I am having hard time learning the method of impulse based dynamics developed by Mirtich for rigid body dynamics simulation. Please help me out if any body has any example code(algorithm) of it. Thanks.
I don't think you will find anything better than a very detailed set of pseudocodes from Brian Mirtich's Ph.D. thesis. In his thesis, almost every algorithm required to be implemented for rigid body simulation is described in this form and should be implementable with enough effort.
The thesis would be, in my opinion, a much better starting point compared to the paper you linked in your question.