.fpp
+++ b/src/simulation/m_mpi_proxy.fpp
@@ -76,7 +76,7 @@ contains
             & 'num_probes', 'num_integrals', 'bubble_model', 'thermal',        &
             & 'num_source', 'relax_model', 'num_ibs', 'n_start',    &
             & 'num_bc_patches', 'num_igr_iters', 'num_igr_warm_start_iters', &
-            & 'adap_dt_max_iters' ]
+            & 'adap_dt_max_iters', 'collision_model' ]
             call MPI_BCAST(${VAR}$, 1, MPI_INTEGER, 0, MPI_COMM_WORLD, ierr)
         #:endfor
 
@@ -133,7 +133,8 @@ contains
             & 'z_b', 't_stop', 't_save', 'cfl_target', 'Bx0', 'alf_factor',  &
             & 'tau_star', 'cont_damage_s', 'alpha_bar', 'adap_dt_tol', &
             & 'ic_eps', 'ic_beta', 'hyper_cleaning_speed', &
-            & 'hyper_cleaning_tau' ]
+            & 'hyper_cleaning_tau', 'coefficient_of_restitution', 'collision_time', &
+            & 'ib_coefficient_of_friction' ]
             call MPI_BCAST(${VAR}$, 1, mpi_p, 0, MPI_COMM_WORLD, ierr)
         #:endfor
 
diff --git a/src/simulation/m_start_up.fpp b/src/simulation/m_start_up.fpp
index 5ef12c9e42..bef19f692b 100644
--- a/src/simulation/m_start_up.fpp
+++ b/src/simulation/m_start_up.fpp
@@ -91,7 +91,8 @@ contains
             x_domain, y_domain, z_domain, &
             hypoelasticity, &
             ib, num_ibs, patch_ib, &
-            ib_state_wrt, &
+            collision_model, coefficient_of_restitution, collision_time, &
+            ib_coefficient_of_friction, ib_state_wrt, &
             fluid_pp, bub_pp, probe_wrt, prim_vars_wrt, &
             fd_order, probe, num_probes, t_step_old, &
             alt_soundspeed, mixture_err, weno_Re_flux, &
@@ -816,6 +817,9 @@ contains
             call s_write_data_files(q_cons_ts(stor)%vf, q_T_sf, q_prim_vf, save_count, bc_type)
         end if
 
+        ! Write IB kinematic state for restart
+        if (ib .and. proc_rank == 0) call s_write_ib_state_file()
+
         call nvtxEndRange
         call cpu_time(finish)
         if (cfl_dt) then
@@ -910,6 +914,7 @@ contains
 
         if (model_eqns == 3) call s_initialize_internal_energy_equations(q_cons_ts(1)%vf)
         if (ib) then
+            if (t_step_start /= 0) call s_read_ib_restart_data()
             call s_ibm_setup()
             call s_write_ib_data_file(0)
         end if
@@ -1006,6 +1011,11 @@ contains
 
         call s_mpi_bcast_user_inputs()
 
+        ! Save original BCs before decomposition overwrites them with MPI neighbor ranks
+        ib_bc_x = bc_x
+        ib_bc_y = bc_y
+        ib_bc_z = bc_z
+
         call s_initialize_parallel_io()
 
         call s_mpi_decompose_computational_domain()
@@ -1116,9 +1126,62 @@ contains
 
         if (surface_tension) call s_finalize_surface_tension_module()
         if (bodyForces) call s_finalize_body_forces_module()
+        if (ib) call s_finalize_ibm_module()
 
         call s_mpi_finalize()
 
     end subroutine s_finalize_modules
 
+    !> @brief Reads IB kinematic state from restart_data/ib_state.dat on restart. Rank 0 reads the last num_ibs records and
+    !! broadcasts to all ranks. Overwrites patch_ib vel, angular_vel, angles, and centroid.
+    impure subroutine s_read_ib_restart_data()
+
+        character(len=path_len + 2*name_len) :: file_loc
+        integer                              :: i, ios, file_unit, ib_id, ierr
+        real(wp)                             :: time_read
+        real(wp), dimension(3)               :: force_read, torque_read
+        real(wp), dimension(3)               :: vel_read, angular_vel_read, angles_read
+        real(wp)                             :: xc_read, yc_read, zc_read
+        logical                              :: file_exist
+
+        if (proc_rank == 0) then
+            file_loc = trim(case_dir) // '/restart_data/ib_state.dat'
+            inquire (FILE=trim(file_loc), EXIST=file_exist)
+            print *, "IB Restart File Exists: ", file_exist
+            if (file_exist) then
+                open (newunit=file_unit, file=trim(file_loc), form='unformatted', access='stream', status='old', iostat=ios)
+                print *, "iostat ", ios
+            else
+                call s_mpi_abort('Cannot open IB state file for restart: ' // trim(file_loc))
+            end if
+
+            ! Read all records; the last num_ibs records are the final state
+            do
+                read (file_unit, iostat=ios) time_read, ib_id, force_read, torque_read, vel_read, angular_vel_read, angles_read, &
+                      & xc_read, yc_read, zc_read
+                if (ios /= 0) exit
+                patch_ib(ib_id)%vel = vel_read
+                patch_ib(ib_id)%angular_vel = angular_vel_read
+                patch_ib(ib_id)%angles = angles_read
+                patch_ib(ib_id)%x_centroid = xc_read
+                patch_ib(ib_id)%y_centroid = yc_read
+                patch_ib(ib_id)%z_centroid = zc_read
+            end do
+
+            close (file_unit)
+        end if
+
+#ifdef MFC_MPI
+        do i = 1, num_ibs
+            call MPI_BCAST(patch_ib(i)%vel, 3, mpi_p, 0, MPI_COMM_WORLD, ierr)
+            call MPI_BCAST(patch_ib(i)%angular_vel, 3, mpi_p, 0, MPI_COMM_WORLD, ierr)
+            call MPI_BCAST(patch_ib(i)%angles, 3, mpi_p, 0, MPI_COMM_WORLD, ierr)
+            call MPI_BCAST(patch_ib(i)%x_centroid, 1, mpi_p, 0, MPI_COMM_WORLD, ierr)
+            call MPI_BCAST(patch_ib(i)%y_centroid, 1, mpi_p, 0, MPI_COMM_WORLD, ierr)
+            call MPI_BCAST(patch_ib(i)%z_centroid, 1, mpi_p, 0, MPI_COMM_WORLD, ierr)
+        end do
+#endif
+
+    end subroutine s_read_ib_restart_data
+
 end module m_start_up
diff --git a/src/simulation/m_time_steppers.fpp b/src/simulation/m_time_steppers.fpp
index 1b39ce156c..f4d9d18af4 100644
--- a/src/simulation/m_time_steppers.fpp
+++ b/src/simulation/m_time_steppers.fpp
@@ -394,8 +394,8 @@ contains
             call s_open_run_time_information_file()
         end if
 
-        ! Opening and writing the header of the ib state data file
-        if (proc_rank == 0 .and. ib_state_wrt) then
+        ! Opening the ib state data file (used for restart and diagnostics)
+        if (proc_rank == 0 .and. ib) then
             call s_open_ib_state_file()
         end if
 
@@ -558,13 +558,6 @@ contains
                 if (moving_immersed_boundary_flag) then
                     call s_propagate_immersed_boundaries(s)
                     ! compute ib forces for fixed immersed boundaries if requested for output
-                else if (ib_state_wrt .and. s == nstage) then
-                    call s_compute_ib_forces(q_prim_vf, fluid_pp)
-                end if
-
-                ! Write IB state to file if requested and at the RK final stage
-                if (proc_rank == 0 .and. ib_state_wrt .and. s == nstage) then
-                    call s_write_ib_state_file()
                 end if
 
                 ! update the ghost fluid properties point values based on IB state
@@ -576,7 +569,13 @@ contains
             end if
         end do
 
-        if (moving_immersed_boundary_flag) call s_wrap_periodic_ibs()
+        !
+        if (ib) then
+            if (moving_immersed_boundary_flag) call s_wrap_periodic_ibs()
+            if (ib_state_wrt .and. (.not. moving_immersed_boundary_flag)) then
+                call s_compute_ib_forces(q_prim_vf, fluid_pp)
+            end if
+        end if
 
         ! Adaptive dt: final stage
         if (adap_dt) call s_adaptive_dt_bubble(3)
@@ -730,6 +729,13 @@ contains
                 patch_ib(i)%step_z_centroid = patch_ib(i)%z_centroid
             end if
 
+            ! Compute forces BEFORE the RK velocity blend so the device copy of patch_ib%vel matches the host (pre-blend) when
+            ! velocity-dependent collision damping forces are evaluated on the GPU.
+            if (patch_ib(i)%moving_ibm == 2 .and. .not. forces_computed) then
+                call s_compute_ib_forces(q_prim_vf, fluid_pp)
+                forces_computed = .true.
+            end if
+
             if (patch_ib(i)%moving_ibm > 0) then
                 patch_ib(i)%vel = (rk_coef(s, 1)*patch_ib(i)%step_vel + rk_coef(s, 2)*patch_ib(i)%vel)/rk_coef(s, 4)
                 patch_ib(i)%angular_vel = (rk_coef(s, 1)*patch_ib(i)%step_angular_vel + rk_coef(s, &
@@ -739,12 +745,6 @@ contains
                     ! plug in analytic velocities for 1-way coupling, if it exists
                     @:mib_analytical()
                 else if (patch_ib(i)%moving_ibm == 2) then  ! if we are using two-way coupling, apply force and torque
-                    ! compute the force and torque on the IB from the fluid
-                    if (.not. forces_computed) then
-                        call s_compute_ib_forces(q_prim_vf, fluid_pp)
-                        forces_computed = .true.
-                    end if
-
                     ! update the velocity from the force value
                     patch_ib(i)%vel = patch_ib(i)%vel + rk_coef(s, 3)*dt*(patch_ib(i)%force/patch_ib(i)%mass)/rk_coef(s, 4)
 
@@ -771,6 +771,7 @@ contains
             end if
         end do
 
+        $:GPU_UPDATE(device='[patch_ib]')
         call s_update_mib(num_ibs)
 
         call nvtxEndRange
@@ -972,8 +973,8 @@ contains
             call s_close_run_time_information_file()
         end if
 
-        ! Writing the footer of and closing the IB data file
-        if (proc_rank == 0 .and. ib_state_wrt) then
+        ! Closing the IB state data file
+        if (proc_rank == 0 .and. ib) then
             call s_close_ib_state_file()
         end if
 
diff --git a/tests/AA49A8BC/golden-metadata.txt b/tests/AA49A8BC/golden-metadata.txt
new file mode 100644
index 0000000000..e5883f7b13
--- /dev/null
+++ b/tests/AA49A8BC/golden-metadata.txt
@@ -0,0 +1,154 @@
+This file was created on 2026-04-10 16:22:42.386931.
+
+mfc.sh:
+
+    Invocation: test --only AA49A8BC -j 8 --no-gpu --generate
+    Lock:       mpi=Yes & gpu=No & debug=No & reldebug=No & gcov=No & unified=No & single=No & mixed=No & fastmath=No
+    Git:        a26d9b40d8decb9cfe2c0b653bc23b65a0634099 on ib-collisions (dirty)
+
+pre_process:
+
+    CMake Configuration:
+    
+        CMake v4.0.3 on oppenheimer
+    
+        C       : AppleClang v17.0.0.17000013 (/usr/bin/cc)
+        Fortran : GNU v15.1.0 (/opt/homebrew/bin/gfortran)
+    
+        PRE_PROCESS   : ON
+        SIMULATION    : OFF
+        POST_PROCESS  : OFF
+        SYSCHECK      : OFF
+        DOCUMENTATION : OFF
+        ALL           : OFF
+    
+        MPI     : ON
+        OpenACC : OFF
+        OpenMP  : OFF
+    
+        Fypp    : /Users/dan/Documents/repos/MFC/build/venv/bin/fypp
+        Doxygen : 
+    
+        Build Type : Release
+    
+    Configuration Environment:
+    
+        CC       : 
+        CXX      : 
+        FC       : 
+        OMPI_CC  : 
+        OMPI_CXX : 
+        OMPI_FC  : 
+
+simulation:
+
+    CMake Configuration:
+    
+        CMake v4.0.3 on oppenheimer
+    
+        C       : AppleClang v17.0.0.17000013 (/usr/bin/cc)
+        Fortran : GNU v15.1.0 (/opt/homebrew/bin/gfortran)
+    
+        PRE_PROCESS   : OFF
+        SIMULATION    : ON
+        POST_PROCESS  : OFF
+        SYSCHECK      : OFF
+        DOCUMENTATION : OFF
+        ALL           : OFF
+    
+        MPI     : ON
+        OpenACC : OFF
+        OpenMP  : OFF
+    
+        Fypp    : /Users/dan/Documents/repos/MFC/build/venv/bin/fypp
+        Doxygen : 
+    
+        Build Type : Release
+    
+    Configuration Environment:
+    
+        CC       : 
+        CXX      : 
+        FC       : 
+        OMPI_CC  : 
+        OMPI_CXX : 
+        OMPI_FC  : 
+
+syscheck:
+
+    CMake Configuration:
+    
+        CMake v4.0.3 on oppenheimer
+    
+        C       : AppleClang v17.0.0.17000013 (/usr/bin/cc)
+        Fortran : GNU v15.1.0 (/opt/homebrew/bin/gfortran)
+    
+        PRE_PROCESS   : OFF
+        SIMULATION    : OFF
+        POST_PROCESS  : OFF
+        SYSCHECK      : ON
+        DOCUMENTATION : OFF
+        ALL           : OFF
+    
+        MPI     : ON
+        OpenACC : OFF
+        OpenMP  : OFF
+    
+        Fypp    : /Users/dan/Documents/repos/MFC/build/venv/bin/fypp
+        Doxygen : 
+    
+        Build Type : Release
+    
+    Configuration Environment:
+    
+        CC       : 
+        CXX      : 
+        FC       : 
+        OMPI_CC  : 
+        OMPI_CXX : 
+        OMPI_FC  : 
+
+post_process:
+
+    CMake Configuration:
+    
+        CMake v4.0.3 on oppenheimer
+    
+        C       : AppleClang v17.0.0.17000013 (/usr/bin/cc)
+        Fortran : GNU v15.1.0 (/opt/homebrew/bin/gfortran)
+    
+        PRE_PROCESS   : OFF
+        SIMULATION    : OFF
+        POST_PROCESS  : ON
+        SYSCHECK      : OFF
+        DOCUMENTATION : OFF
+        ALL           : OFF
+    
+        MPI     : ON
+        OpenACC : OFF
+        OpenMP  : OFF
+    
+        Fypp    : /Users/dan/Documents/repos/MFC/build/venv/bin/fypp
+        Doxygen : 
+    
+        Build Type : Release
+    
+    Configuration Environment:
+    
+        CC       : /usr/bin/cc
+        CXX      : /usr/bin/c++
+        FC       : /opt/homebrew/bin/gfortran
+        OMPI_CC  : 
+        OMPI_CXX : 
+        OMPI_FC  : 
+
+CPU:
+
+    CPU Info:
+    From sysctl -a 
+    machdep.cpu.cores_per_package: 8
+    machdep.cpu.core_count: 8
+    machdep.cpu.logical_per_package: 8
+    machdep.cpu.thread_count: 8
+    machdep.cpu.brand_string: Apple M2
+
diff --git a/tests/AA49A8BC/golden.txt b/tests/AA49A8BC/golden.txt
new file mode 100644
index 0000000000..80c8b7505a
--- /dev/null
+++ b/tests/AA49A8BC/golden.txt
@@ -0,0 +1,12 @@
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1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0
\ No newline at end of file
diff --git a/toolchain/mfc/case_validator.py b/toolchain/mfc/case_validator.py
index 79e136eb6e..ebc1974034 100644
--- a/toolchain/mfc/case_validator.py
+++ b/toolchain/mfc/case_validator.py
@@ -561,10 +561,10 @@ def check_ibm(self):
 
         self.prohibit(ib and n <= 0, "Immersed Boundaries do not work in 1D (requires n > 0)")
         self.prohibit(ib and num_ibs <= 0, "num_ibs must be >= 1 when ib is enabled")
-        num_patches_max = get_fortran_constants().get("num_patches_max", 1000)
+        num_ib_patches_max = get_fortran_constants().get("num_ib_patches_max", 100000)
         self.prohibit(
-            ib and num_ibs > num_patches_max,
-            f"num_ibs must be <= {num_patches_max} (num_patches_max in m_constants.fpp)",
+            ib and num_ibs > num_ib_patches_max,
+            f"num_ibs must be <= {num_ib_patches_max} (num_ib_patches_max in m_constants.fpp)",
         )
         self.prohibit(not ib and num_ibs > 0, "num_ibs is set, but ib is not enabled")
         self.prohibit(ib_state_wrt and not ib, "ib_state_wrt requires ib to be enabled")
diff --git a/toolchain/mfc/params/definitions.py b/toolchain/mfc/params/definitions.py
index 2f3631c228..c8c08874fe 100644
--- a/toolchain/mfc/params/definitions.py
+++ b/toolchain/mfc/params/definitions.py
@@ -27,7 +27,8 @@ def _fc(name: str) -> int:
 NF = _fc("num_fluids_max")  # fluid_pp
 NPR = _fc("num_probes_max")  # probe, acoustic, integral
 NB = _fc("num_bc_patches_max")  # patch_bc
-NUM_PATCHES_MAX = _fc("num_patches_max")  # patch_icpp, patch_ib (Fortran array bound)
+NUM_PATCHES_MAX = _fc("num_patches_max")  # patch_icpp (Fortran array bound)
+NIB = _fc("num_ib_patches_max")  # patch_ib (Fortran array bound)
 # Enumeration limits for families not yet converted to IndexedFamily.
 # These are smaller than the Fortran array bounds to keep the registry compact.
 # The CONSTRAINTS dict below uses the Fortran constants for validation.
@@ -223,6 +224,10 @@ def _fc(name: str) -> int:
     "hyperelasticity": "Enable hyperelastic model",
     "relativity": "Enable special relativity",
     "ib": "Enable immersed boundaries",
+    "collision_model": "Collision model for immersed boundaries (0=none, 1=soft sphere)",
+    "coefficient_of_restitution": "Coefficient of restitution for IB collisions",
+    "collision_time": "Characteristic collision time for IB collisions",
+    "ib_coefficient_of_friction": "Coefficient of friction for IB collisions",
     "acoustic_source": "Enable acoustic sources",
     # Output
     "parallel_io": "Enable parallel I/O",
@@ -708,6 +713,11 @@ def get_value_label(param_name: str, value: int) -> str:
             "requires": ["num_ibs"],
         }
     },
+    "collision_model": {
+        "when_set": {
+            "requires": ["ib", "coefficient_of_restitution", "collision_time"],
+        }
+    },
     "acoustic_source": {
         "when_true": {
             "requires": ["num_source"],
@@ -902,6 +912,10 @@ def _load():
     # Immersed boundary
     _r("num_ibs", INT, {"ib"})
     _r("ib", LOG, {"ib"})
+    _r("collision_model", INT, {"ib"})
+    _r("coefficient_of_restitution", REAL, {"ib"})
+    _r("collision_time", REAL, {"ib"})
+    _r("ib_coefficient_of_friction", REAL, {"ib"})
 
     # Probes
     for n in ["num_probes", "num_integrals"]:
@@ -1151,7 +1165,7 @@ def _load():
 
     # patch_ib (immersed boundaries) — registered as indexed family for O(1) lookup.
     # max_index is None so the parameter registry stays compact (no enumeration).
-    # The Fortran-side upper bound (num_patches_max in m_constants.fpp) is parsed
+    # The Fortran-side upper bound (num_ib_patches_max in m_constants.fpp) is parsed
     # and enforced by the case_validator, not by max_index here.
     _ib_tags = {"ib"}
     _ib_attrs: Dict[str, tuple] = {}
@@ -1177,7 +1191,7 @@ def _load():
             base_name="patch_ib",
             attrs=_ib_attrs,
             tags=_ib_tags,
-            max_index=NUM_PATCHES_MAX,
+            max_index=NIB,
         )
     )
 
diff --git a/toolchain/mfc/params/descriptions.py b/toolchain/mfc/params/descriptions.py
index 7906b6d38d..63c9328533 100644
--- a/toolchain/mfc/params/descriptions.py
+++ b/toolchain/mfc/params/descriptions.py
@@ -250,6 +250,10 @@
     "lag_mg_wrt": "Write bubble gas mass",
     "lag_betaT_wrt": "Write bubble heat transfer coefficient",
     "lag_betaC_wrt": "Write bubble mass transfer coefficient",
+    "coefficient_of_restitution": "Real number describing the elasticity of collisions from 0 (perfectly ineleastic) to 1 (perfectly elastic)",
+    "collision_model": "Integer selecting the collision model being used. 0 for no collision. 1 for soft-sphere collisions",
+    "collision_time": "Amount of simulation time each collision will take to resolve",
+    "ib_coefficient_of_friction": "coefficient of friction used in IB collisions",
 }
 
 # Patterns for auto-generating descriptions of indexed parameters