I'm asking because if you are moving the Sphere in a violent and non-physical way I could see how a constraint would have trouble keeping up. And if you're doing that then one idea occurs to me: track the lastKnownRelativeTransform of Capsule to Sphere at the end of each frame, and when you move the Sphere violently then apply the same world-frame delta (transform and/or velocity) to the Capsule a priori at the same time (e.g. maintain lastKnownRelativeTransform before the next step). Then when it comes time for the ConstraintSovler to enforce the constraint it will at least be as close to the correct solution as it was at the end of last timestep.
You could think of this as a custom single-step Verlet integration step.
Of course, that idea would kinda fail (very non-physical results) if the Capsule had much sway over the Sphere's motion (e.g. if the Capsule were a significant fraction or large multiple of the Sphere's mass).Statistics: Posted by drleviathan — Tue Apr 16, 2019 8:25 pm
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