3d985ba803ceb8ab12e608b999b2fe607ac2f6d6
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>
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