BEPUphysics

Thanks for the quick answer, but I think I fixed it now.

Don't know what the problem was though, I basically copied the whole structure of the BEPUphysicsDemos and added my game as a Demo

When I change the goal of a servo in SingleEntityAngularMotor I get OutOfMemoryException after a while. I have 50 ragdolls and a SingleEntityAngularMotor attached to each limb in every Update() I change the goal of each SingleEntityAngularMotor, and when I comment out that line that changes the serv...

Depending on the type of joint, you can look into the AngularMotor, RevoluteMotor, and TwistMotor. The AngularMotor is a 3DOF motor that controls relative orientation, the RevoluteMotor can power an axis or hinge (1DOF), and the TwistMotor can be thought of as powering a universal joint (1DOF also)...

I would recommend watching the result of the torque calculation and doing sanity checks on it. The instability in this sort of simulation might be noticeable (wobbly, like the dynamo videos), but it shouldn't compound itself into oblivion and NaN's. My first guess would be the orientation-to-torque...