I made s spread sheet of some tests I was doing recently. I was testing for chained objects of sizes approaching or smaller than the suggested minimums as I want sizes to around 5mm. My units are PhysX defaults.
The test was anchoring the top end of the chain about 2 units up then swinging it in a broad arc and stopping abruptly at various speeds to judge stability. Stability to me is all objects come to rest within a few seconds without constant jumping around. I did allow the sphere to spin locally in place.
If I can, I will attach a spreadsheet with a few tests. The nomenclature consists of my local variables but should be readable. It would be nice to make a wiki or something with public contribution for material properties so we don’t continually reinvent the wheel. Btw, yes, those are decimal point moves on some gravity datums and there are extreme numbers to get what I wanted.