Today I found out that the current collision code works great with rotation. As long as there is no change in velocity. When there is no continuous change/input to the angular velocity. Then the collision code can solve the rotation, set it to 0 and move along the wall just fine.
The weird thing right now is that when the angular velocity is set every frame, then the can not move along the wall. The normal vector that is returned by the collision algorithm is incorrect. It’s always the forward vector of the entity itself. Hopefully this behaviour will point me to what is going wrong.
But I have to say that once that is figured out, it still feels incorrect. As there is no counter rotation for when you hit the wall. I just hope that will be a trivial thing to add once the basic behaviour is solid.