Tightness parameter is amount of force is exerted on collider to resolve
collisions and enforce joint operation. Low values make joints loose,
high values make it tight and can cause collider to overshot the joint
target. With tightness set to 0 the joint loses its function. Going
above 1 puts even more energy into joint oscillations. Tightness
parameter is called ERP in ODE manual.
The responseTime affects the time constant of physics simulation, both
for collisions and for joint inertia. Low responseTime values make
simulation tight and fast, higher values make it sluggish. For
collisions it affects how fast penetration is resolved, with higher
values resulting in spongy objects with more surface penetration and
slower collision resolving. For joints the responseTime is similar to
inertia, with higher responseTime values resulting in slow oscillations.
The oscillation frequency is also affected by collider mass, so
responseTime can be used to tweak the joint to get desired frequency
with specific collider mass. Values higher than 1 are often desirable,
especially for very light objects. Unlike tightness, responseTime is
tweaked in orders of magnitude with useful values (depending on mass)
being between 10^-8 and 10^8.
Both parameters can be applied to World for simulation-wide usage, or
specified per-joint in case of distance and ball joints. Other joints
don't allow customizing these parameters, and will use World settings
instead..
- Ref struct only stores refcount now and is more general.
- Proxy stores a hash of its type name instead of an enum.
- Variants store additional information instead of using a vtable.
- Remove the concept of superclasses from the API.
- Clean up some miscellaneous includes.
Josip Miskovic
bjorn