Bad Physics!

        this.solveConstraints = function(){

            for (var manifoldID in contactManifolds) {

                var manifold = contactManifolds[manifoldID];
                for (var contactID in manifold.contacts) {

                    var contact = manifold.contacts[contactID];
                    contact.appliedPushImpulse = 0;
                }
            }

            for (var uid in physique.bodies) {
                var body = physique.bodies[uid];
                body.deltaV.multiplyScalar(0);
                body.deltaW.multiplyScalar(0);
            }


            // Penetration Solver
            for (var manifoldID in contactManifolds) {

                var manifold = contactManifolds[manifoldID];
                for (var contactID in manifold.contacts) {

                    var contact = manifold.contacts[contactID],
                        row = contact.rows[0];



                    for (var iteration=0; iteration<1; ++iteration) {
                        var delta = contact.depth - contact.appliedPushImpulse,
                            deltaV1Dotn = contact.normal.dot( contact.bodyA.velocity ) + contact.tangent.dot( contact.bodyA.angularVelocity ),
                            deltaV2Dotn = contact.normal.clone().negate().dot( contact.bodyB.velocity ) + contact.tangent2.dot( contact.bodyB.angularVelocity );

                        delta -= deltaV1Dotn * contact.JDiagABInv;
                        delta -= deltaV2Dotn * contact.JDiagABInv;

                        var sum = contact.appliedPushImpulse + delta;
                        if (sum < 0) {
                            delta = -contact.appliedPushImpulse;
                            contact.appliedPushImpulse = 0;
                            break;
                        } else {
                            contact.appliedPushImpulse = sum;
                        }

                        contact.bodyA.velocity.add( contact.normal.clone().multiplyScalar(contact.bodyA.invMass * delta) );


                        // var v = contact.tangent.clone().multiplyScalar(-contact.bodyA.invInertiaTensor * delta),
                        //  e = (new THREE.Euler()).setFromVector3(v),
                        //  q = (new THREE.Quaternion()).setFromEuler(e);
                        // contact.bodyA.angularVelocity.applyQuaternion(q);
                        contact.bodyA.angularVelocity.add( contact.tangent.clone().multiplyScalar(contact.bodyA.invInertiaTensor * delta) );

                        contact.bodyB.velocity.add( contact.normal.clone().negate().multiplyScalar(contact.bodyB.invMass * delta) );
                        // v = contact.tangent2.clone().multiplyScalar(contact.bodyB.invInertiaTensor * delta);
                        // e = (new THREE.Euler()).setFromVector3(v);
                        // q = (new THREE.Quaternion()).setFromEuler(e);
                        // contact.bodyB.angularVelocity.applyQuaternion(q);
                        contact.bodyB.angularVelocity.add( contact.tangent2.clone().multiplyScalar(contact.bodyB.invInertiaTensor * delta) );

                    }



                    // Warmstart
                    contact.appliedImpulse *= 0.85;

                    contact.bodyA.applyImpulse( contact.normal.clone().multiplyScalar(contact.bodyA.invMass), contact.tangent.clone().multiplyScalar(-contact.bodyA.invInertiaTensor), contact.appliedImpulse );
                    contact.bodyB.applyImpulse( contact.normal.clone().multiplyScalar(contact.bodyB.invMass), contact.tangent2.clone().multiplyScalar(contact.bodyB.invInertiaTensor), contact.appliedImpulse );


                    // Baumgarte Stabilization (with restitution for later..)
                    var baumgarte = -0.2,
                        restitution = 0.00;


                    var JDotV = 0;
                    JDotV += row.J[0] * contact.bodyA.velocity.x;
                    JDotV += row.J[1] * contact.bodyA.velocity.y;
                    JDotV += row.J[2] * contact.bodyA.velocity.z;
                    JDotV += row.J[3] * contact.bodyA.angularVelocity.x;
                    JDotV += row.J[4] * contact.bodyA.angularVelocity.y;
                    JDotV += row.J[5] * contact.bodyA.angularVelocity.z;

                    JDotV += row.J[6]  * contact.bodyB.velocity.x;
                    JDotV += row.J[7]  * contact.bodyB.velocity.y;
                    JDotV += row.J[8]  * contact.bodyB.velocity.z;
                    JDotV += row.J[9]  * contact.bodyB.angularVelocity.x;
                    JDotV += row.J[10] * contact.bodyB.angularVelocity.y;
                    JDotV += row.J[11] * contact.bodyB.angularVelocity.z;
                    var idt = 1/dt;
                    var C = JDotV,
                        JDotVTerm = 0,
                        Fext = new THREE.Vector3(0, -9.8, 0),
                        Text = new THREE.Vector3(0, 0, 0);
                    JDotVTerm += row.J[0] * (contact.bodyA.velocity.x / idt + contact.bodyA.invMass * Fext.x);
                    JDotVTerm += row.J[1] * (contact.bodyA.velocity.y / idt + contact.bodyA.invMass * Fext.y);
                    JDotVTerm += row.J[2] * (contact.bodyA.velocity.z / idt + contact.bodyA.invMass * Fext.z);
                    JDotVTerm += row.J[3] * (contact.bodyA.angularVelocity.x / idt + contact.bodyA.invMass * Text.x);
                    JDotVTerm += row.J[4] * (contact.bodyA.angularVelocity.y / idt + contact.bodyA.invMass * Text.y);
                    JDotVTerm += row.J[5] * (contact.bodyA.angularVelocity.z / idt + contact.bodyA.invMass * Text.z);

                    JDotVTerm += row.J[6]  * (contact.bodyB.velocity.x / idt + contact.bodyB.invMass * Fext.x);
                    JDotVTerm += row.J[7]  * (contact.bodyB.velocity.y / idt + contact.bodyB.invMass * Fext.y);
                    JDotVTerm += row.J[8]  * (contact.bodyB.velocity.z / idt + contact.bodyB.invMass * Fext.z);
                    JDotVTerm += row.J[9]  * (contact.bodyB.angularVelocity.x / idt + contact.bodyB.invMass * Text.x);
                    JDotVTerm += row.J[10] * (contact.bodyB.angularVelocity.y / idt + contact.bodyB.invMass * Text.y);
                    JDotVTerm += row.J[11] * (contact.bodyB.angularVelocity.z / idt + contact.bodyB.invMass * Text.z);


                    contact.rhs = baumgarte*C/idt - restitution*JDotVTerm;

                }
            }


            var collisionResIterations = 0;
            for (var manifoldID in contactManifolds) {

                var manifold = contactManifolds[manifoldID];
                for (var contactID in manifold.contacts) {

                    var contact = manifold.contacts[contactID];
                    for (var iteration=0; iteration<collisionResIterations; ++iteration) {

                        var row = contact.rows[0], // contact constraint
                            JdotV = 0,
                            delta = 0;


                        // Erin Catto GDC-2005
                        // a = B*lambda
                        var d = row.D,
                            JDotA = 0,
                            a = [];

                        for (var ji=0; ji<12; ++ji) {
                            a[ji] = row.B[ji] * contact.appliedImpulse;
                            JDotA += row.J[ji] * a[ji];
                        }
                        delta = (contact.rhs - JDotA) / d;



                        var sum = contact.appliedImpulse + delta;
                        if (sum < 0) {
                            delta = -contact.appliedImpulse;
                            sum = 0;
                            contact.appliedImpulse = 0;
                        } else {
                            contact.appliedImpulse = sum;
                        }

                        // if (Math.abs(delta) < 0.0001) break; // Breaking impulse

                        contact.bodyA.applyImpulse(contact.normal.clone().multiplyScalar(contact.bodyA.invMass), contact.tangent.clone().multiplyScalar(contact.bodyA.invInertiaTensor), delta);
                        contact.bodyB.applyImpulse(contact.normal.clone().multiplyScalar(-contact.bodyB.invMass), contact.tangent2.clone().multiplyScalar(contact.bodyB.invInertiaTensor), delta);



                    }
                }
            }

        };