- Fix the wrong codepath taken by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
update plugin signature to recieve bevy structs, add Arc<Mutex<>> around gfx_components, we we can get shared mutable access
add prefab_meshes() access function
Remove Arc<Mutex<>>
