I was try to read the masses of the bodies by when I click the link I get this
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It does not matter, I think I can recreated, on my side.
I modified the forklift demo, in the sandbox by adding a compound that can be lifted.
when I made the weight 100 kg or left, is rock solid, not jitter at all,
I kept increasing and I see a minor jitter but remind solid until it hit about 400 kg.
where I start to see some estrange popping
I set the weight top 1000 kg, and it definably wrong the pop turns into an explosion.
before I move on to fix it, I like you to run the sand Box Demo and play with the the weight
let us say 200 kg and tell me is thsi is acceptable to you,
what I am try to get at is that we agree in what is acceptable and what is not. we may be seeing different thing.
The code is commited set to that demo, and the file you nee to look at is
../applications\demosSandbox\sdkDemos\demos\ServoJoints.cpp line 897
The should be eassy to get fix, in case you wonder why I do not go and made fix want and for all liek 1.53, the answer is that it is an engineering problem, I can make full fix at the expense of performance, but that will cause many people who are not particular interested on this kind of simulation reject teh engine, my solution is mak optional.
teh problem is that contacts can't be factored in a way the can be solve fast, so I have to be selective as to what contact can be made part of the contraction.
and those aren't at this time. therefore all in all it is remarkable that is can lift a 500 kg weigh and be stable.
anyway if you can sync an run that test, mean time I will add the fix.