hwo to set the ERP(error reduction parameters) of hinge

[lovefoster]

hi!

I built a crank-slider mechanism with 4 hinge joints, 1 slider joint.
If you actually implement the hinge joints,you will discover a problem. As the simulation proceeds the joint will gradually "come apart", i.e. the position of the link between bodyA and bodyB will gradually diverge. This is referred to as joint error.
quesitions:

how can i fix the joint error in bullet?(ode can fix it by erp)
whether are there APIs to set the parameters similar to the erp of ode?

thanks very much for any help whatsoever!