Rotating kinematic collider jitters when rotation approaches zero

[irate-devil]

In the following example the platform jitters whenever it gets close to being horizontal, usually giving the boxes a bump and sometimes causing them to explode.

The platform's jitter is quite visible when you look at the corners.

This appears to only affect bevy_xpbd_2d.

use bevy::prelude::*;
use bevy_xpbd_2d::{math::*, prelude::*};

fn main() {
    App::new()
        .insert_resource(Gravity(Vector::NEG_Y * 1000.0))
        .add_plugins((
            DefaultPlugins,
            PhysicsPlugins::default(),
            PhysicsDebugPlugin::default(),
        ))
        .add_systems(Startup, setup)
        .add_systems(Update, rotate_platform)
        .run();
}

#[derive(Component)]
struct Platform;

fn rotate_platform(mut platform: Query<&mut Transform, With<Platform>>, time: Res<Time>) {
    for mut transform in &mut platform {
        transform.rotation = Quat::from_rotation_z(time.elapsed_seconds().cos() * 0.1);
    }
}

fn setup(mut commands: Commands) {
    // Platform
    commands.spawn((
        Platform,
        TransformBundle::from(Transform::from_xyz(0., -320., 0.)),
        RigidBody::Kinematic,
        Collider::cuboid(800., 40.),
    ));

    // Boxes
    for x in -3..4 {
        for y in -2..4 {
            commands.spawn((
                TransformBundle::from(Transform::from_xyz(x as f32 * 101., y as f32 * 101., 0.)),
                RigidBody::Dynamic,
                Collider::cuboid(100., 100.),
            ));
        }
    }

    commands.spawn(Camera2dBundle::default());
}