friction in case of contact-state = colliding implemented but not working perfectly

rotation caused by torque generated by friction while colliding still needs to be checked
Signed-off-by: Aniket Anvit <seeanvit@gmail.com>
mprovement in previous commit

Signed-off-by: Aniket Anvit <seeanvit@gmail.com>
mprovement in the implementation of friction force

Signed-off-by: Aniket Anvit <seeanvit@gmail.com>
improvement in the rotation due to friction
Signed-off-by: Aniket Anvit <seeanvit@gmail.com>