Search Issue Tracker
Third Party Issue
Votes
0
Found in
2020.3.18f1
Issue ID
1378062
Regression
No
Issue with teleporting Articulation body with spherical joints
This issue has no description.
Add comment
All about bugs
View bugs we have successfully reproduced, and vote for the bugs you want to see fixed most urgently.
Latest issues
- "Shader warning in 'Hidden/Light2D': implicit truncation of vector type" is thrown when building Universal 2D template
- AI Assistant breaks compilation of packages using System.Runtime.CompilerServices.Unsafe via auto-referencing
- Unity Hub checks the "Documentation" module by default on the 6.4 and 6.5 streams despite that it was unchecked with the previous installs
- Shortcut that toggles between Dopesheet and Curves Views in the Animation Window's Timeline is mislabed
- Property List Items Overlap onto the Property List's top edge when scrolling through a long Property List
Resolution Note:
Teleporting the root body doesn't imply resetting the articulation pose actually, all it does is to move the root, and make all the children follow on with the offset. Unfortunately, that creates some residual velocities in the spherical joints code that PhysX can't really deal with. Until we have a proper fix from Nvidia, we recommend to obtain pose somewhere during the init sequence (with articulationBody.GetJointPositions), and then immediately apply this pose right after teleportation. This will have the effect of resetting agent to initial state safely & reliably well.