Child-parent bodies getting stuck after they penetrate due to non-stable simulation

[wpumacay]

This might be related to #2 . There are some cases in which some bodies that are connected just get into a configuration that they cannot escape, meaning that one got into a out-of-range value for its constraint limit.

For example, for revolute joints with a range of [-100,100], if one body passes this limit, the constraint solver will try to send it back to the actual range, but if penetration was just right, then the object gets stuck. This usually happens when #2 happens, but in some other cases it also happens, when speeds are too high.

Possible-solution: use tip from the Bullet-user-manual, regarding the addition of collision margins to stabilize the collision detection.