pkusilence

Hi, Pierre. Thanks for reply. PhysX total Upgrades is not acceptable because of lack of time for game dev. Besides, in PhysX 4.1.2 the PCM stuff is not much different...

PxJoint::getRelativeLinearVelocity() also returns a invalid results. Beside, the original version calculates the linvel & angvel in the COM frame of actor 0 , instead of the constraint frame 0 (which...

> that still erroneously involves the center of mass right? the documentation says it should be in the constraint frame of actor0 I have already tested the fix and it...

An other way to fix: PxTransform getComLocal(PxRigidActor* actor) const { if (!actor) return PxTransform(PxIdentity); else if (actor->getType() == PxActorType::eRIGID_DYNAMIC || actor->getType() == PxActorType::eARTICULATION_LINK) return static_cast(actor)->getCMassLocalPose(); else return PxTransform(PxIdentity); } PxTransform...