BEPUphysics

We are currently having an "issue" where the angles at which our object is bouncing off of walls is not ideal. The current result looks similar to this:
The desired result is something more like this, where the angle of reflection isn't so different from the angle of incidence.
Is it possible to tune the physics to achieve this?

It could just be friction. It will reduce tangential motion energy on impact. Additionally, as a side effect, linear velocity will be transformed into angular velocity, so subsequent hits will be less 'ideal,' though still physically correct.

Turning the friction down to zero for such impacts would be a good test.

That did the trick, it was indeed a result of the friction.