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Can I add lets say a small box shapes to each bone in the skeleton? That way it is still using a built in physics shape, but more accurate? Kind of like the ragdoll physics in Urho3D game engine?

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The problem is that Bullet doesn’t like it when positions or velocities of RigidBodys are modified by other processes as this messes up the simulation, yet that is exactly what a skeletal animation does. Therefore one should think in terms of, what I would call, an overlay, and not direct attachment.

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