local function L(L,C,u,M,a)local I=sanitizeAngle(M-u)local x=math.exp(-C*L)local N=sanitizeAngle((I*(1+C*L)+a*L)*x+u)local B=(a*(1-C*L)-I*((C*C)*L))*x return N,B end

local function stepSpringAxis(dt, f, g, p, v)
	local offset = sanitizeAngle(p - g)
	local decay = math.exp(-f*dt)

	local p1 = sanitizeAngle((offset*(1 + f*dt) + v*dt)*decay + g)
	local v1 = (v*(1 - f*dt) - offset*(f*f*dt))*decay

	return p1, v1
end
