#StackBounty: #physics #collision-resolution How do I apply angular velocity vector after a collision?

Bounty: 50

I’m writing a small 3D physics engine, And i am trying to get the use of Angular Velocity Vector of two shapes specially two cubes

For deep understanding i have divide the motion to Linear and Angular motion

For Angular motion i have done few steps

I calculated the inertia tensor matrix which 3×3 so i could get the torque as following:

Torque Formula

And for calculating the matrix i have used

Inertia Tensor

By all of that i could get the Impulse and the final angular velocities for all shapes as following:

Impulse And Final Angular Velocities

So my question how could i calculate the rotational angular which each object should rotate and for how long it should last ?

Get this bounty!!!

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