The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce velocity threshold, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied