I was going to say that, this is related to the thong I was telling Joe.
I made the change so that when calling is with a parameters Ks, Kd, and dt
the function calculate the amount of stiffness to achieved the desired spring damper.
That makes it possible for setting soft joint without having to calculate the value manually like I was doing every time.
since the right size is identical to the original code, only the left size that calculate the stiffness changes, if you call set stiffness after that. Very cool catch. I am going to use it myself for tweaking vehicle suspensions.
