diff --git a/src/dynamics/coefficient_combine_rule.rs b/src/dynamics/coefficient_combine_rule.rs
index 9f99b7daf..565223d35 100644
--- a/src/dynamics/coefficient_combine_rule.rs
+++ b/src/dynamics/coefficient_combine_rule.rs
@@ -17,6 +17,8 @@ pub enum CoefficientCombineRule {
     Min,
     /// The two coefficients are multiplied.
     Multiply,
+    /// The sum of the two coefficients.
+    Sum,
     /// The greatest coefficient is chosen.
     Max,
 }
@@ -27,8 +29,9 @@ impl CoefficientCombineRule {
 
         match effective_rule {
             0 => (coeff1 + coeff2) / 2.0,
-            1 => coeff1.min(coeff2),
+            1 => coeff1.min(coeff2).abs(),
             2 => coeff1 * coeff2,
+            3 => (coeff1 + coeff2).clamp(0.0, 1.0),
             _ => coeff1.max(coeff2),
         }
     }
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 1ceab439e..10d19a6a2 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -686,7 +686,7 @@ impl ColliderBuilder {
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
     pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
-        Self::new(SharedShape::trimesh(vertices, indices))
+        Self::new(SharedShape::trimesh(vertices, indices).unwrap())
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and
@@ -696,7 +696,7 @@ impl ColliderBuilder {
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
     ) -> Self {
-        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags).unwrap())
     }
 
     /// Initializes a collider builder with a shape converted from the given triangle mesh index
diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs
index d8941f752..672366897 100644
--- a/src/geometry/interaction_groups.rs
+++ b/src/geometry/interaction_groups.rs
@@ -13,7 +13,7 @@
 ///
 /// In other words, interactions are allowed between two filter iff. the following condition is met:
 /// ```ignore
-/// (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
+/// (self.memberships & rhs.filter) != 0 || (rhs.memberships & self.filter) != 0
 /// ```
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
@@ -65,7 +65,7 @@ impl InteractionGroups {
         // NOTE: since const ops is not stable, we have to convert `Group` into u32
         // to use & operator in const context.
         (self.memberships.bits() & rhs.filter.bits()) != 0
-            && (rhs.memberships.bits() & self.filter.bits()) != 0
+            || (rhs.memberships.bits() & self.filter.bits()) != 0
     }
 }
 
diff --git a/src/geometry/mesh_converter.rs b/src/geometry/mesh_converter.rs
index a4c886149..e5d5b833a 100644
--- a/src/geometry/mesh_converter.rs
+++ b/src/geometry/mesh_converter.rs
@@ -60,9 +60,9 @@ impl MeshConverter {
     ) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
         let mut transform = Isometry::identity();
         let shape = match self {
-            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices),
+            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices).unwrap(),
             MeshConverter::TriMeshWithFlags(flags) => {
-                SharedShape::trimesh_with_flags(vertices, indices, *flags)
+                SharedShape::trimesh_with_flags(vertices, indices, *flags).unwrap()
             }
             MeshConverter::Obb => {
                 let (pose, cuboid) = parry::utils::obb(&vertices);
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 8505618f0..ebc177bd0 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -499,7 +499,7 @@ impl PhysicsPipeline {
 
         if let Some(queries) = query_pipeline.as_deref_mut() {
             self.counters.stages.query_pipeline_time.start();
-            queries.update_incremental(colliders, &modified_colliders, &removed_colliders, false);
+            queries.update_incremental(colliders, &modified_colliders, &removed_colliders, true);
             self.counters.stages.query_pipeline_time.pause();
         }