Impulses on velocity, positional correction on position, friction capped by the normal impulse — each knob fails in its own way.
Click inside the box to fling a new circle. Fixed timestep of 1/120 s; walls are infinite mass (invMass = 0).
What to notice. Restitution 1 keeps the energy line flat forever; 0 drains it almost at once. Drop a stack at iterations = 8 and it settles to a dead stop; drop the same stack at iterations = 1 and the pyramid slumps into a sprawl that never stops twitching, because each contact is solved without knowing what the others just did. Set correction to 0 and overlaps never get cleaned up; set friction to 0 and nothing can rest on a slope at all.
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