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I was looking at that just now. Having energy conserved without friction is a good thing, but it is a really weak test unfortunately. No friction means no rotations of bodies (*1)... basically a 1D mass spring system (modulo collisions generating horizontal motion).I re-tried with clumps (of 2 spheres) so that there is rotation. It looks the same, total is zero without friction, but non-zero (this time negative, though) with friction...
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