Very good tutorial with a very simple method. I bet this also works in Poser, since it has the Bullet engine with the same capabilities.

Back in the day, I have created a few stick figure animations using 

Endorphin to generate the character motions, and then animate them Endorphin to generate the character motions, and then animate them 

in Poser. Later on, Poser got it's own ragdoll plugin, so Endorphin in Poser. Later on, Poser got it's own ragdoll plugin, so Endorphin 

was no longer necessary, though like you said, Endorphin provides was no longer necessary, though like you said, Endorphin provides 

much more than just ragdoll physics. much more than just ragdoll physics. 

I used the old Python/ODE poser physics plugin for years even doing 

some commercial animation work.

The big problem with the poser physics plugin was it was all trial and 

error with very few parameters to effect the simulation outcome.

Endorphin has an excellent constraint system for pinning body parts 

during simulation and the ability to mix simulation events with 

imported BVH motion for more complex Character interaction

and adjustable behavioural settings such as Writhe or struggle and 

arms flailing etc .

Here are two more clips 

one showing how well endorphin's constraint system 

can pin a character  for an impalement as well as

the "struggle" parameter.

The other is a complex fight scene where imported motion is mixed 

with collisions dynamics 

RAG DOLL COLLISION ANIMATIONS FOR ICLONE 8 & 7
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Ghost Origins

My latest Feature length film created with Iclone.

My IMDB listing
Anabran Abdhul Quarnain - IMDb