liuqiangNetease

hi, I cannot reappear the problem. when it reappear, I try to describe in details.

//create static rigid body rp3d::Transform t(rp3d::Vector3(0,0,0), rp3d::Quaternion::identity); rp3d::RigidBody* mStaticBody = m_pWorld->createRigidBody(t); mStaticBody->setType(rp3d::BodyType::STATIC); //create dynamic rigid body, initial position is Vector3(0,0,0), init Orientation is Quaternion(0,0,0,1) rp3d::RigidBody* mDynBody = m_pWorld->createRigidBody(t); mDynBody->setType(rp3d::BodyType::DYNAMIC); mDynBody->enableGravity(true);...

rp3d::Transform relative(rp3d::Vector3(0,0,0), rp3d::Quaternion::identity); when relative Transform is identity, HingeJoint simulation is right. I have used your physics engine doing a project. I write a lot of test demo to test...

if(t.getPosition() != rp3d::Vector3::zero()). this is not code, just a word I express.( if transform is not identity the bug appear.). so just look at this code. //create static rigid body...

I am sorry for my English. Just test the code above, I think you may extends your demo cube class to receive the shape transform. and also modify the synchronization...