thanks for examining this!

wouldn't it be possible to dynamically increase an entity's erp depending on how much it currently penetrates the level geometry?

...
sometimes it's really tricky to find the right combination of parameters. i wonder how they manage to make physics in games like halflife2 foolproof? for example, how do they prevent that a player collects all items of a level with the gravitation gun and throws them onto a pile? all this collisions in the pile really could freeze (<1fps) the game...

marco, have you ever worked with other physics engines like havok?