Indeed, you can add a Featherstone articulated body algorithm implementation for such cases, or direct solver with good performance (see Maciej Mizerkski talk

Indeed, you can add a Featherstone articulated body algorithm implementation for such cases, or direct solver with good performance (see Maciej Mizerkski talk on Roblox solver here: https://youtube.com/watch?v=P-WP1yMOkc4 https://youtube.com/watch?v=P-WP1yMOkc4)