[Bug] Rotation or RidigBody2D stutters with Cast Shape enabled

Describe the bug

With Cast Shape on main body disabled - rotation is normal. With Cast Shape and default physics engine - rotation is normal. With Cast Shape on main body and Rapier - it stutters (shown in a video)

To Reproduce

Two RidigBody2D is connected with a PinJoint
Body that have apply_torque() in _integrate_forces() have Cast Shape enabled

2026-05-13.11-55-26.mp4

Environment:

• OS: GNU+Linux
• Version: latest
• Godot Version: v4.6.2
• Type: simd single 2d

Example project(zip)

https://pixeldrain.com/l/A4WriEkv

Github won't upload files (I could upload one video after spamming same file around 100 times, some before creation and some after) so I've attached a link to videos of default engine and rapier with same project and example project in pixeldrain album link (they are available only for 60 days so I'll reupload if needed)

[Ughuuu]

As workaround, use softccd instead of ccd until it's fixed.