Hi Konstantin,

If I'm understanding you correctly, there isn't a built-in way in Havok to accomplish what you want. One common way of achieving something similar is by having a ragdoll powered by an animation. Given the constraints on the ragdoll, it won't always be able to match the ragdoll perfectly with the animation, so you can then use the delta between the animation and ragdoll to determine the 'critical point' like you described. In the demos, take a look at Animation -> Api -> Ragdoll -> Blend Test -> B 6 Keyframe fixed (HAVOK_SDK_ROOT\Demo\Demos\Animation\Api\Ragdoll\BlendTest\BlendTestDemo.cpp). One nice side-effect of this method is that your character would then be able to interact with other physics objects in the world.

Here is an overview of how it would work:

1. Map the high res skeleton (the animated skeleton) to the low res ragdoll skeleton
2. Create an array of the low res bones and convert them to local space
3. Pass that array of bones to the driveToPose static function of either hkaRagdollPoweredConstraintController or hkaRagdollPoweredChainController (read the docs on the differences between the two)
4. Keyframe the root bone (we want to be sure this always matches the animation)
5. Step physics
6. Take the new ragdoll bones and map them to the high res skeleton (this is what you'll use to actually skin/render your model)

But again, Havok doesn't have a built-in way to procedurally generate animations for moving a character. You usually can't escape entirely from the use of user-generated animations or mocap data, so you'll most likely want to use a system like Havok Behavior which gives you the ability to create complex state machines for blending animations together based on either AI or user input.

Hope that helps!

--Joel