I agree that the foam roller is a great addition to a stretching routine.
What I would recommend for your stretching is to do both static and dynamic, as suggested by others here.
For my own workout routine, I do 3 minutes of stretches on the ground, 3 minutes while standing, and then 3 minutes of Dynamic stretches.
One thing you have to realize about stretching is that there is a TON of conflicting info out there, some sources even going so far as to say it is of NO significant advantage whatsoever.
The "best" kind of stretching is when someone ELSE is stretching YOU; however, that is hard to find.
I happen to stretch at the beginning of my workout, a time when almost everyone agrees is the WORST time. Oh well... For me it happens to work best because its easy and helps get me in the mood, gradually, for the more intense exercise to come.
In the past I have tried all kinds of different stretching modalities (except partner-assisted) and have concluded that NOTHING improves my flexibility, except for a period of time immediately following my stretching. By the next day, I have to start at square one again. I think flexibility might be something that certain people are more naturally predisposed to benefitting from than others, so don't get discouraged if you don't see dramatic "results".