I updated right now to the latest bullet version to see how the constraint issues behave. In general the simulation is a lot more stable as three versions ago but ragdolls still yield a heck lot of troubles. Now this is also possibly due to the conversions I need to do to match bullet to my system. Yet though one major question stays put in the room:
What is better to use for constraints with 3 limited ( but not locked ) angular constraints? Cone-Twist or 6-Dof?
I didn't find the right solution from the internet.
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