Brake Abs Warning Light problems of the 2003 Land Rover Discovery

On my way home from picking up my grandchild there was some vibrating on the passenger side of the automobile. Than a loud explosion followed by rubber burning smell and lost of control of car. Managed to pull over car would not rolling had to engage parking brake. Had car towed home. Drive shaft seperated and destroyed transmission pan. Broke pieces off of tansmission. Change rotors and brake and car still will not come to a complete stop without sliding a bit. Abs lights come on every time this happens. Both incidents happen while im driving streets or highway.