Hi wwan,
good to hear from you. The model/links/spring/restlength is the "desired" length that a spring will try to return to when stretched.
The two friction coefficients are factors to the components of a masses velocity that are perpendicular and parallel to a surface. When in "sticky" mode, the coefficient of friction parallel to a surface higher than that perpendicular to it, so models can get better "grip" on a surface.
the container tag specifies the size of the stage in constructor, but is ingnored by the race application.
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