Unity Issue Tracker - A moving collider changes the position of articulation bodies when they are on the same level or below it in the hierarchy

Duplicate

Votes

0

Found in

2020.3.46f1

2021.3.22f1

2022.2.13f1

2023.1.0b10

2023.2.0a8

Issue ID

UUM-31321

Regression

No

A moving collider changes the position of articulation bodies when they are on the same level or below it in the hierarchy

-

Mar 24, 2023

Reproduction steps:
1. Open the attached “AB Test” project
2. Open “SampleScene”
3. Enter Play mode
4. Observe the yellow text

Expected result: the position numbers do not change - the articulation bodies are not moving
Actual result: the position numbers change - the articulation bodies are moving

Reproducible with: 2020.3.46f1, 2021.3.22f1, 2022.2.13f1, 2023.1.0b10, 2023.2.0a8

Reproducible on: macOS Catalina 10.15.7 (Intel), Windows 10 (by the reporter)

Notes:
- Also reproducible in Standalone Player
- If the collider is on a root articulation body it moves even if "Immovable" is checked, but only if it's a box collider
- The issue happens when the position or rotation of the collider is constantly changing

This is a duplicate of issue #UUM-29082

GameObject Position changes when its child Collider is rotating

Resolution Note:

The problem in the linked case applies the same way for Articulation Bodies. The Articulations themselves are meant to be moved via the use of Articulation Body joints as opposed to "deforming" the Articulation's Colliders every frame.

The issue that Triggers (which do not contribute the center of mass) also cause this behavior is tracked here: https://issuetracker.unity3d.com/product/unity/issues/guid/UUM-30798

Duplicate of https://issuetracker.unity3d.com/product/unity/issues/guid/UUM-29082

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