Here’s a 3-minute video demo of my current WIP, called DynamicAnimControl:
It’s intended to replace KinematicRagdollControl.
DynamicAnimControl is included in the open-source Minie library, which is part of my Jme3-utilities project: GitHub - stephengold/jme3-utilities: Reusable code and assets for jMonkeyEngine games (code has New BSD license)
GitHub - stephengold/Minie: Integrate Bullet Physics and V-HACD into jMonkeyEngine projects. (code has New BSD license)
Source for the demo app is at https://github.com/stephengold/jme3-utilities/blob/master/tests/src/main/java/jme3utilities/minie/test/TestDac.java
Minie/TestDac.java at master · stephengold/Minie · GitHub