This is my third prototype of the Dejeweled physics engine. Now the engine supports rod, pin, and door constraints, in two flavors: rigid and springy. And believe me, those springy door constraints weren't easy to make. :p
This ragdoll is just like the one from Engine Prototype 02, with a staff instead of a sword. The new door constraints let the ragdoll hold the staff at a certain angle, instead of just spinning freely.
Click the window to start. Then use the arrow keys to move the stick figure around.
left - rotate left
right - rotate right
up - raise arms
down - spread legs
For slow motion, hold down the space bar. Click the meters to adjust the physics settings.
Let me know if you find anything interesting. ;)