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Here's a screen shot of what I've just been working on. Now the ragdoll has a sword! Fun. The real point, though, is that the sword is connected to the ragdoll with a pin constraint. Notice how the ragdoll grabs the sword not at the very end, but part of the way up the hilt. That's because of pin constraints. Nifty!
It's a small update, but I could go ahead and release a new engine prototype with this sword-wielding ragdoll. Would you like that?
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