Advice on best way to do simple ragdoll on a real Mixamo skeleton

[Snouf-ID]

Hello,
First of all, thank you for this amazing library.

I'm trying to make a ragdoll the right way.
I was previously using NVIDIA PhysX. My approach was very simple:

• I created one RigidActor (rigid body) per bone.
• Placed at the exact position + rotation of the GLTF/Mixamo bone (joint).
• Used a RotatedTranslatedShape on the capsule so it was centered in the middle of the arm/leg segment
• Direct copy: body->getGlobalPose() → set to my visual Vulkan nodes. No mapping needed.

Now I'm switching to Jolt and I'm already excited about the power of Skeleton + Ragdoll + SkeletonMapper. It seems perfect for mixing animation and ragdoll, filling in bones without RigidBody, handling parent/child collisions, etc.
My goal is very simple to start: a character that plays normal animation (graphics only) most of the time, and when hit (gameplay event), it falls into a full ragdoll (start of physic simulation for this character).

From what I've understood so far, the recommended way is:

Keep my full Mixamo skeleton (high-detail, ~60 bones) for rendering and animation. (in a JPH::Skeleton)
Create a much smaller JPH::Skeleton + RagdollSettings (low-detail, ~15-20 joints: hips, spine1-2, head, upper/lower arms, upper/lower legs, etc.).
In the ragdoll, the RigidBodies + capsules are centered in the middle of the segments (not at the joints).
Create two SkeletonPose:

• One for the full Mixamo skeleton.
• One for the ragdoll skeleton.

Init this two with Sample func (This is the moment where I need to sample the default/bind poses to set up the skeletons so the mapper works afterward. Since I don't have any .tof files, I probably need to create keyframes and push them into the AnimatedJointVector of SkeletalAnimation?)
I checked the JPH::RagdollSettings* sCreate function and it doesn't seem to initialize the skeleton pose properly. I need to figure out how to sample or init it without a .tof file.
Actually, I don't really understand the relationship between the ragdoll skeleton's positions and the RagdollSettings::Part.

Use SkeletonMapper + MapReverse (to drive the ragdoll from first pos to start death) and Map (to get the physical pose back to the visual skeleton).

So basically, I use MapReverse only once, at the moment of death, to set up my ragdoll pose from the current animation. Then, every frame, I just retrieve the physical pose with Map (directly) after PhysicsSystem::Update(), and apply it to my Vulkan visual nodes, without even calling CalculateJointMatrices() again.

Is this the correct/recommended approach for this use-case?

What I'm not sure about either is whether the constraint positions (mPosition1 / mPosition2) need to exactly match the GLTF node positions (e.g. top of the arm / shoulder joint), or if the SkeletonMapper with LockAllTranslations can handle a small offset here without visually breaking the character (shoulders detaching, weird stretching, etc.).

Thank you :)

[Snouf-ID]

Concretely, I don't understand this part:

"inNeutralPose1 and inNeutralPose2 must match as closely as possible, preferably the position of the mappable joints should be identical."

For me, the positions in the ragdoll skeleton are the positions of the RagdollSettings::Part (RigidBodies/CapsuleShapes), like in the RagdollSettings *RagdollLoader::sCreate() function.

And so that doesn't match my GLTF, where the joints are at the top of the arms (upperarm in the photo) for example, and not in the center (between lowerarm_r and upperarm_r, like the capsule in sCreate).

[jrouwe]

I think the simplest way to make it work is (and from the top of my head, so I may have made a mistake):

• Create your animation skeleton as you like it (e.g. image above).
• Exports its structure and 'neutral pose' in a format of your own liking.
• Create a Skeleton object from code similar to how it is done here.
• Create an array of Mat44 of size 'number of joints' and initialize it with the model space transforms of the neutral pose of your skeleton.
• Don't bother using the SkeletalAnimation class, everything can be done by using an array of Mat44, which is probably more compatible with your own engine code.
• Go back to your animation rig and create a physics version of it by deleting all joints that will not have a physics body attached.
• The position of the joints that you keep should match those of your original skeleton.
• The directions of the joints will change so that the local X axis points towards the new child. Note that you have freedom in orienting the joints to achieve the rotation limits that you desire. Because the joint limits must be symmetrical in some axis, you can make them asymmetric by rotating the joints of the physics skeleton.
• Note that we do not hand author the physics version of the skeleton. We generate it automatically based on which joints have a body and only allow the user to manipulate the rotation of the limits.
• Now you have a 'neutral pose' for your physics skeleton. Generate another array of Mat44 to represent this pose.
• Generate a physics Skeleton for this from code in the same way as before.
• Create your Shapes and align them using RotatedTranslatedShape so that a body placed on the neutral pose of the skeleton is correctly aligned with the limb you want to attach it to. This means it is centered on the skeleton joint and NOT to the middle of the joint (the example above does use the middle of the joint because it doesn't use RotatedTranslatedShapes, that's also an option).
• Now create 1 RagdollSettings::Part per joint (= 1 per body) and create the ConstraintSettings object.
• Assuming you're going to use SwingTwistConstraintSettings, set mPosition1 = mPosition2 = joint position in its neutral pose in model space.
• Set mPosition and mRotation of the part to match your physics joint neutral pose in model space.
• Note that in the constraint settings you have the ability to change the orientation of the joint by overriding mTwistAxis1 etc. But if you oriented the physics skeleton then this should not be needed.
• Now you can initialize the RagdollMapper with the animation Skeleton its array of Mat44 neutral pose, the physics Skeleton and its array of Mat44 neutral pose.
• From here you can follow the example on how to use the mapper.

Note that there are variations possible on this because transforms can be stored in several places (I've hinted at some of them).