This is without doubt the most fiddly bloody thing I've ever tried to do, but we are making some slow progress. Generating a rag doll from the mesh skeleton.
I do not understand the transforms I have to pass to Bullet when creating the constraints. They make absolutely no sense to me, so I'm reduced to just fiddling around, trying random values until I get what I want.
I'm drawing the feet just to ensure that the leg bones are facing the right way, since shapes tend to spin wildly if you get any of these values wrong, Its a nightmare. I need to start looking around for some more information on what is actually going on here, because guesswork is making this very problematic.
I have absolutely no idea how I'm going to generate a skeletal pose from this thing either once the arms are working too. Its all feeling like an impossible task at the moment that I regret ever starting, because this project is now going nowhere unless I succeed at this.
My current situation. Hell.