weird behavior of a small cube

[rlidwka]

trafficstars

1. create a small cube and an infinite plane
2. wait until cube settles down and sleeps
3. throw it into the air with bevy_inspector_egui

after it comes back to the ground, 3 weird things start happening:

1. cube is constantly sliding on the ground (all physics engines do that to some extent, don't know why)
2. occasionally, cube goes to sleep for 1 frame, then wakes up
3. occasionally, cube jumps upwards/rotates by itself (with f32 precision, it flies away, but with f64 it comes back down to continue her dance)

I'm using cube size=0.02. With size=0.2 effect is still there, but less noticeable. Friction is default (=0.3, avg).

See demo here: https://www.youtube.com/watch?v=z_ke6jVr-BE

bevy = "0.11.3"
bevy-inspector-egui = "0.20.0"
bevy_xpbd_3d = { git = "https://github.com/Jondolf/bevy_xpbd", branch = "main", features = ["debug-plugin", "f64", "3d", "collider-from-mesh"], default-features = false }

use bevy::math::DVec3;
use bevy::prelude::*;
use bevy_inspector_egui::quick::WorldInspectorPlugin;
use bevy_xpbd_3d::prelude as xpbd;

fn main() {
    App::new()
        .add_plugins(DefaultPlugins)
        .add_plugins(xpbd::PhysicsPlugins::default())
        .add_plugins(WorldInspectorPlugin::new())
        .add_systems(Startup, setup)
        .run();
}

fn setup(mut commands: Commands) {
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(0.3, 0.3, 1.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..Default::default()
    });

    commands.spawn((
        xpbd::RigidBody::Static,
        xpbd::Collider::halfspace(DVec3::Y),
        xpbd::Restitution::new(0.7),
    ));

    commands.spawn((
        xpbd::RigidBody::Dynamic,
        SpatialBundle::from_transform(
            Transform::from_xyz(0.1, 0.8, 0.0).looking_at(Vec3::ZERO, Vec3::Y),
        ),
        xpbd::Collider::cuboid(0.02, 0.02, 0.02),
    ));
}