Friction axis 2 does not need to be active at the same time as axis 1 if it aligns with a restricted DOF (#910)

See #907

Jolt/Physics/Constraints/ContactConstraintManager.cpp

@@ -1448,9 +1448,8 @@ JPH_INLINE void ContactConstraintManager::sWarmStartConstraint(ContactConstraint
 	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
 	{
 		// Warm starting: Apply impulse from last frame
-		if (wcp.mFrictionConstraint1.IsActive())
+		if (wcp.mFrictionConstraint1.IsActive() || wcp.mFrictionConstraint2.IsActive())
 		{
-			JPH_ASSERT(wcp.mFrictionConstraint2.IsActive());
 			wcp.mFrictionConstraint1.TemplatedWarmStart<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t1, inWarmStartImpulseRatio);
 			wcp.mFrictionConstraint2.TemplatedWarmStart<Type1, Type2>(ioMotionProperties1, ioConstraint.mInvMass1, ioMotionProperties2, ioConstraint.mInvMass2, t2, inWarmStartImpulseRatio);
 		}
@@ -1519,10 +1518,8 @@ JPH_INLINE bool ContactConstraintManager::sSolveVelocityConstraint(ContactConstr
 	for (WorldContactPoint &wcp : ioConstraint.mContactPoints)
 	{
 		// Check if friction is enabled
-		if (wcp.mFrictionConstraint1.IsActive())
+		if (wcp.mFrictionConstraint1.IsActive() || wcp.mFrictionConstraint2.IsActive())
 		{
-			JPH_ASSERT(wcp.mFrictionConstraint2.IsActive());
-
 			// Calculate impulse to stop motion in tangential direction
 			float lambda1 = wcp.mFrictionConstraint1.TemplatedSolveVelocityConstraintGetTotalLambda<Type1, Type2>(ioMotionProperties1, ioMotionProperties2, t1);
 			float lambda2 = wcp.mFrictionConstraint2.TemplatedSolveVelocityConstraintGetTotalLambda<Type1, Type2>(ioMotionProperties1, ioMotionProperties2, t2);