While researching different physics engines for dynamic simulations in robotics I found the following statement on the MoJoCo documentation website:
Physics engines have traditionally separated in two categories. Robotics and biomechanics engines (MATLAB Robotics Toolbox, SD/FAST, OpenSim) use efficient and accurate recursive algorithms in generalized or joint coordinates. However they either leave out contact dynamics, or rely on the earlier spring-damper approach which has fallen out of favor for good reason. Gaming engines (ODE, Bullet, PhysX, Havoc) use the modern approach where contact forces are found by solving an optimization problem at each time step.
What is the "good reason" for spring-damper not commonly being used anymore to model contacts in dynamic simulations?