Hi!
How would I do something similar for my 3D model in bEPU? Would I need to break the model up into individual objects, i.e arm/torso/leg etc, and put the joints between them as well?
Basically, yes. In a skinning system, animations move animation bones which move vertices around. Similarly, in a ragdoll, the physics entities move the animation bones which move vertices around, so the work comes in creating well-fitting entities and joints.
It's tricky to procedurally generate a (quality) physical skeleton from a bunch of animation bones, so usually, ragdolls are designed to match a character. There's three main ways to make a ragdoll:
-Create one manually in code, like the ragdoll demo.
-Create a specialized custom 'ragdoll designer' tool that lets you position primitives and joints.
-When making the model, add some extra metadata that defines how to build the primitives and joints for a ragdoll and process them in the content pipeline.
If you don't need a really well fitting or functioning skeleton, it's relatively easy to create the entities based on the bone hierarchy and connect them together in a basic way. You might end up with a really thin torso and fat arms that move awkwardly because the procedural generator put in the wrong kind of joints, though
