diff --git a/src/api/l_physics_joints.c b/src/api/l_physics_joints.c
index 98ff408b..176c4ce0 100644
--- a/src/api/l_physics_joints.c
+++ b/src/api/l_physics_joints.c
@@ -122,10 +122,42 @@ static int l_lovrBallJointSetAnchor(lua_State* L) {
   return 0;
 }
 
+static int l_lovrBallJointGetResponseTime(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float responseTime = lovrBallJointGetResponseTime(joint);
+  lua_pushnumber(L, responseTime);
+  return 1;
+}
+
+static int l_lovrBallJointSetResponseTime(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float responseTime = luax_checkfloat(L, 2);
+  lovrBallJointSetResponseTime(joint, responseTime);
+  return 0;
+}
+
+static int l_lovrBallJointGetTightness(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float tightness = lovrBallJointGetTightness(joint);
+  lua_pushnumber(L, tightness);
+  return 1;
+}
+
+static int l_lovrBallJointSetTightness(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float tightness = luax_checkfloat(L, 2);
+  lovrBallJointSetTightness(joint, tightness);
+  return 0;
+}
+
 const luaL_Reg lovrBallJoint[] = {
   lovrJoint,
   { "getAnchors", l_lovrBallJointGetAnchors },
   { "setAnchor", l_lovrBallJointSetAnchor },
+  { "getResponseTime", l_lovrBallJointGetResponseTime},
+  { "setResponseTime", l_lovrBallJointSetResponseTime},
+  { "getTightness", l_lovrBallJointGetTightness},
+  { "setTightness", l_lovrBallJointSetTightness},
   { NULL, NULL }
 };
 
@@ -164,12 +196,44 @@ static int l_lovrDistanceJointSetDistance(lua_State* L) {
   return 0;
 }
 
+static int l_lovrDistanceJointGetResponseTime(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float responseTime = lovrDistanceJointGetResponseTime(joint);
+  lua_pushnumber(L, responseTime);
+  return 1;
+}
+
+static int l_lovrDistanceJointSetResponseTime(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float responseTime = luax_checkfloat(L, 2);
+  lovrDistanceJointSetResponseTime(joint, responseTime);
+  return 0;
+}
+
+static int l_lovrDistanceJointGetTightness(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float tightness = lovrDistanceJointGetTightness(joint);
+  lua_pushnumber(L, tightness);
+  return 1;
+}
+
+static int l_lovrDistanceJointSetTightness(lua_State* L) {
+  Joint* joint = luax_checkjoint(L, 1);
+  float tightness = luax_checkfloat(L, 2);
+  lovrDistanceJointSetTightness(joint, tightness);
+  return 0;
+}
+
 const luaL_Reg lovrDistanceJoint[] = {
   lovrJoint,
   { "getAnchors", l_lovrDistanceJointGetAnchors },
   { "setAnchors", l_lovrDistanceJointSetAnchors },
   { "getDistance", l_lovrDistanceJointGetDistance },
   { "setDistance", l_lovrDistanceJointSetDistance },
+  { "getResponseTime", l_lovrDistanceJointGetResponseTime},
+  { "setResponseTime", l_lovrDistanceJointSetResponseTime},
+  { "getTightness", l_lovrDistanceJointGetTightness},
+  { "setTightness", l_lovrDistanceJointSetTightness},
   { NULL, NULL }
 };
 
diff --git a/src/api/l_physics_world.c b/src/api/l_physics_world.c
index 6522d7b9..f87f8208 100644
--- a/src/api/l_physics_world.c
+++ b/src/api/l_physics_world.c
@@ -187,6 +187,34 @@ static int l_lovrWorldSetGravity(lua_State* L) {
   return 0;
 }
 
+static int l_lovrWorldGetTightness(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float tightness = lovrWorldGetTightness(world);
+  lua_pushnumber(L, tightness);
+  return 1;
+}
+
+static int l_lovrWorldSetTightness(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float tightness = luax_checkfloat(L, 2);
+  lovrWorldSetTightness(world, tightness);
+  return 0;
+}
+
+static int l_lovrWorldGetResponseTime(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float responseTime = lovrWorldGetResponseTime(world);
+  lua_pushnumber(L, responseTime);
+  return 1;
+}
+
+static int l_lovrWorldSetResponseTime(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float responseTime = luax_checkfloat(L, 2);
+  lovrWorldSetResponseTime(world, responseTime);
+  return 0;
+}
+
 static int l_lovrWorldGetLinearDamping(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float damping, threshold;
@@ -284,6 +312,10 @@ const luaL_Reg lovrWorld[] = {
   { "collide", l_lovrWorldCollide },
   { "getGravity", l_lovrWorldGetGravity },
   { "setGravity", l_lovrWorldSetGravity },
+  { "getTightness", l_lovrWorldGetTightness },
+  { "setTightness", l_lovrWorldSetTightness },
+  { "getResponseTime", l_lovrWorldGetResponseTime },
+  { "setResponseTime", l_lovrWorldSetResponseTime },
   { "getLinearDamping", l_lovrWorldGetLinearDamping },
   { "setLinearDamping", l_lovrWorldSetLinearDamping },
   { "getAngularDamping", l_lovrWorldGetAngularDamping },
diff --git a/src/modules/physics/physics.c b/src/modules/physics/physics.c
index 39a21f04..47e81ed9 100644
--- a/src/modules/physics/physics.c
+++ b/src/modules/physics/physics.c
@@ -195,6 +195,22 @@ void lovrWorldSetGravity(World* world, float x, float y, float z) {
   dWorldSetGravity(world->id, x, y, z);
 }
 
+float lovrWorldGetResponseTime(World* world) {
+  return dWorldGetCFM(world->id);
+}
+
+void lovrWorldSetResponseTime(World* world, float responseTime) {
+  dWorldSetCFM(world->id, responseTime);
+}
+
+float lovrWorldGetTightness(World* world) {
+  return dWorldGetERP(world->id);
+}
+
+void lovrWorldSetTightness(World* world, float tightness) {
+  dWorldSetERP(world->id, tightness);
+}
+
 void lovrWorldGetLinearDamping(World* world, float* damping, float* threshold) {
   *damping = dWorldGetLinearDamping(world->id);
   *threshold = dWorldGetLinearDampingThreshold(world->id);
@@ -954,6 +970,22 @@ void lovrBallJointSetAnchor(BallJoint* joint, float x, float y, float z) {
   dJointSetBallAnchor(joint->id, x, y, z);
 }
 
+float lovrBallJointGetResponseTime(Joint* joint) {
+  return dJointGetBallParam(joint->id, dParamCFM);
+}
+
+void lovrBallJointSetResponseTime(Joint* joint, float responseTime) {
+  dJointSetBallParam(joint->id, dParamCFM, responseTime);
+}
+
+float lovrBallJointGetTightness(Joint* joint) {
+  return dJointGetBallParam(joint->id, dParamERP);
+}
+
+void lovrBallJointSetTightness(Joint* joint, float tightness) {
+  dJointSetBallParam(joint->id, dParamERP, tightness);
+}
+
 DistanceJoint* lovrDistanceJointInit(DistanceJoint* joint, Collider* a, Collider* b, float x1, float y1, float z1, float x2, float y2, float z2) {
   lovrAssert(a->world == b->world, "Joint bodies must exist in same World");
   joint->type = JOINT_DISTANCE;
@@ -990,6 +1022,22 @@ void lovrDistanceJointSetDistance(DistanceJoint* joint, float distance) {
   dJointSetDBallDistance(joint->id, distance);
 }
 
+float lovrDistanceJointGetResponseTime(Joint* joint) {
+  return dJointGetDBallParam(joint->id, dParamCFM);
+}
+
+void lovrDistanceJointSetResponseTime(Joint* joint, float responseTime) {
+  dJointSetDBallParam(joint->id, dParamCFM, responseTime);
+}
+
+float lovrDistanceJointGetTightness(Joint* joint) {
+  return dJointGetDBallParam(joint->id, dParamERP);
+}
+
+void lovrDistanceJointSetTightness(Joint* joint, float tightness) {
+  dJointSetDBallParam(joint->id, dParamERP, tightness);
+}
+
 HingeJoint* lovrHingeJointInit(HingeJoint* joint, Collider* a, Collider* b, float x, float y, float z, float ax, float ay, float az) {
   lovrAssert(a->world == b->world, "Joint bodies must exist in same World");
   joint->type = JOINT_HINGE;
diff --git a/src/modules/physics/physics.h b/src/modules/physics/physics.h
index 3a0d1893..defe2acc 100644
--- a/src/modules/physics/physics.h
+++ b/src/modules/physics/physics.h
@@ -97,6 +97,10 @@ int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float res
 Collider* lovrWorldGetFirstCollider(World* world);
 void lovrWorldGetGravity(World* world, float* x, float* y, float* z);
 void lovrWorldSetGravity(World* world, float x, float y, float z);
+float lovrWorldGetResponseTime(World* world);
+void lovrWorldSetResponseTime(World* world, float responseTime);
+float lovrWorldGetTightness(World* world);
+void lovrWorldSetTightness(World* world, float tightness);
 void lovrWorldGetLinearDamping(World* world, float* damping, float* threshold);
 void lovrWorldSetLinearDamping(World* world, float damping, float threshold);
 void lovrWorldGetAngularDamping(World* world, float* damping, float* threshold);
@@ -211,6 +215,10 @@ void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length);
 void lovrJointDestroy(void* ref);
 void lovrJointDestroyData(Joint* joint);
 JointType lovrJointGetType(Joint* joint);
+float lovrJointGetCFM(Joint* joint);
+void lovrJointSetCFM(Joint* joint, float cfm);
+float lovrJointGetERP(Joint* joint);
+void lovrJointSetERP(Joint* joint, float erp);
 void lovrJointGetColliders(Joint* joint, Collider** a, Collider** b);
 void* lovrJointGetUserData(Joint* joint);
 void lovrJointSetUserData(Joint* joint, void* data);
@@ -222,6 +230,10 @@ BallJoint* lovrBallJointInit(BallJoint* joint, Collider* a, Collider* b, float x
 #define lovrBallJointDestroy lovrJointDestroy
 void lovrBallJointGetAnchors(BallJoint* joint, float* x1, float* y1, float* z1, float* x2, float* y2, float* z2);
 void lovrBallJointSetAnchor(BallJoint* joint, float x, float y, float z);
+float lovrBallJointGetResponseTime(Joint* joint);
+void lovrBallJointSetResponseTime(Joint* joint, float responseTime);
+float lovrBallJointGetTightness(Joint* joint);
+void lovrBallJointSetTightness(Joint* joint, float tightness);
 
 DistanceJoint* lovrDistanceJointInit(DistanceJoint* joint, Collider* a, Collider* b, float x1, float y1, float z1, float x2, float y2, float z2);
 #define lovrDistanceJointCreate(...) lovrDistanceJointInit(lovrAlloc(DistanceJoint), __VA_ARGS__)
@@ -230,6 +242,10 @@ void lovrDistanceJointGetAnchors(DistanceJoint* joint, float* x1, float* y1, flo
 void lovrDistanceJointSetAnchors(DistanceJoint* joint, float x1, float y1, float z1, float x2, float y2, float z2);
 float lovrDistanceJointGetDistance(DistanceJoint* joint);
 void lovrDistanceJointSetDistance(DistanceJoint* joint, float distance);
+float lovrDistanceJointGetResponseTime(Joint* joint);
+void lovrDistanceJointSetResponseTime(Joint* joint, float responseTime);
+float lovrDistanceJointGetTightness(Joint* joint);
+void lovrDistanceJointSetTightness(Joint* joint, float tightness);
 
 HingeJoint* lovrHingeJointInit(HingeJoint* joint, Collider* a, Collider* b, float x, float y, float z, float ax, float ay, float az);
 #define lovrHingeJointCreate(...) lovrHingeJointInit(lovrAlloc(HingeJoint), __VA_ARGS__)