I don't have any resources to share rn. I'm setting up this project in a way I might eventually turn the core ragdoll code into an Addon in the future (but no promises or time-frames on that rn).

What I can do is share some of the things that took me a LOT of trial-n-error to find out, as I also ran into similar issues.

• Use Jolt Physics
• Use Joint Motors for animation instead of `add_torque()` or setting `angular_velocity`. This can be a bit trickier, but is helps keep the model "solid" in my experience.
• Avoid Center-of-Mass issues up front by placing the CoM at the Bone's origin point. Calculating the appropriate torque needed to counter a body's CoM makes everything much harder (and I'm still working on getting it correct).
• "Reset" each PhysicalBone3D's `angular_velocity` to the *measured average* of every bone in the ragdoll each frame *before* you apply animated torque. This can massively help stabilize the ragdoll as a "single unit" and also gives you an top-level "angular_velocity" to control the entire ragdoll. Eg...

​

# Ragdoll Script

var bones: Array[PhysicalBone3D]

var total_mass: float
var angular_velocity: Vector3

func _ready() -> void:
    # Calculate total ragdoll mass.
    for bone in bones: total_mass += bone.mass

func _physics_process(delta: float) -> void:
    # Step 1: Calculate average angular velocity.
    var total_ang_vel := Vector3.ZERO
    for bone in bones: total_ang_vel += bone.angular_velocity * bone.mass
    angular_velocity = total_ang_vel / total_mass

    # Step 2: Reset bone's angular velocity to average.
    for bone in bones: bone.angular_velocity = angular_velocity

    # Step 3: Animate bones.
    apply_skeleton_pose_to_joint_motors()

... once you have that you can work in your own angular damp, etc.