Here, from 1997, is our Falling Bodies, probably the first system to do good rag-doll physics. All the hard cases work. Enjoy.
http://www.animats.com/topics/videos.html
This is a true spring-damper system, the first one that really worked right. It'snot an impulse-constraint system, so there's no "boink" problem, where all collisions take zero time and heavy objects look light. View the "Mecha Toss" demo. That thing moves like it is big and heavy.