Hi, I'm trying to implement my own physics simulation, but get stuck on jittering problem even if I only put one box on the infinite plane. I use sequential impulse to solve contact constraint, and I also add some penetration slop.

after some debugging I found out that when the box is resting on the infinite plane the collision point isn't exactly the center of the contact surface of the box, about 1e-8 error grade off the center. And that is generating some rotation impulse which I think is the problem (if I comment out the application of rotation impulse, the box would rest still). How can I solve this? I don't think I can further improve collision point accuracy it's the numerical limit of floating point. and I haven't implemented contact caching.

Thanks in advance.