tolelom 3d985ba803 feat(physics): add Coulomb friction to collision response
Add friction coefficient to RigidBody (default 0.5) and implement
tangential impulse clamping in resolve_collisions using Coulomb's law,
including resting-contact friction for sliding bodies.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-25 18:28:44 +09:00
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