Sooo im making a rig right here and i want it to stand up while being in a ragdoll mode, and ive taken a look in some posts and they told me to use the ball socket contraint thing, and it did ragdoll! But even when collisions are on, the limbs keep colliding through the floor, and i want them to collide normally.
So this is the children of the limbs of the rig.
And this is the rig. (The grey block is the root)