Can rigid bodies move beyond the degrees of freedom of joints？

[GhostMinerPlus]

While I use FixedJoint and RevoluteJoint to bind two rigid bodies, they still can move from each other if I add a big force on one of them.

[ThierryBerger]

When using ImpulseJointSet, the approach to resolving constraints is iterative, which means there can be "errors", or approximations.

This behaviour can be improved by tweaking rapier configuration (increasing for example IntegrationParameters::num_solver_iterations or lowering IntegrationParameters::dt).

But if you're looking for a robust simulation of joints, you'll want to use MultibodyJointSet.

I'm converting to discussion, so you can mark it as answered if satisfying.