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This might be digging up an old thread, but here's an idea that could be used. You create a few different Newton rigid bodies and attach them with hinges. Then you make them all invisible and create a bone-animated humanoid or whatever. Using bone functions, you move the bones of this model to the same positions as the physics objects. Don't know if this would work but it might.

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This is what I was trying to say originally

Seems good in theory no? Anyone try this?

I had the Idea too...
I think it should work, but the Boneobjekt must be passable