I'd go swimming. I see no point in extending the crappy day into the next day...
I do think same day punishment best and kids need exercise.
Can you have a think about swimming -do they like races, do they like diving for things, can they do life saving skills, do handstands, carry each other-2 carry 1 in their arms,take 3 blow up balls...you may do this already-it just seems they're in a rut of annoying each other and they need distracting from it? I could be wrong 
You have your own standards and we're all different, just thought it may be hepful to hear what mine are.I have taken my kids home from things before now, but it is after several warnings and a last resort because it's rare they're equally bad too. I removed ds1 from a restaurant last year and sat in the car with him whilst my dm had pudding with dtwins-that was for persistently running around disturbing other diners and after 2 warnings.
I left a soft play years ago because they'd been mean to another group of children which apalled me!
If they were physically fighting with each other I'd do a quick fgs 'will you behave' then suggest a change of scene/new game/going to opposite ends of the park... because though I think it's undesirable I also think it's normal and I did it with my brother. Fighting in the car? I have swapped their seats around/put on loud music/played the alphabet game/anything really to distract. Or I have pulled over and shouted at them-generally when I've had a long day too...
If they hit a random child or friend I would go mad with them and probably leave.
However, I respect that you have different limits, and as long as you're consistent and confident , then I see no reason to critisise.