Fix effective inverse mass computation for 3D friction#609
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Objective
3D friction currently has a bug that causes objects with a small angular inertia to twist and jitter strangely on the ground:
2024-12-30.16-27-27.mp4
(reproduction by occuros <3)
Solution
The problem was caused by an angular inertia term being included twice for a part of the effective inverse mass computation for 3D friction. With that fixed, resting contacts are much more stable even with small mass properties:
2024-12-30.16-26-37.mp4