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Bullet sub-steps + constraints sub-steps questions

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Hi,

Would increasing bullet sub-steps improve stability (I think will just give more "resolution")? same for constraints sub-steps? What should I except from increasing sub-steps specially for constraints sub-steps? I know that bullet has continuous collision detection so we will have "right" collision regardless of the simulation step length? 

Also, are there any guidelines or good numbers for sub-steps? defaults are 10 and 10, are they good? 

Finally, why there are two sub-steps : one for bullet sim and one for constraints? for example, If I increase bullet sub-step, would it automatically increase collision sub-steps as well?

Thx

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