In a word ... no there isn't and yes it does :)

I know this is a particular challenge for folks because it was to me at the beginning. On the CD I explain joint parameters in detail. I do not give you set values for different models, they would be too numerous to mention, but rather by a clear illustrated explanation of what each parameter does I feel than an understanding of how they work can be grasped. I found that when I could see what they were doing I could then manipulate them to perform correctly.

The section on magnets is treated in much the same way.