Hi all,
In the linked thread I started looking at the lite-c version of Helghast's code to do a clean and functional convert.
But thats too much work for me, sorry.
But there IS the fexed lite-c version of ragdoll.c source code on the below-linked thread HERE.

Thanks Helghast, you code has given me ideas to use to create my own rag-doll system,
but most importantly, it taught me how to use physics constraints, which
were beyond me before!!