Worked on the JoltPhysics repository to enhance simulation stability by addressing a critical bug in the velocity projection path. Focused on C++ development and game physics, the work involved refining the NaN guard logic to prevent overwriting angular velocity for kinematic bodies, thereby improving the accuracy and reliability of velocity solving. The solution targeted the dynamic path while preserving existing behavior for static bodies, aligning the guard logic with established patterns for non-kinematic entities. This approach improved the robustness and maintainability of the physics solver, demonstrating careful debugging and a disciplined approach to code quality without introducing new features during the period.