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Votes
0
Found in
2020.2
2020.2.0b13
2021.1
2021.2
Issue ID
1312249
Regression
No
ArticulationBody.jointPosition is gaining values above 3.14 when using Revolute Joint
How to reproduce:
1. Open the attached project
2. Click Play
3. Select the Controller GameObject in the Scene Hierarchy
4. Press W or the Up Arrow
5. Observe the Joint Position variable in the Inspector
Expected result: The Joint Position will reset back to 0 after it reaches 3.14
Actual result: The Joint Position will reach values above 3.14
Reproducible with: 2020.2.3f1, 2021.1.0b5, 2021.2.0a4
Could not test with: 2018.4.30f1, 2019.4.19f1 (does not support Articulation bodies)
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Resolution Note:
If there should be clamping, it should be 2Pi instead of Pi. (since 2Pi is a full rotation and Pi is only half) Currently there's no clamping of the value though, because for the user it may prove useful to know the amount of revolutions that have occurred. If we were to clamp that value, we would be discarding information. And lastly, if the user wishes to have the joint Position be clamped to Pi or 2Pi, they can do it themselves