From 559a240799db656bbd1b172699b07d278344e5cd Mon Sep 17 00:00:00 2001 From: forbes Date: Thu, 26 Feb 2026 07:46:38 -0600 Subject: [PATCH 1/2] =?UTF-8?q?fix(assembly):=20update=20solver=20submodul?= =?UTF-8?q?e=20=E2=80=94=20fix=20planar=20half-space=20drag=20flip?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Updates mods/solver to include fix for the planar half-space correction that caused 'flipped orientation' rejections when dragging a body connected by a Cylindrical joint + distance=0 Planar constraint. The solver's PlanarConstraint half-space tracker was reflecting the body through the plane when the face normal dot product crossed zero during legitimate rotation about the cylindrical axis. Now returns a tracking- only HalfSpace (no correction) for on-plane constraints, matching the pattern used by Cylindrical/Revolute/Concentric trackers. See: kindred/solver#38 --- mods/solver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mods/solver b/mods/solver index 5802d45a7f..85a607228d 160000 --- a/mods/solver +++ b/mods/solver @@ -1 +1 @@ -Subproject commit 5802d45a7f6541d90fed4d7a057cbe2673a42977 +Subproject commit 85a607228d25fb6fe6821d49b0e9cb8ca521a23b -- 2.49.1 From 9aaf24417910376ad6cb29edebea79f8798484a9 Mon Sep 17 00:00:00 2001 From: forbes-0023 Date: Thu, 26 Feb 2026 11:07:06 -0600 Subject: [PATCH 2/2] =?UTF-8?q?fix(solver):=20update=20solver=20submodule?= =?UTF-8?q?=20=E2=80=94=20world-anchored=20planar=20reference=20normal?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Updates solver to include the fix for PlanarConstraint axial drift when combined with CylindricalConstraint. The distance residual now uses a world-frame reference normal (Const nodes) instead of the body-attached normal that rotates with the body. --- mods/solver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mods/solver b/mods/solver index 85a607228d..000f54adaa 160000 --- a/mods/solver +++ b/mods/solver @@ -1 +1 @@ -Subproject commit 85a607228d25fb6fe6821d49b0e9cb8ca521a23b +Subproject commit 000f54adaadf3670414cbe7b1c94586c03e885f4 -- 2.49.1