diff --git a/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp b/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
index 2b690f05..cd9668d1 100644
--- a/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
+++ b/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
@@ -214,7 +214,9 @@ namespace SHADE
          * restituion bias  = restitution * (relative velocity /dot normal)
          */
 
-        const float ERROR_BIAS = -SHPHYSICS_BAUMGARTE * INV_DT * std::max(0.0f, contact.penetration - SHPHYSICS_LINEAR_SLOP);
+        float errorBias = 0.0f;
+        if (std::fabs(contact.penetration) > SHPHYSICS_LINEAR_SLOP)
+          errorBias = -SHPHYSICS_BAUMGARTE * INV_DT * std::max(0.0f, contact.penetration - SHPHYSICS_LINEAR_SLOP);
 
         // Warm starting
         // Compute impulses
@@ -235,7 +237,7 @@ namespace SHADE
 
         const float RESTITUTION_BIAS = std::fabs(RV_N) > SHPHYSICS_RESTITUTION_THRESHOLD ? -constraint.restitution * RV_N : 0.0f;
 
-        contact.bias = ERROR_BIAS + RESTITUTION_BIAS;
+        contact.bias = errorBias + RESTITUTION_BIAS;
       }
 
       velocityStateA.LinearVelocity   = vA;
@@ -247,7 +249,7 @@ namespace SHADE
 
   void SHContactSolver::solve() noexcept
   {
-    static const float TEMP_INF = std::numeric_limits<float>::infinity();
+    
 
     for (auto& [key, constraint] : contactConstraints)
     {