Bug Unity Physics Rigid Joint bug swaps entity positions

The RigidJoint or the CreateFixed joint has a bug in Unity Physics version 0.3.2

The joint reverses the positions of the two entities when it is applied. You can see the process in the UnityPhysicsSamples - 4a. Joints Parade if you colour one of the two cubes a different colour.

The expected behaviour of the joint can be obtained by changing the order of the Rigid Transforms in the Rigid Joint script.

Causes incorrect behaviour:
CreateJointEntity(
JointData.CreateFixed(
new RigidTransform(OrientationLocal, PositionLocal),
new RigidTransform(OrientationInConnectedEntity, PositionInConnectedEntity)
),
entityManager, conversionSystem
);

Causes expected behaviour:
CreateJointEntity(
JointData.CreateFixed(
new RigidTransform(OrientationInConnectedEntity, PositionInConnectedEntity),
new RigidTransform(OrientationLocal, PositionLocal)
),
entityManager, conversionSystem
);

I'm not sure if the problem is just with the RigidJoint creator in the samples or if the problem runs deeper into the Unity Physics JointData.CreateFixed

Tested with latest https://github.com/Unity-Technologies/EntityComponentSystemSamples
and Unity 2019.3.10f1

Edit mode:

Frame 1:

Frame 2:

Frame 3:

 

Thanks for reporting, we'll fix it in the next update

 

Hi Adam,

No problem, thanks for acknowledging.

Is the bug in the Unity Physics JointData.CreateFixed or in the joint authoring scripts provided in the samples?

Also approximately when do you expect the next update to be: days, weeks?

 

I haven't had a chance to take a look to say where the actual bug is, because at face value nothing looks fishy. Expect the next update on the order of a few weeks rather than a few days.