Thanks Paolo,
I am already removing the joints first, but removing the RBs straight after rather than waiting for a while, but I've set it to remove the geoms a little bit before the ragdoll is deleted, thus removing any collisions from all the RBs. This seems to be working OK at the moment.
Edit : I've just tried your method of removing the joints first, leaving the RBs alive for 1 timestep, and that seems to work also (so far), and is neater than removing the Rbs (which was leading to some dodgy spinning limbs) so I'll leave it that way for the moment.
I am already removing the joints first, but removing the RBs straight after rather than waiting for a while, but I've set it to remove the geoms a little bit before the ragdoll is deleted, thus removing any collisions from all the RBs. This seems to be working OK at the moment.
Edit : I've just tried your method of removing the joints first, leaving the RBs alive for 1 timestep, and that seems to work also (so far), and is neater than removing the Rbs (which was leading to some dodgy spinning limbs) so I'll leave it that way for the moment.