Collision response and friction works! Materials do not.

We were able to finish the implementation of collision response and friction. The friction model we use is an Impulse-based friction model. Here is the Wikipedia article: https://en.wikipedia.org/wiki/Collision_response#Impulse-based_friction_model.

The results can be seen in the video below.

Note that only the friction for the test material has been implemented and tested. The other materials that are planned have not been tested or been given proper values.

We also started to overhaul the materials, and so far most of it works. Work still remains on getting the materials to render properly.