Desert Strike Remake WIP 8

I have spent some time implementing the articulated rigid body dynamics (used for now only for the ragdoll effect). This was quite a tough one for me. I have already tried my hand at it few years earlier, but failed miserably. This time I have grasped the problem a little different and I was able to get some plausible results despite the fact that only unlimited ball joints are implemented. This was used for the rather iconinc aspect of the original game - little men falling down from mountains and towers. If it looks fine or not, you be the judge.