Sorry, I made a mistake in calculating the angular velocity. Fixed.

Hi, I'm making my own physics engine. The problem I now came across is that when I position the box on its edge on the plane at the beginning of the simulation, then it rotates really slowly to the resting position(lying on one face on the plane). I think this is expected, because the penetration between the box and the plane is really small, the torque impulse generated by "sequential impulse" method is also really small, hence slow rotation. But how do I deal with this problem?

Thanks in advance.