Hi, I'm currently working on reproducing the physics based one-legged hopper made by Russel Smith (same guy who made the ODE physics engine), you can see some examples here http://q12.org/phd-movies.html , the top three videos.
This hopper consist of a big, wide cylinder (called "body") of mass 6.0 and a thin leg under it which consists of 3 cylinder parts, a total of 1.5 mass - and then a ragdoll-joint/constraint between the bottom of the body and the upper part of the leg. All bodyparts have the motion type MOTION_DYNAMIC, so they are not fixed to the world.
What I want it to do, is to use the ragdoll joint to rotate the leg while the hopper jumps and is in the air, but right now mostly the body is rotated when I want it to be the leg that is rotated. How can I change the relative influence of the ragdoll joint so that mostly the leg is rotated when changing the target relative orientation? Increasing the weight of the body does not seem to help at all.