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Post step in Constraint-Based animation

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Hey,

I am doing some constraint based animation. I am using two kinds of stabilization, namely Baumgarte and Post step. I notice that the Post step right now is totally unstable. My simulations run fine with Baumgarte on, but with post step on, they destabilize. Also, I notice that post step is stealing energy so a simple pendulum comes to rest with no damping on.
Anyone with experience might be able to help me. Thanks in advance.
Regards,

Guy

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