   Colliding, spinning objects in 3D
  If two moving, rotating objects collide in 3D space (assuming the collision is just at one point) do the impulses get generated in the axis of the relative velocities of the bodies at the collision point   ie as if the colliosn was between 2 points moving at the velocities the bodies have at the collision position?Have I made this clear enough what I mean? 
  not exactly. the impulse is generated along the tangent plane''s normal (or collision normal) at the contact point. You calculate the collsion normal at the collision detection stage, along with a point of contact. For example, if you have a method of calcualting the two points of contact on the two intersecting objects, the impulse force will be directed from one point of contact towards the other.The velocites at the two contact points are used to determine how much impulse should be generated. for friction force however, the direction of the force will be the opposite of the direction of the realative velocity.  