Friction forces constrain relative motion between two colliding objects and the magnitude of this tangential force is set to be a fraction of the normal force that stops the objects from penetrating.

The friction parameters are floats with values between 0 and 1.

In all collision pairs the smallest friction term from two objects is used in the computation. This is as it would be in the real world for example between a rubber object and an icy surface, the lowest friction always wins.

Static Friction

If we consider a box at rest on the floor, the Static Friction describes the tangential force required to get the box in motion.

Its value is a fraction of the normal force due to gravity, applied by the floor on the box.

Dynamic Friction

The Dynamic Friction is always lower or equal to the Static Friction.

If we consider a box at rest on the floor, the Dynamic Friction represents the maximum tangential force that can dissipate the relative motion between the floor and the box.


  • It is best to start with small Static and Dynamic Friction terms such as 0.4 / 0.3 to avoid sticking the cloth on a collider, especially when there are pinching areas. Then increase the values until you achieve the desired behavior.
  • Friction coefficients can be set above 1 to simulate gripping surfaces.