Hi Yinon,

Variable timesteps can definitely introduce jitter into the system. The recommended way of dealing with this is by gradually changing the timestep until you reach the value you want it to be at. For example, make each frame's timestep 90% of the previous until it gets to where you want it to be.

Please keep in mind that it's much easier to work with Havok when using discrete timesteps and if you can make sure that your timestep values aren't changing it would really improve your stability.

Usually timestep values are about 30Hz (i.e., 1/30 seconds). In general, the smaller the timestep, the better the result (though it gets a bit expensive). You may notice some slightly different behavior on smaller timesteps. For example, constraints may seem a bit less 'stretchy' and if you're not using continuous simulation, it may help prevent 'bullet through paper' issues, if you're seeing those in your current setup.

Hope this helps!

Daniel