Predictive Joint Limits

Box2D has support for continuous collision. This solves the problem of fast moving objects passing through each other due to discrete time steps. The Box2D continuous collision algorithm uses a time of impact (TOI) collision algorithm along with time sub-stepping for the response.
There are other artifacts due to discrete time steps. Joint limits can also suffer from fast movement. For example, consider a filing cabinet where the drawers use prismatic (slider) joints.