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Rod framework with ball-socket and hinge-joints

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I am working on a rag-doll-esque system where I am trying to simulate physics for a skelatel framework involving ball-socket and hinge joints. Its a little more than just a rag-doll system so I'm not able to use just a rag-doll simulator.

I am doubtful that the physics would look any good if I used an impulse based approach. I think an LCP based approach would be the way to go, but I have never implemented such a system. The need for this system is pretty narrow in scope, and limited to fairly small skelatel frameworks. So I don't know if I should use a full blown physics engine or just some special case code.

Would it be a good idea to try to implement an LCP based method, or would you recommend using some particular physics engine for this application?

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