Model instability

[simo-11]

Beam with Rigid-Plastic joints fails quickly
Beam B2-1

[simo-11]

GetClampedMaxImpulse limits correction impulse too much which causes joint to break even if load is fraction of actual limit.
Even before that solution diverges.
Issue is active with 2 dynamic bodies.

[simo-11]

For multiple parts cases:
Expected impulse for outer joint is 5200 Ns and moment 5200 Nms.
Expected impulse for inner joints force = n*5200 and moment n*n*5200
for 2: 10400 Ns and moment 20800 Nms etc

Using impulse initializer: initial values are not expected.
Step from 0, timeStep=0.0166667, gravity=-10
velocityIteration: 0
J:VC:1 vA1=0 0.333333 0.5
J:VC:1 vB1=0 -0.166667 0
J:VC:1 m_impulse1=0 0 0
J:VC:1 wA=0.25, wB=0.25
J:VC:1 Cdot=0 -1 -0.5
J:VC:1 impulse=-0 15600 5200
J:VC:1 m_impulse2=0 15600 5200
J:VC:1 vA2=0 -0.166667 -0.5
J:VC:1 vB2=0 0.333333 -0.5
J:VC:0 vB1=0 -0.166667 -0.5
J:VC:0 m_impulse1=0 10400 20800
J:VC:0 wA=0, wB=0
J:VC:0 Cdot=0 -0.166667 -0.5
J:VC:0 impulse=-0 5200 10400
J:VC:0 m_impulse2=0 15600 31200
J:VC:0 vB2=0 0 -0.25

Without
Step from 0, timeStep=0.0166667, gravity=-10
velocityIteration: 0
J:VC:1 vA1=0 -0.166667 0
J:VC:1 vB1=0 -0.166667 0
J:VC:1 m_impulse1=0 0 0
J:VC:1 wA=0, wB=0
J:VC:1 Cdot=0 0 0
J:VC:1 impulse=-0 -0 -0
J:VC:1 m_impulse2=0 0 0
J:VC:1 vA2=0 -0.166667 0
J:VC:1 vB2=0 -0.166667 0
J:VC:0 vB1=0 -0.166667 0
J:VC:0 m_impulse1=0 0 0
J:VC:0 wA=0, wB=0
J:VC:0 Cdot=0 -0.166667 0
J:VC:0 impulse=-0 5200 -0
J:VC:0 m_impulse2=0 5200 0
J:VC:0 vB2=0 0 -0.25

[simo-11]

After fix for impulse initializer, initial impulses are correct 0b354c2
Step from 0, timeStep=0.0166667, gravity=-10
velocityIteration: 0
J:VC:1 vA1=0 0 0
J:VC:1 vB1=0 0 0
J:VC:1 m_impulse1=0 5200 5200
J:VC:1 wA=0, wB=0
J:VC:1 Cdot=0 0 0
J:VC:1 impulse=-0 -0 -0
J:VC:1 m_impulse2=0 5200 5200
J:VC:1 vA2=0 0 0
J:VC:1 vB2=0 0 0
J:VC:0 vB1=0 0 0
J:VC:0 m_impulse1=0 10400 20800
J:VC:0 wA=0, wB=0
J:VC:0 Cdot=0 0 0
J:VC:0 impulse=-0 -0 -0
J:VC:0 m_impulse2=0 10400 20800
J:VC:0 vB2=0 0 0