Rigid bodies without colliders escape from joint with a rigid body with collider.

[robertocapuano]

I create a chain of rigid bodies with a colliders interleaved with a rigid bodies without colliders, they are connected via slider joint and ball and socket joints. The last element is a rigid body without collider linked by a fixed joint to the last rigid body with a collider. I apply a force on this last one.

Sometimes it happens that the body escapes the joint and returns to position only by moving the first object.

Below is a snippet of code of the last two bodies to make the example clearer:

RP3D::RigidBody body1 = m_world->createRigidBody( { pos1, QUAT_I }  );
RP3D::CollisionShape shape =m_common.createSphereShape( radius );
Fx::ColliderRef coll = m_world->  createCollider( body1, shape, Fx::Transform {} );
body1->addCollider( shape, Fx::Transform {} );

RP3D::Transform tr { pos2, QUAT_I };
Fx::RigidBodyRef body2 = m_world->createRigidBody  ( tr );

const RP3D::Transform &tr1 = body1->getTransform();
const RP3D::Transform &tr2 = body2->getTransform();
const RP3D::Vector3 anchor_point = .5f * ( tr1.getPosition() + tr2.getPosition() );

RP3D::FixedJointInfo jointInfo(body1, body2, anchor_point );
RP3D::FixedJoint joint = (RP3D::FixedJoint) m_world->createJoint(jointInfo);

[robertocapuano]

This commit breaks the functionality:
8f46764

[DanielChappuis]

This issue should now be fixed in release of version v0.10.1. Thanks again for reporting this issue.