I don't know if this is still relevant or even true... But a while ago I read that using tokamak, it is impossible to illiminate "twitchyness"... I was playing around with some code I was doing (I'm still working on an editor for making ragdolls, which I need to make b4 I start my new project: ASX) And In my first quick attempt of saving and loading, I didn't have the cubes used in the legs touching each other... I left gaps.. (I wasn't trying to do a good model.. I was just playing around) but the joints were right... And I didn't have any twitchyness (a little at first... but alot goes away.. and it actually sits still)... I don't know if this was a "flook" or what, but I thought I better share this... I hope it helps.