Contact/friction fidelity for contact-rich RL (legged locomotion): policies exploit foot-contact artifacts

World/Local mismatch in documentation/behavior of shape casts.

`_max_dist` parameter of rapier2d `QueryPipeline::project_point` is unused

Error: Island should be awake, after migrating to 0.32

Failing assertion within the velocity solver

lets get gravity under controll

point gravity

Non-determinism in BroadPhase when restoring from serialized snapshot

Panic when removing rigid body in a multi body

Add support for a spring and a joint on the same axis for godot impl.