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Add a way to couple joints as gears #922

@me-it-is

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@me-it-is

Please correct me if im wrong, but ive been trying figure out how to create some kind of gear relationship. And it seems like at the moment the only way to do this is to manually synchronize gears each physics tick, or to use motors to do the same.

If a better way to do this was introduced it would make the setup much easier and likely more stable.

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