Sébastien Crozet 0703e5527f Fix some solver issues ...

- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier

2022-01-16 16:52:40 +01:00

16 KiB

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