[ODE] Ragdoll characters with ODE

[Thomas Grimes]

I was wondering if anyone could either tell me or show me a link that talks 
about how to setup a model, say a model using bones and all that like doom 3 
does for example, using ODE to make this model have ragdoll like physics, as 
seen in doom 3 and HL 2. I was thinking that maybe what you have to do is 
for each limb and torso of the model (assuming it's a person or something 
similar) assign a cyllinder which ODE knows about and assign a sphere where 
the head is and connect all of these together with joints. Is this how this 
is done or is there a better way? Thanks.

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