[ODE] Human ragdoll "twist" problem

[Rafael Horbach]

I'm having some problems with human ragdoll simulation. We used Tokamak 
in the past, but now I'm integrating ODE with our engine. On the past, 
we've used ball joints for the shoulder, but in ODE the ball have no 
constraints (or I'm missing some important here), so I've used universal 
joints for that. It works nicely for some situations, but the missing 
"twist"on the upper arm geometry makes the simulation very unnatural. 
The same problem on the legs. So  I was wondering, how have you guys 
made the setup of the human joints?

I'll now try some different joint settings, maybe with angular motors, 
but advise could help :-)
Thanks

__________________________________________
Rafael Horbach (rafael at southlogic.com)
Southlogic Studios
http://www.southlogic.com