I have this issue in cannon.js where when a cube runs into an object, that cube just flies over it, instead of staying on the floor. Also, the red physics box is turning and moving. How would I make the cube stay on the floor, and the red physics box to not turn

https://streamable.com/pbqis3

Also, on a side note, how would I detect collisions in cannon.js? I looked everywhere but couldn’t find how.