Adding Baumgarte's stabilization for contact dynamics
This constraint stabilization (or constraint regularization) helps to have good numerical integration of the DAE (a.k.a. KKT dynamics). In this follow paper you can see the proposed methods for tuning the stabilization gains (i.e. PD gains):
- Hajzman, M. and Polach, P. Application of stabilization techniques in the dynamic analysis of multibody systems