Hey, do you have a community repo for contribution. I have some ideas to improve this. You can see the things that were bugging me below. Basically I want to code a point to line projection, so the crankshaft rope always to be constrained to the crank's lowest point being the piston's mass center projected plus the crankshaft width in the same direction.

https://www.youtube.com/watch?v=EARA0Dy_HwQ