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Why do completely constrained Rigidbodies still apply a force on Joints?

Discussion in 'Physics' started by essometer, Oct 23, 2019.

  1. essometer

    essometer

    Joined:
    Oct 11, 2018
    Posts:
    2
    I have a question about the physics system in Unity: When I completly constrain a rigidbody (freeze XYZ Rotation and XYZ Position), connect it to a different rigidbody via a joint and measure the current force on the joint, I will get the mass times the gravitiy constant in the force vector, someting like (0, 9.8, 0) when using the default values.

    However, if I connect the bodies in a way that a torque would be applied, like when I offset the center of mass, the Torque force on the joint is (0,0,0).

    Why is that and would it be possible to get the Torque of a completly constrained body?