VehicleConstraints are automatically disabled when the vehicle body is not in the PhysicsSystem

Fixes #1857

Docs/ReleaseNotes.md

@@ -6,11 +6,12 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 
 ### New functionality
 
-* Added interface to run compute shaders on the GPU with implementations for DX12, Vulkan and Metal. These interfaces can be disabled by setting JPH_USE_DX12, JPH_USE_VK and JPH_USE_MTL to OFF. To build on macOS, you'll need to have dxc and spirv-cross installed. The easiest way to install them is by installing the Vulkan SDK.
+* Added interface to run compute shaders on the GPU with implementations for DX12, Vulkan and Metal. These interfaces can be disabled by setting `JPH_USE_DX12`, `JPH_USE_VK` and `JPH_USE_MTL` to `OFF`. To build on macOS, you'll need to have dxc and spirv-cross installed. The easiest way to install them is by installing the Vulkan SDK.
 
 ### Bug Fixes
 
 * Made it possible to make a class outside the JPH namespace serializable.
+* `VehicleConstraint`s are automatically disabled when the vehicle body is not in the `PhysicsSystem`.
 
 ## v5.5.0
 
@@ -18,7 +19,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 
 * Added new define `JPH_TRACK_SIMULATION_STATS` which tracks simulation statistics on a per body basis. This can be used to figure out bodies are the most expensive to simulate.
 * Added `RagdollSettings::CalculateConstraintPriorities` which calculates constraint priorities that boost the priority of joints towards the root of the ragdoll.
-* BoxShape, CylinderShape and TaperedCylinderShape will now automatically reduce the convex radius if the specified value is too big for the shape (instead of erroring out).
+* `BoxShape`, `CylinderShape` and `TaperedCylinderShape` will now automatically reduce the convex radius if the specified value is too big for the shape (instead of erroring out).
 * Added ability to configure the thickness of triangles when colliding with soft bodies through `CollideSoftBodyVerticesVsTriangles::sTriangleThickness`.
 * Added `JPH_DEFAULT_ALLOCATE_ALIGNMENT` which allows defining the default `Allocate` alignment if your allocator's alignment is different from the alignment as defined by `__STDCPP_DEFAULT_NEW_ALIGNMENT__`.
 
@@ -30,7 +31,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 * Fixed compilation error when using Jolt in conjunction with the `_CRTDBG_MAP_ALLOC` define on Windows.
 * Fixed cast shape possibly not returning a hit when a shape cast starts touching (but not intersecting) another shape and requesting the deepest hit.
 * Fixed division by zero when doing a really long (6 KM) sphere cast against a triangle. In this case the floating point accuracy became low enough so that the distance between the sphere center and the triangle (which should be 'radius') became zero instead.
-* Fixed memory leak when providing invalid parameters to TaperedCylinderShapeSettings and creating the shape.
+* Fixed memory leak when providing invalid parameters to `TaperedCylinderShapeSettings` and creating the shape.
 * Fixed collision between soft body and `TriangleShape`/`MeshShape`/`HeightFieldShape`. This would not find the closest collision point in case the shape was scaled. It would also make the triangles much thicker than intended causing collisions with back facing triangles that were very far away.
 
 ## v5.4.0
@@ -55,7 +56,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 * `QuadTree` will now fall back to the heap when running out of stack space during collision queries. Previously this would trigger an assert and some collisions would not be detected.
 * Fixed `BodyInterface::MoveKinematic`, `SetLinearVelocity`, `SetAngularVelocity`, `SetLinearAndAngularVelocity`, `AddLinearVelocity`, `AddLinearAndAngularVelocity`, `SetPositionRotationAndVelocity` and `SetMotionType` when body not added to the physics system yet.
 * Fixed UBSAN false positive error that detected a dirty trick in `SimShapeFilter`.
-* WheelSettingsTV and WheelSettingsWV were not serializing their base class members.
+* `WheelSettingsTV` and `WheelSettingsWV` were not serializing their base class members.
 * The remap tables in `SoftBodySharedSettings::OptimizationResults` mapped from new to old index instead of from old to new as was documented. The maps now behave as documented.
 * Fixed an issue where soft body bend constraints could be created with identical vertices. This led to an assert triggering.
 * Fixed infinite recursion when colliding a `TriangleShape` vs a `TriangleShape`.

Jolt/Physics/Vehicle/VehicleConstraint.cpp

@@ -153,6 +153,10 @@ void VehicleConstraint::OnStep(const PhysicsStepListenerContext &inContext)
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Step only if we're in the broadphase
+	if (!mBody->IsInBroadPhase())
+		return;
+
 	// Callback to higher-level systems. We do it before PreCollide, in case steering changes.
 	if (mPreStepCallback != nullptr)
 		mPreStepCallback(*this, inContext);

Jolt/Physics/Vehicle/VehicleConstraint.h

@@ -183,7 +183,7 @@ public:
 	uint						GetNumStepsBetweenCollisionTestInactive() const { return mNumStepsBetweenCollisionTestInactive; }
 
 	// Generic interface of a constraint
-	virtual bool				IsActive() const override					{ return mIsActive && Constraint::IsActive(); }
+	virtual bool				IsActive() const override					{ return mIsActive && mBody->IsInBroadPhase() && Constraint::IsActive(); }
 	virtual void				NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override { /* Do nothing */ }
 	virtual void				SetupVelocityConstraint(float inDeltaTime) override;
 	virtual void				ResetWarmStart() override;