Rag dolls are typically constructed from a number of sphere and capsule rigid bodies connected by hinge and cone-twist constraints/joints. @evandarcy previously linked a project I made ages ago which was an attempt to implement rag dolls:
But frankly I’m not too happy with the implementation. I couldn’t quite figure out why certain joint were not rotating quite as I expected. That’s one of the reasons I started this new project, to resolve all of the issues I had before.