But I can't figure how to run the simulation and pause it halfway and sav the ragdoll data.
To pause the simulation, do not call these...
dSpaceCollide(Space,World,ContactGroup)
dWorldQuickStep(World,stepsize)
dJointGroupEmpty(ContactGroup)
...in your main loop.
There seems to be no dGetJointPosition() function.
To get the coords of a Hinge2 joint you would use the dJointGetHingeAnchor2(joint) function. Any ODE function mentioned in the docs that returns a 'dVector3 result' will fill an internal vector in JV-ODE. To use it, first call the get joint function then return the vector values, like so...
dJointGetHingeAnchor2(joint)
xposition#=dVectorX()
yposition#=dVectorY()
zposition#=dVectorZ()
I'm planning to document the vector and non-ODE functions, so hopefully they'll be a lot clearer for everyone ;)