I have no idea how the playground manages this. But Havok did get a bump from 1.0.0 to 1.0.1 during the first month of V6 so no idea if that may of caused it?
Going back to the playground, if I change the perpAxes of the leftUpperArmPhy.body to BABYLON.Vector3(0, 1, 0) and ensure that the goNuts variable is false, it seems to work.
Ok, going further back to the full model, it seems if you mess with the wrong perpAxis you can more reliably make the meshes explode.
No idea if the physics engine is supposed to explode if you choose a wrong axis
Hey, so this is definitely something we could clean up; the issue is that you only specified a ‘perpAxisA’/‘perpAxisB’, which just happened to be the default value used for ‘axisA’/‘axisB’, (Babylon.js/havokPlugin.ts at master · BabylonJS/Babylon.js · GitHub) which, in turn caused a singularity in the solver.
If you specify both the axis and perp axis, it’ll fix the jittering (but not sure if these are the real values you want to use):