[ODE] Changing simulation step size

[Jaroslav Sinecky]

Hi,

> > 1) If I change the step size, do I need to adjust ERP and CFM
> parameters
> > in any particular way?
>
> You may have to, if you're strongly reliant on ERP/CFM behavior for
> dampening, as ODE uses a first-order integrator.
>

Have you seen the formulas that relate ERP a CFM to stiffness and damping
constant? (user guide 3.8.2 How To Use ERP and CFM) Maybe that's what you
are looking for. If you want to emulate the same physical effect, you should
change ERP and CFM with respect to time step according to this formulas.
But if you use ERP and CFM just to fine tune collision response, you may
need to fine tune new values for new time step.

Jaroslav