Ragdoll Dynamics Fix

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The Rigidbody is not kinematic anymore. Otherwise the limbs will collide with each other, because the Rigidbody is kinematic and the limbs are dynamic objects. If you want the limbs to move in the same direction as the Rigidbody but not collide, add this line to the RigidbodyCollider script:

Now that you have a stable ragdoll and no limbs are getting crushed, you can add joint limits to the ragdoll's joints. Your goal is to set the ragdoll so that it behaves like a real person. Therefore, the joints should be as wide as the human joints, and the joints should be as close to each other as possible.

This chapter starts with a jaw. To have a mouth open and close when the ragdoll is talking, you need two joint limit ranges and a joint limit angle. This is the same as for the shoulder. But the elbow is a bit special, because the elbow is connected to the shoulder via a single bone.

This is the ragdoll's limit angle. The RigidbodyCollider script will check if the limb is too close to this limit angle and will add a torque to the limb, if necessary. Here you can set a limit angle to prevent collisions. When the limit angle is set to 90 and the limb is too close to the limit, the torque of the RigidbodyCollider script is set to a negative torque, and the limb is rotated. This will cause a rotation of the limb until it is in the right position. But the value is not locked.

The ragdoll rig has pre-defined constraints which are designed to provide a stable and realistic ragdoll animation. The simplest constraint is the WeightBone, which attaches a given bone to a body. To add weight, we set some mass for the bone and add mass bones to the body. The mass bone will get the name of the body it belongs to and the bone will get the name of the weight bone. This is the most commonly used constraint.

The second constraint type is the PhysicalBone. This constraint attaches a bone to a body, but uses physical collision shapes. This is the ragdoll version of the Joint constraint. The collision shape helps to imitate more complex joints in the rig. The shapes are joint specific and behave like joints, they can be rotated and scaled, and they are connected to rigidbodies by only one pin. PhysicalBone can be connected to multiple bodies.

Now add a new joint to the right ankle. Select the new joint and the body. Then add a new Local Inverse Kinematics constraint to the new joint. Choose the constraints. The selected body should now have new properties, namely the ankle height, the ankle rotation, and the ankle rotation angle. Now you can add a new body to the ragdoll.

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