Swing the upper way from the lower on the front pivot and examine the operation of the trigger group. Don't let the hammer strike the front of the lower receiver. You can catch it with your hand. See if you can hold the trigger down, drop the hammer, and without releasing the trigger, push the hammer back rearward and have it catch in place. Now let go of the trigger and it should still hold the hammer, but you should hear it drop onto the sear. If it fails this test, there is a problem with the disconnect.
The other posters have good ideas about checking out the bolt and firing pin. And not firing the gun again until you know what went wrong. You should be able to move the firing pin freely back and forth with the bolt out of the upper. If you don't know how, there are good tutorials on youtube for how to tear everything down and reassemble.