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Try creating a physics material and adding it to your object and then in your code write the code below whenever you want to change the friction: collider2D.material.dynamicFriction = YOUR VALUE HERE; collider2D.material.staticFriction = YOUR VALUE HERE; (Dynamic friction is the friction while object moves and static is hen it isn't moving) Make sure you ...


You say : Then I mul that by inverted local inertia to get angular acceleration in local space. This seems wrong, since "inverted local inertia" is "world inertia", so you are putting "that" to world space while you want it in local space ... So code should be : // oriMat: local -> world oriMat = quaternion.ToMatrix(self.ori) // put total torque in ...

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