The effect of a perturbing satellite on a planetary ring at an isolated 2:1 inner Lindblad resonance is examined with direct N-body simulations. Particle-particle impacts with the velocity dependent coefficient of restitution are accurately calculated in the course of three-dimensional simulation, but the ring self-gravity is neglected. An isolated ringlet is observed to form in the resonance zone, resembling the narrow ringlets characteristic of the C-ring and Cassini Division. The carefully chosen simulation parameters lead to realistic dissipation that makes the ringlet formation possible; in our previous simulations (paper I) this effect was suppressed by the rapid inward drift of particles due to the unrealistically strong dissipation. Extra care has also been taken in scaling the simulation system parameters to the Prometheus 2: 1 inner Lindblad resonance, so that the lower limit for the mass of Prometheus can be estimated. Even if the mechanism of the torque in the collisional system is different from the self-gravitating systems, the theoretical linear standard torque (derived for systems with self-gravitating density waves) is found to be of the correct order of magnitude. The formation of the ringlet and the gap decreases the strength of the torque. With the simulation parameter values the observed nonlinear torque is about three times larger than the theoretical nonlinear estimate.