I am trying to simulate a single rectangular body but I am having issues with Torque. I have an angular velocity variable (AngVel) and I have my torque calculations (Torque = Vertice:cross(Impulse)) and I get the angular acceleration (AngAccel = Torque/Inertia). The problem is that, from what I have read, the angular acceleration is a vector with the direction as the axis of rotation and the magnitude is the angle, but my angular velocity is actually a euler angle. Please correct me if I am wrong in my understanding. I just need to convert the axis-angle into a regular euler angle but I can't find how to do that. Also, How do I determine how much of the implulse is added to the velocity and how much is added to the angular velocity? Thanks for any help you can provide.