That video reminds me:
What functions do you have for dampning? Something that can soften movement to reduce jittering, possibly have a threshold or bias so users can define when dampning is triggered (how big or small the jitters have to be, before dampning is triggered).
Also, restitution for sofbodies? and is there a property that controls how fast or slow the forces are resolved (I can’t remember what it’s called, but blender has it, and couple of other physics systems I’ve worked with)