[ODE] Proper ragdoll disabling - what should be checked beforedisabling the "island"?

[Erin Catto]

To get a good result you have to use island sleep management. Otherwise
you'll get limbs that drift away from their sleeping mates. Imagine a lower
arm and torso that fall asleep. The upper arm has to wiggle around trying to
satisfy the two constraints with no compromise given by the adjoining
bodies.

The trick to making ragdolls less wiggly is to bloat the rotational inertia
by some fudge factor. Also, use capsules so the limbs don't get snagged in
weird ways.

Erin