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!!! THIS DOESN'T INVOLVE THE NEW QUATERNION JOINTS!!! For context, I made a pull request to Godot 3.x's Repo earlier this month: https://github.com/godotengine/godot/... In short I contributed quaternion based 6DOF spring joints to the game engine. It helps in animating ragdolls, BUT this video doesn't involve using the new (pending) feature so don't be mislead. I found it hard animating this using only the new feature. I decided to sit down and watch this: GDC Physics Animation in Uncharted 4 : https://youtu.be/7S-\_vuoKgR4 what I learned was that they animated their ragdolls either using motors (in our case the new quaternion spring feature) or "keyframes": basically overiding the rigidbody's velocity. What you see here is me overriding the rigidbodies (arms) angular velocity while being connected to joints. I know... TABOO... but... it works... for now... I think... I'm still figuring out how to do this safely using the "Custom Integrator" function remotely from another node.
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JoltPhysics
A multi core friendly rigid body physics and collision detection library, written in C++, suitable for games and VR applications.
Have you seen JoltPhysics? It also has a lot of physics based contraints which could be interesting for this purpose.
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InfluxDB
Access the most powerful time series database as a service. Ingest, store, & analyze all types of time series data in a fully-managed, purpose-built database. Keep data forever with low-cost storage and superior data compression.
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There is also a discussion page on Github to look into Jolt for Godot, if you would want to share your opinion there.
