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Multibody joints doc wip#132

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Vrixyz wants to merge 3 commits intodimforge:masterdimforge/rapier.rs:masterfrom Vrixyz:multibody_jointsVrixyz/rapier.rs:multibody_jointsCopy head branch name to clipboard

+170-113

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Commits on Jan 24, 2025

• multibody joints doc wip

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Commits on Jan 31, 2025

• add loop_closing_joint.svg

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• remove helical joint mention

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