I cant wrap my head around this... I've got my ragdoll physics working but I can get the character to "attach" to it. My character just starts flailing randomly.

Is there a specific way I need to update the bones? I have it updating hips-chest-head, then arms to hands, legs to feet. I tried figuring out a way to calculate the difference in angles and applying the difference to the bone, didn't work out so well. The examples I have downloaded seem so straight forward but I'm missing the all important fact of what the heck is happening. I'm sure as schnitzel that bone rotations are relative. Does ang_for_bone return a global angle or relative to the entity? I just don't understand how the examples work.

Can somebody please post me a snippet of how to set a models bones to specific rotation? Or even explain the process so I can narrow down what I'm doing wrong?