issue with collision: exploding creature

[Roelof1986]

Dear Benjamin,

I want to simulate a hexapod creature for usage with a spiking neural network. I tried to create working code:

https://github.com/Roelof1986/HexapodSim/blob/main/hexapodsim.pas

But I managed not to let the creature walk properly. When a bodypart collides with another bodypart the creature seems to explode. I only have written a simple 2D physics engine and I remember that I had also problems with collision and collision detection, with bodyparts shooting around. I wonder if I must use other functions for limiting the joints, because it happens only when the joints are limited or perhaps this is a bug? Please can you help me? Thank you very much.

Best regards,

Roelof Emmerink