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We illustrate how the different kinds of constraints acting on an impulsivemechanical system can be clearly described in the geometric setup given by theconfiguration space--time bundle $\pi_t:\mathcal{M} \to \mathbb{E}$ and itsfirst jet extension $\pi: J_1 \to \mathcal{M}$ in a way that ensures totalcompliance with axioms and invariance requirements of Classical Mechanics. Wespecify the differences between geometric and constitutive characterizations ofa constraint. We point out the relevance of the role played by the concept offrame of reference, underlining when the frame independence is mandatorilyrequired and when a choice of a frame is an inescapable need. The thoroughrationalization allows the introduction of unusual but meaningful kinds ofconstraints, such as unilateral kinetic constraints or breakable constraints,and of new theoretical aspects, such as the possible dependence of theimpulsive reaction by the active forces acting on the system.

A survey about framing the bases of Impulsive Mechanics of constrained systems into a jet-bundle geometric context