2D Collisions with Friction and Rotation (identical cylindrical objects)

Hi,

I've been searching the internet for useful information regarding this but I cannot find anything that helps me completely. I am working on a project on my own where I have identical cylindrical objects (standing up on their flat sides like hockey pucks on ice - so from a 2D "overhead" perspective, they'd look like circles) and I need to determine all of the resultant components of a collision between two of them. Friction is critical (between an object and the ground, and between two objects) as well as the effect of the rotations of each object. The collisions are not quite perfectly elastic and can be from any angle (head-on or more to one side).

I need to find out what the equations are for the resulting velocities, angular velocities and movement angles after the collision, given that I know the initial velocities, angular velocities and the offset between their centers of mass when they collide. The objects are uniform throughout so their center of mass is in the very center.

I'm not a physics buff (obviously) but I need to determine the calculations for this project and I am really struggling to find the information I need. It's hard to find something with all of the realistic specifics that I require. Would anyone be able to help me?

Thank you very much.