Oh and I think the feet get pinned to the ground upon impact by having a joint turned on that's connected to nothing (so it's immovable)
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Perfect, that helps a ton. Thanks so much!
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It took a lot of tweaking and trial and error to get right. I'd have to look into the code to remind myself but I think it was a combination
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Of various things including adding an upward force to her head (so she stays upright), quickly ramping up the joint stiffness,
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Reducing the joint constraint angle, messing with gravity per limb, making sure each limb's mass felt right, etc
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