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rotation objects in engine

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I am just wondering about something. In my physics engine, I have objects composed of several verticies. When 2 collide, a torque is exerted on each, and therefore the objects are rotated. I was just wondering how this should be accomplished. Should I rotate each of the verticies of the object each frame depending on the torque? Because the rotated objects still collide with other objects. I hope you all understand what I am saying, if not, I will try to make it a bit clearer. Thanks in advance!

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