Thanx for spotting that. I forgot to update two things there. Uploaded a fixed version.
No prob, it was very easy to miss.
Yeah, my first implementation caused a significant lag as well. A shotgun could just freeze everything for a second or so even. That’s why I decided to go with a little different approach, a little unusual but much more ODE-ish and much faster (though the performance gain in this case is a little unintuitive perhaps). It’s all explained in the pdf.