This paper builds on preliminary work in which numerical simulations of the collisional disruption of large asteroids (represented by the Eunomia and Koronis family parent bodies) were performed and which accounted not only for the fragmentation of the solid body through crack propagation, but also for the mutual gravitational interaction of the resulting fragments. It was found that the parent body is first completely shattered at the end of the fragmentation phase, and then subsequent gravitational reaccumulations lead to the formation of an entire family of large and small objects with dynamical properties similar to those of the parent body. In this work, we present new and improved numerical simulations in detail. As before, we use the same numerical procedure, i.e., a 3D SPH hydrocode to compute the fragmentation phase and the parallel N-body code pkdgrav to compute the subsequent gravitational reaccumulation phase. However, this reaccumulation phase is now treated more realistically by using a merging criterion based on energy and angular momentum and by allowing dissipation to occur during fragment collisions. We also extend our previous studies to the as yet unexplored intermediate impact energy regime (represented by the Flora family formation) for which the largest fragment's mass is about half that of the parent body. Finally, we examine the robustness of the results by changing various assumptions, the numerical resolution, and different numerical parameters. We find that in the lowest impact energy regime the more realistic physical approach of reaccumulation leads to results that are statistically identical to those obtained with our previous simplistic approach. Some quantitative changes arise only as the impact energy increases such that higher relative velocities are reached during fragment collisions, but they do not modify the global outcome qualitatively. As a consequence, these new simulations confirm previous main results and still lead to the conclusion that: (1) all large family members must be made of gravitationally reaccumulated fragments; (2) the original fragment size distribution and their orbital dispersion are respectively steeper and smaller than currently observed for the real families, supporting recent studies on subsequent evolution and diffusion of family members; and (3) the formation of satellites around family members is a frequent and natural outcome of collisional processes.