The tutorial says no CCD for multibody, is there any update on this?

That means if nphysics is used for robot simulation, it may run into some glitches?

There is no update on this yet. What this means is that very fast moving multibodies may miss some collisions. This is called the “tunneling problem” in physics engines. If this happens, this can still be avoided by either reducing the simulation timestep, or reducing the velocity of the multibody.

Thanks for the amazing work!