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2D muscle joint?

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Hello! I have two RigidBody2D's connected to each other by a HingeJoint2D. I'm looking for a way of connecting one or many "muscles" between them. Like a spring/distance joint that I can contract/expand, and thereby make the two rigidbodies move, like an arm for example. But if I have two of the muscle joints (I've tried with both distance and spring joints), and set the distance, the two muscle joints will fight each other making the rigid bodies swirl around like crazy. Hope you understand what I mean. The best way I can show you what I'm after is this video: https://www.youtube.com/watch?v=pgaEE27nsQw but it's 3D, so I want to mimic muscles like this for 2D rigidbodies. As you can see in the video each rigid body has many muscles connected to them. Looking forward to see what approach you can recommend. :) Thanks in advance!

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