Hello everybody,
I made a prototype/proof of concept for the engine to remove the 3D Physics limitations regarding childing when “allow dynamic transforms” is active( a collision object can only be placed in a root game object or the child of a GO positioned at (0,0,0) and scale (1,1,1)).
With this prototype you can place collision objects in any game object regardless of position/scale/rotation or hierarchy.
This adds some freedom but also some interesting effects: For example in case the parent game object is rotated 180 deg around Z axis (basically upside down) and it has a dynamic child, the child will fall upwards( the movement of the child becomes relative to the parent).
If you want to test it, there are already built executables for Windows and Linux that you can use in your projects.