It sound as you haven't looked at the dev-hub and the mashup code examples. What your asking for is in there, except the hypercube part. The grip-mashup contains bookmarks and navigation.
You can use the hypercube builder to get a understanding of how to build the cube. Here's a guide:
The RequireJS file that you see loaded in all of the examples of using the Capabilities APIs includes more than RequireJS. There's the version of Angular in there that qlik.js depends on, jQuery and some jQuery plugins, etc. It would be difficult to load qlik.js without using that require.js file.
Since the require.js file contains a version of angular, it will also be difficult to use it in an existing Angular application. You can build a mashup using the Capabilities API with Angular.js, however. GitHub - erikwett/helpdesk-angular: Qlik Sense mashup example using AngularJS
So my suggestion would be to either integrate your existing Angular app into your mashup, or to build the mashup seperately, and iFrame it into your existing app.
I had the exact same requirement too. I had a fairly large angular app (version 1.6.x) with custom D3 charts, jQuery (3.x) and a handful of other libraries that depend on jQuery.
With respect to Qlik Sense, I
* wanted to access qlik object info such as sheet names, object titles
* embed objects on the fly based on user interaction
* listen for selection events and manipulate an external D3 chart
Loading qlik's require.js starting conflicts with my existing libraries.
So I wrote a small library that will load qlik.js in an isolated way. You can take a look if you are interested.