diff --git a/core/src/objects/workspace.cpp b/core/src/objects/workspace.cpp
index d669b45..5f31132 100644
--- a/core/src/objects/workspace.cpp
+++ b/core/src/objects/workspace.cpp
@@ -35,6 +35,8 @@ void Workspace::InitService() {
     // world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS);
     physicsWorld->setNbIterationsPositionSolver(2000);
     physicsWorld->setNbIterationsVelocitySolver(2000);
+    // physicsWorld->setSleepLinearVelocity(10);
+    // physicsWorld->setSleepAngularVelocity(5);
 
     // physicsWorld->setEventListener(&eventListener);
 
@@ -61,17 +63,22 @@ void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
 
     rp::BoxShape* shape = physicsCommon->createBoxShape(glmToRp(part->size * glm::vec3(0.5f)));
 
-    if (part->rigidBody->getNbColliders() > 0) {
+    if (part->rigidBody->getNbColliders() > 0)
         part->rigidBody->removeCollider(part->rigidBody->getCollider(0));
-    }
 
-    if (part->rigidBody->getNbColliders() == 0)
-        part->rigidBody->addCollider(shape, rp::Transform());
+    part->rigidBody->addCollider(shape, rp::Transform());
     part->rigidBody->setType(part->anchored ? rp::BodyType::STATIC : rp::BodyType::DYNAMIC);
     part->rigidBody->getCollider(0)->setCollisionCategoryBits(0b11);
 
-    float density = 1.f;
-    part->rigidBody->setMass(density * part->size.x * part->size.y * part->size.z);
+    rp::Material& material = part->rigidBody->getCollider(0)->getMaterial();
+    material.setFrictionCoefficient(0.35);
+    material.setMassDensity(1.f);
+
+    //https://github.com/DanielChappuis/reactphysics3d/issues/170#issuecomment-691514860
+    part->rigidBody->updateMassFromColliders();
+    part->rigidBody->updateLocalInertiaTensorFromColliders();
+
+    // part->rigidBody->setMass(density * part->size.x * part->size.y * part->size.z);
 
     part->rigidBody->setUserData(&*part);
 }
diff --git a/editor/mainwindow.cpp b/editor/mainwindow.cpp
index 850bc32..8efb439 100644
--- a/editor/mainwindow.cpp
+++ b/editor/mainwindow.cpp
@@ -155,7 +155,7 @@ MainWindow::MainWindow(QWidget *parent)
     auto part0 = ui->mainWidget->lastPart;
 
     gWorkspace()->AddChild(ui->mainWidget->lastPart = Part::New({
-        .position = glm::vec3(1.6691498, 0.82489049, -0.73040605),
+        .position = glm::vec3(1.7610925, 0.48568499, -0.82623518),
         // .rotation = glm::vec3(0.5, 2, 1),
         .rotation = glm::vec3(-2.6415927, 1.1415926, -2.141639),
         .size = glm::vec3(4, 1.2, 2),