What always bugs me about ragdolls is that they don't seem to lie entirely still, they keep on moving a little... that's not to bad in this demo though, nice coding!
Every Valve (Designers of Half-Life2,Left-4-Dead) game I've played using ragdoll has the same issue. I've even seen models spin in solid brushes after dieing, quite commical actually. This ragdoll physics code is very close in comparison to Valve's. Nice work, immpressive stuff. I'll be using this code in my zombie shooter for sure. Mirror: http://fleshhead.com/mirrors/Ragdoll_A7_src.rar
