(Motor Bug) Joints cannot be removed if not on DEBUG mode

So if you add a joint with "debug" turned off

no jointdebug is created in thre world
joint is added to the physics motor (root.post...)

When removing this joint, phy.remove(joint.name) --- the routine in Motor will do nothing, as phy.byName() returns null - however the joint is kept alive in the worker.

This causes many nasty bugs - for example

if you remove any object part of the joint, the worker (physx at least) will later crash on stepItems (when attempting to call getGlobalPose() on the existing joints, but their objects do not exist.
if joints belong to instancemeshes and instances are removed, joints are kept alive and sometimes point to the wrong instance, resulting in funny joints between incorrect objects in the scene

After that crash, worker must be restarted.

My temp fix:

    // RLP: SEND ALWAYS TO MOTOR to remove non-exising joints
    static remove(name, direct = false, physicsType = "joint") {

        if (name.constructor === Array) return Motor.removes(name, direct);

        let b = Motor.byName(name);

        if (b) {

            // remove on three side

            if (b.extraRemove) b.extraRemove();
            ITEM_LIBRARY[b.type].clear(b);

        }

        const objectType = b ? b.type : physicsType;

        // remove on physics side
        if (objectType) root.post({ m: "remove", o: { name: name, type: objectType } }, null, direct);

    }

So when removing joints, I call remove(jointName, false, "joint") - or remove(jointName, false) as physicsType is set to joint. It's not the most elegant but it works well.

lo-th / phy

(Motor Bug) Joints cannot be removed if not on DEBUG mode #36