Work on stabilizing the physics a bit

src/physics/collision_object.c

@@ -3,6 +3,7 @@
 #include "gjk.h"
 #include "contact_insertion.h"
 #include "collision_scene.h"
+#include "../math/mathf.h"
 
 void collisionObjectInit(struct CollisionObject* object, struct ColliderTypeData *collider, struct RigidBody* body, float mass) {
     object->collider = collider;
@@ -50,6 +51,10 @@ void collisionObjectCollideWithQuad(struct CollisionObject* object, struct Colli
     contact->friction = 0.5f;
     contact->restitution = 0.5f;
 
+    if (isnan(result.penetration) || isnan(result.contactA.x) || isnan(result.contactB.x) || isnan(result.normal.x)) {
+        return;
+    }
+
     contactInsert(contact, &result);
 }
 

src/physics/contact_solver.c

@@ -8,7 +8,7 @@
 
 #include <string.h>
 
-#define Q3_BAUMGARTE 0.3f
+#define Q3_BAUMGARTE 0.1f
 
 #define Q3_PENETRATION_SLOP 0.001f
 
@@ -18,6 +18,8 @@
 
 #define ENABLE_FRICTION 1
 
+#define SOLVER_ITERATIONS	8
+
 struct ContactSolver gContactSolver;
 
 void contactSolverCleanupManifold(struct ContactManifold* manifold) {
@@ -381,9 +383,9 @@ void contactSolverIterate(struct ContactSolver* contactSolver) {
 
 void contactSolverSolve(struct ContactSolver* solver) {
 	contactSolverPreSolve(solver);
-	contactSolverIterate(solver);
-	contactSolverIterate(solver);
-	contactSolverIterate(solver);
+	for (int i = 0; i < SOLVER_ITERATIONS; ++i) {
+		contactSolverIterate(solver);
+	}
 }
 
 struct ContactManifold* contactSolverGetContactManifold(struct ContactSolver* solver, struct CollisionObject* shapeA, struct CollisionObject* shapeB) {

src/util/time.h

@@ -6,7 +6,7 @@
 extern float gTimePassed;
 extern OSTime gLastTime;
 
-#define FRAME_SKIP  2
+#define FRAME_SKIP  1
 #define FIXED_DELTA_TIME    ((1.0f + FRAME_SKIP) / 60.0f)
 
 void timeUpdateDelta();