can someone briefly describe what are these values doing ?
Softness is a factor when the velocity correction starts. For example, 0.5 would mean it will kick in at 50% of its limits.
Bias factor should be in 0.2-0.5 range and tells the magnitude of position correction. Smaller value would allow faster solution, but less precise.
Relaxation factor is the strength of the constraint or how quickly it corrects. Smaller value would make it softer.
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