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Added function PhysicsVelocity.ApplyAngularImpulseWorldSpace for applying angular impulse in world space
Changed
New ConfigurableJoint baking code that is capable of converting motors about all axes, not just X
ConfigurableJoint baking won't create empty UnityJoint (with no constraints) for unlocked linear and angular degrees of freedom
Fixed
The Enable Integrity Checks setting in the Project Settings under Physics -> Unity Physics now correctly reflects whether the integrity checks are enabled or disabled. Previously, the setting indicated the opposite.