[Active Ragdoll] Problem with limb control and jumping

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1

I want to achieve movement similar to games like PEAK, Content Warning, and similar.
The character is assembled on R15 using:

  • BallSocketConstraint - all limbs are connected through hinges
  • SpringConstraint - for elasticity and shock absorption (in the legs)
  • AlignOrientation - for maintaining a vertical position (only on the body and lower legs)
  • LinearVelocity / ApplyImpulse - for moving the body

There are no animations, everything is based on physics.

Problem 1: The legs do not move when walking
When the character moves, the body moves, but the legs remain straight and do not create a walking effect.
It is necessary to somehow make them move along a specified trajectory, and to make the leg movement different when running and walking
How to properly implement procedural walking in an active ragdoll (preferably without using Motor6?)

Problem 2: How to implement a first-person view, so that it is possible to clearly adjust the location and movement of the camera

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2

yo i made a resource for seamless active ragdolls.
It is made for r6 but you can modify it for r15.

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