In my 3d rigid-body simulation, when the ball hits an object it doesn't get rotated. I'm using AABB for collision detection

this is how i update the objects

void RigidBody::Update(float h)
{
	x += h*v;
	v += h*(F_Total/Mass);
	q += 0.5f*h*Omegaq;
	L += h*Tau_Total;
	q = XMQuaternionNormalize(q);
	R = XMMatrixRotationQuaternion(q);
	IInverse = XMMatrixMultiply(XMMatrixTranspose(R), IBodyInverse);
	IInverse = XMMatrixMultiply(IInverse, R);
	Omega = XMVector4Transform(L, IInverse);
	F_Total = XMVectorSet(0, 0, 0, 0);
	Tau_Total = XMVectorSet(0, 0, 0, 0);
	UpdateAABB();
}

This is how add impulsive torque and torque to the system

void RigidBody::AddTorque(XMVECTOR Torque)
{
	Tau_Total += Torque;
}

void RigidBody::AddImpulsiveTorque(XMVECTOR ImpulsiveTorque)
{
	Omega += XMVector4Transform(ImpulsiveTorque, IInverse);
}

This is how I apply impulses.

void Arbiter::ApplyImpulse()
{
	XMVECTOR tangent[2];

	for (int i = 0; i < numContacts; ++i)
	{
		Contact* c = contacts + i;

	 XMVECTOR p = c->position;

	XMVECTOR padot = body1->GetVelocityAtPoint(p);
	XMVECTOR pbdot = body2->GetVelocityAtPoint(p);

	XMVECTOR ra = (p - body1->GetPosition());
	XMVECTOR rb = (p - body2->GetPosition());

	XMVECTOR n = c->normal;
	
	XMVECTOR dv = -padot + pbdot;
	float Cdot = XMVector3Dot(dv, n).m128_f32[0];
	float dPn = c->massNormal * (-Cdot + c->bias);

	float Pn0 = c->Pn;
	c->Pn = max(Pn0 + dPn, 0.0f);
	dPn = c->Pn - Pn0;

	XMVECTOR P = dPn * n;
	
	body1->AddImpulse(-P);
	body1->AddTorque(-XMVector3Cross(ra, P));
	body2->AddImpulse(P);
	body2->AddTorque(XMVector3Cross(rb, P));
	
	p = c->position;

	padot = body1->GetVelocityAtPoint(p);
	pbdot = body2->GetVelocityAtPoint(p);

	n = c->normal;
	ra = (p - body1->GetPosition());
	rb = (p - body2->GetPosition());

	dv = -padot +pbdot;

	tangent[0] = XMVector3Orthogonal(n);
	tangent[1] = XMVector3Cross(tangent[0], n);

	for (int z=0;z<2;z++)
	{
		float vt = XMVector3Dot(dv, tangent[z]).m128_f32[0];
		float dPt = c->massTangent[z] * (-vt);

		// Compute friction impulse
		float maxPt = friction * c->Pn;

		// Clamp friction
		float oldTangentImpulse = c->Pt[z];
		c->Pt[z] = Clamp(oldTangentImpulse + dPt, -maxPt, maxPt);
		dPt = c->Pt[z] - oldTangentImpulse;

			// Apply contact impulse
		XMVECTOR Pt = dPt * tangent[z];

		body1->AddImpulse(-Pt);
		body1->AddTorque(-XMVector3Cross(ra, Pt));
		body2->AddImpulse(Pt);
		body2->AddTorque(XMVector3Cross(rb, Pt));
	}
	}
}

I found rotations by modifying the addimpulsivetorque function. instead of modifying omega I modfied L(angular momentum). I used addimpulsivetorque function instead of addtorque