'Joints must be inserted into a ImpulseJointSet'?

[gsteinLTU]

Please correct me if I'm misunderstanding, but this seems to ignore the existence of Multibody joints:

rapier.rs/docs/user_guides/templates/joints.mdx

Lines 44 to 45 in 7307c90

	Currently, Rapier supports **fixed**, **spherical**, **prismatic**, and **revolute** joints. Joints must be inserted into a
	`ImpulseJointSet`. Each joint is attached to two distinct rigid-bodies identified by they rigid-body handles.

This other page referencing ImpulseJointSet as the only joint set may also need a change to include Multibody joints:

rapier.rs/docs/user_guides/templates/simulation_structures.mdx

Lines 132 to 138 in 7307c90

	## Joint set
	The `ImpulseJointSet` contains all the **impulse-based joints** that needs to be simulated. This set is represented as a
	generational-arena, i.e., a vector where each element is indexed using a __handle__ that combines
	an `u32` index and an `u32` generation number. This ensures that every joint is
	given a unique handle.
	Learn more about joints in [the dedicated page](joints).