I'm trying to do a simple rigid body simulation with a ball rolling down a slope. It works properly, however, I want the friction to be realistic. If I set the friction too low, the ball simply slides without rolling, and if I set friction too high, the ball slows down a lot, unlike what would happen in the real world. I think this is because the vector for friction is acting on the ball directly instead of tangent to the contact point. What should I do?