FilterTools: After exhausting the use of a first order buffer filter, a second order filter was implemented. Originally a separate function was created but the controller to the simulation would fail unexplainably. Hence, the recursive second order controller was inserted into the original lowpassfilter function. Even when using double-typed variables for filter parameters the simulation controller would crash, so the numbers were used hardcoded. AssemblyStrategy: Parameters were fine-tuned to work with both: (a) the second order filter, and (b) newly adjusted variables in the DynamicsSimulter/Server.ConstraintSolver.cpp(L77) NVARFP=2.75 parameter.