I'm seeing instability when a dynamic body constrained with a 6Dof constraint begins with an orientation outside of the specified angular limits. For example, I constrain a kinematic body to a dynamic body, set the angular limit to 30 degrees about the X axis, and set the rotation of the dynamic body to 60 degrees about the same axis. In the first simulation step, the object swings violently as it attempts to rectify the constraint violation.
How can I fix the constraint so that the dynamic body can start with an arbitrary rotation? I want the constraint limits to be evaluated relative to the initial orientation. I suspect this involves transforming the constraint frames, but I'm not having much luck so far.
Thanks