Featherstone articulated solver

[Vricken]

I'm trying to make a game which has lots of constraints but staking them and having unbalanced masses always results in floppy constraints. Even with all the tricks in the book like faking mass ratios this is still a problem I can't escape.
Other physics engines such as bullet and physx use Featherstone's articulated solver, which has uses reduced coordinate spaces to make it impossible for constraints to move outside their "limits" making "floppiness" mathematically 0.
I do not have the skill to implement this myself but it would be a dream to see something like this implemented.

[jrouwe]

I've created a Featherstone solver in the past as an experiment, but I'm currently not planning on adding one to Jolt.