diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp
index 842ece98..e644b886 100644
--- a/src/systems/ContactSolverSystem.cpp
+++ b/src/systems/ContactSolverSystem.cpp
@@ -280,15 +280,15 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
         //                              v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction);
         Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z -
                                     w2.z * mContactConstraints[mNbContactManifolds].r2Friction.y -
-                                      v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z -
+                                      v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z +
                                       w1.z * mContactConstraints[mNbContactManifolds].r1Friction.y,
                                    v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x -
                                     w2.x * mContactConstraints[mNbContactManifolds].r2Friction.z -
-                                      v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x -
+                                      v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x +
                                       w1.x * mContactConstraints[mNbContactManifolds].r1Friction.z,
                                    v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y -
                                     w2.y * mContactConstraints[mNbContactManifolds].r2Friction.x -
-                                      v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y -
+                                      v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y +
                                       w1.y * mContactConstraints[mNbContactManifolds].r1Friction.x);
 
         // Compute the friction vectors