Hello chengdong
When animating multiple Ziva creatures, especially when there's a lot of contact, they behave as if they've been slathered in oil. If the contact is turned off, it's like they're too stiff or the soft parts get dragged along the contact surfaces. Controlling all these contacts takes a lot of work. It would be a dream if this could be done simply by setting the dynamic friction coefficient to 0.5.
Friction is very popular in physics simulation, so I wonder why it hasn't been implemented, even in a pseudo way.