I'm implementing a physics simulation for my final course project and updating the rigid bodies like this:
calc_forces(); //calc constant forces and torques
velocity += (force / mass) * dt;
position += velocity * dt;
ang_momentum += torque * dt;
orientation += ( (ang_vel * orientation) * 0.5f ) * dt;
ang_vel = inverseInertia * ang_momentum;
//IF COLLIDE WITH OTHER
velocity += ( (j * collision.cn) + (u * j) * collision.ct ) / mass;
ang_vel += pt1.cross( (j * collision.cn) + (u * j) * collision.ct ) * inverseInertia;
other.velocity += ( (-j * collision.cn) + (u * j) * collision.ct ) / other.mass;
other.ang_vel += pt2.cross( (-j * collision.cn) + (u * j) * collision.ct ) * other.inverseInertia;
I've read the Baraff's papers but i think that what i'm doing is "no change in angular momentum" and in this moment I don't have any idea how to calculate.
Obs: when i change ang_vel to ang_momentum, the results are better but i want correctly results.