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From what I have gathered over the years from various discussions is that ODE is a bit easier to integrate initially, but bullet works better once you have it running.
If you just want ragdolls, a full physics simulation is overkill by the way. The Sauerbraten game includes a simplified ragdoll simulation code that works great and is very fast.
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Thanks for your reply, I'll take a look at the Sauerbraten code, I hadn't realised that there were any open-source games with rag-dolls yet.
I'll explore ODE a bit more too, I am interested in the full physics.
Or I might write my own code from scratch, I found a good book
"Game Physics Engine Development How to Build a Robust Commercial-grade Physics Engine for Your Game"
by
Ian Millington
that includes a bare source code to build upon.
I'll update if I make any serious progress!
Thanks again,
Nat