Meaning of parameters in JointSpringForceField

Hello everyone,

I’ve been working with JointSpringForceField for a while now, but still I am wondering what is the physical meaning of few of the parameters in that Force Field when defining a spring. From the API Documentation I have understood the meaning of some of them, but still I have some doubts:
– Index1 and Index2 identify the indices of the MechanicalObjects to link;
– FREE_AXIS is a vector of 6 booleans that activate/deactivate the translation and the rotation with respect to the three main axes
– KS_T 100 200 are respectively the soft and hard translational stiffnesses. What is the difference between soft and hard?
– KS_R is like KS_Tbut with rotational stiffnesses
– What is the physical meaning of blocKsr?
– What is the physical meaning of Kd?
– R_LIM_X 0 2are the minimum and maximum angle of activity of the spring. Are these angles measured in radians?
– R_LIM_Yand R_LIM_Zare like R_LIM_X
– L init spring x, L init spring y and L init spring z represent the initial position offsets of the spring
– Rot init spring represents a quaternion of the rotational offset

I’ve done many tests with this Force Field and also with other alternatives and combinations, but still this Force Field seems to be the perfect solution for my scene. In my case it is working well, but maybe there are some parameters I can adjust to improve the performances of my scene.

Any info about that is useful and appreciated.

Thank you,
Lorenzo