Weld now uses current state for jacobian. Bit of a tradeoff- more accurate behavior, but lever arms are now state-defined and can explode more easily if the solver isn't given enough time.
Weld now uses current state for jacobian. Bit of a tradeoff- more accurate behavior, but lever arms are now state-defined and can explode more easily if the solver isn't given enough time.

bepu/bepuphysics2,bepu/bepuphysics2