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Making Stronger P2 Bodies, collision problem


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Hello everyone, i am trying to make it so the bodies of the objects dont overlap ( like they do in the picture), they already collide with each other and push eachother around but when i approach and hit it from the corner they overlap like this for a while then let go again. They both have collision groups, i am moving them by applying force. I have fixedRotation set to to true on the bodies. The outline you see on the picture is the debug. 


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