[VERY BREAKING CHANGE] fix a comically old friction bug in convex manifolds. - #410
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Somehow, at some point, a loooong time ago, convex manifolds divided the friction coefficient by the number of contacts. So literally all convex manifold friction has been broken for years.
You'll probably want to revisit friction coefficients as a result, but now at least you can have consistent behavior between convex and nonconvex manifolds!