I am going over that joint looking at thsi problem in particular,
regard this idea
MeltingPlastic wrote:Yeah I have noticed how joints restore back to configuration with a somewhat constant velocity. Is this perhaps a tunable parameter that could be exposed via the sdk? (Not that its a real fix to the root problem, but might be a nice thing to be able to tune ie the "speed of joint restoration").
achieving a constant is a eassy concept speed is quite difficult to archive, the problem is that tha whole idea of contain dynamic is that the constraint most be workless.
this is to say tha the relative motion on the constraint line of action most be zero.
this is stated as J dot v = const.
that is J is the line of action, and v is the relative velocity between teh tow point of contact.
so if I apply a contact velocity that is too high, at some point when teh error is reduced It must apply some acceleration so that is does no over shoot. thsi acceleration the propagate over the entire system adding extra gratuities energy.
the method I use is to use an implicit integration of a very high spring and damper that is always calculation the accelration to reach zero velocity at the zero error point. this paraments are calibrate for a 1/60 fps, and I never change them, I suppose I can recalibrate them, but leaving them for the end user is a recipe for disaster.
Liek you said, doing that is no a real problem, I rather find out what the two bodies are separating after a subthem violent contact, I beleive the reason is that the contact joint is no considering the gyro and centripetal derivative. I always consider that contacts are a spurious thing no worth conspiring gyro effect, by that fact is that smacking the wat you are doing does produce huge angular velocities that is not considered by the contact than is not passed to the connected bodies and the bodies move with different acceleration.
I am working on that over the weekend and them we can test again.