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I have two rigid bodies linked together with a constraint. The problem is I need to animate the second rigid body at one point in the simulation. But as soon as I turn on "animate" in the rigid body settings, it seems like the object is no longer reacting to physics.

So my question is this: Is there a way to drive rigid bodies that have constraints with animation keyframes, while they also participate in the physics simulation?

Here's an animated gif to illustrate: constraint stops working

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The animate checkbox itself can have keyframes. You can have it controlled by the animation system at the start, then turn off the Animated checkbox with a keyframe and physics will take over. This is a common technique for launching projectiles.

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