Bullet has an implementation of the Featherstone algorithm to solve constraints for articulated bodies. (see Featherston/Multibody in the bullet code). Articulations are used to solve chains of rigid bodies linked by joints. The joints are much more stable for either multiple links or links with large differences in mass (> 10x). Good for robots, humanoid figures under physics control, tails, spines, etc.
Has anyone implemented this in Godot. It's missing from both Unity and Unreal.
I am interested in working on this - let me know if:
- it's already done (I'm new to Godot)
- something you think is needed
- want to work on it too.
