• added DamperJoint
• improved implementation of SliderJoint
• improved implementation of TargetPositionMotorSliderJoint
• improved implementation of TargetVelocityMotorSliderJoint
• improved implementation of HingeJoint
• improved implementation of TargetAngleMotorHingeJoint
• improved implementation of TargetVelocityMotorHingeJoint
• use XPBD to implement an implicit spring
• added distance joint for rigid bodies
• small optimizations
• fixed single precision build
• cleanup code
• using GenericParameters
• Crispin Deul added the implementation of his paper Deul, Kugelstadt, Weiler, Bender, "Direct Position-Based Solver for Stiff Rods", Computer Graphics Forum 2018 and a corresponding demo