Coulomb friction projection of v against a surface with unit normal n, only when moving into it: the inward part is removed (unless keepNormal) and the tangential part slowed by friction × inward speed.
v
n
keepNormal
friction × inward speed
Coulomb friction projection of
vagainst a surface with unit normaln, only when moving into it: the inward part is removed (unlesskeepNormal) and the tangential part slowed byfriction × inward speed.