diff --git a/src/collision.c b/src/collision.c
index e630302..4ebb7c9 100644
--- a/src/collision.c
+++ b/src/collision.c
@@ -1,6 +1,7 @@
 #include "collision.h"
 #include "debug.h"
 #include "player.h"
+#include "vmath.h"
 
 // =====================================================
 // Shape overlap test using the separating axis theorem
@@ -78,6 +79,7 @@ int _internal_collision_get_overlap(PhysicsEntity self, PhysicsEntity other, Col
         }
 
         if(sqr_mag == 0) {
+            out->separation_force = InfinityVector;
             return 0;
         }
     }
@@ -121,13 +123,13 @@ int collision_check(PhysicsEntity a, PhysicsEntity b, Collision* out_a, Collisio
     int collision_a_overlaps = _internal_collision_get_overlap(a, b, &collision_a);
     int collision_b_overlaps = _internal_collision_get_overlap(b, a, &collision_b);
 
-    if(!collision_a_overlaps && !collision_b_overlaps)
+    if(!collision_a_overlaps || !collision_b_overlaps)
         return 0;
-    else if(!collision_a_overlaps && collision_b_overlaps)
-        collision_a = _internal_collision_invert(collision_b, b);
-    else if(!collision_b_overlaps && collision_a_overlaps)
-        collision_b = _internal_collision_invert(collision_a, a);
 
+    if(vsqrmagnitudef(collision_a.separation_force) < vsqrmagnitudef(collision_b.separation_force))
+        collision_b = _internal_collision_invert(collision_a, a);
+    else
+        collision_a = _internal_collision_invert(collision_b, b);
 
     *out_a = collision_a;
     *out_b = collision_b;
diff --git a/src/player.c b/src/player.c
index 7938a99..1a61e8d 100644
--- a/src/player.c
+++ b/src/player.c
@@ -41,7 +41,7 @@ void player_start(Player* self) {
     float ex_w = 0.1f;
     float h = .75f;
     float r = 0.05f;
-    float rr = (r/3)*2;
+    float rr = r;
 
     self->shape = shape_new((Vector[]){
         {r-ex_w, 0.f}, {-ex_w, -rr},
diff --git a/src/rigidbody.c b/src/rigidbody.c
index 63a2315..35e77ae 100644
--- a/src/rigidbody.c
+++ b/src/rigidbody.c
@@ -69,9 +69,12 @@ static inline
 void _internal_rigidbody_collect_contacts(RigidBody* self) {
     for(size_t i = 0; i < self->contacts.len; ++i) {
         Contact* contact = list_at(&self->contacts, i);
+
         if(contact->expiry <= 0) {
-            list_erase(&self->contacts, i);
-            i--;
+            if(vdotf(vnormalizedf(self->linear_velocity), contact->hit.normal) >= -0.01f || contact->expiry <= -1) {
+                list_erase(&self->contacts, i);
+                i--;
+            }
         }
         --(contact->expiry);
     }
@@ -95,9 +98,13 @@ void _internal_debug_draw_collision_edge(Vector left, Vector right, Vector norma
 static  inline
 Vector _internal_calculate_contact_force(Contact* contact) {
     Collision hit = contact->hit;
-    const float warming = fminf(1.f, contact->warming);
+
+    if(vsqrmagnitudef(hit.separation_force) < powf(0.01f, 2))
+        return ZeroVector;
+    
+    const float warming = 100.f * fminf(1.f, contact->warming);
     const float d = 1.0f;
-    const float k = 1.0f * warming;
+    const float k = 0.0f * warming;
     const float b = 1.0f;
 
     const Vector damping = vmulff(hit.normal, k * d);
@@ -149,11 +156,7 @@ void rigidbody_solve_contacts(RigidBody* self) {
 void rigidbody_apply_physics(RigidBody* self) {
     Vector position = transformable_get_position(self->transformable);
     Vector velocity = vmulff(self->linear_velocity, delta_time());
-
-    if(vsqrmagnitudef(velocity) > powf(0.00000f, 2)) {
-        transformable_set_position(self->transformable, vaddf(position, velocity));
-    }
-
+    transformable_set_position(self->transformable, vaddf(position, velocity));
     self->linear_force = ZeroVector;
 }