let me ask something. Are you scaling the collision a contraction of articulated bodies?
if you do that and you do not scale the parameters of the joint, then the result will be unpredictable.
The flowing diagram, m explain what I mean
- Untitled.png (7.72 KiB) Viewed 8234 times
basically the pivot for the scale body state I place, b the body change dimension and will behave very differently.
I do no think there is a logical way to that systematically, because scale one body does not change it location, and will no change the location of nearly connected bodies.
If this is what you are trying to do I am afraid you will have to
-destroy the joints,
-scale the bodies
-relocate the bodies to the correct new pivot
-Reconnect then with joints
The engine does not deal with that. To me that's a specific end application need that can be done using the engine tools.