Ragdoll

joint:

// Connect upper arm to shoulder
auto shoulderJoint = Physics::Component::PointConstraint::Create(
    torso,
    upperArm,
    glm::vec3(0.5f, 1.0f, 0),   // Shoulder position on torso
    glm::vec3(-0.2f, 0, 0),     // Top of upper arm
    Physics::Component::ConstraintSettings::Soft(0.8f, 0.2f)
);