Combine Ragdoll physics with the Animator to generate realistic animation.

Generally, the ragdoll animation is controlled directly but the code to change parameters in the Configurable Joint. But it is quite inconvenient in teamwork, and not straightforward compare to other animations. So, is there any method to combine animation to ragdoll? 

3. For the ragdoll model, we write a script to let its joints copy rotations in corresponding rotations in the animation model.

public class RagdollAnimationSync : MonoBehaviour

{

   [SerializeField] private Transform targetLimb;

   [SerializeField] private bool enableCopy = true;

   private ConfigurableJoint ConfigurableJoint;

   Quaternion targetInitialRotation;

   // Start is called before the first frame update

   void Awake()

   {

       this.ConfigurableJoint = this.GetComponent<ConfigurableJoint>();

       this.targetInitialRotation = this.targetLimb.transform.localRotation;

   }

   private void FixedUpdate() {

       if (!enableCopy)

       {

           return;

       }

// Copy the rotation

       ConfigurableJoint.targetRotation = copyRotation();

   }

   private Quaternion copyRotation() {

       return Quaternion.Inverse(this.targetLimb.localRotation) * this.targetInitialRotation;

   }

}

5. Properly write scripts to control the animator based on the action of the character, here I just simply make the character move and stop.

Note: Do not forget to update the rotation of the Hip to make the character face to correct directions.

public class RagdollMove : MonoBehaviour

{

   #region Attributes

   public float Speed = 10f;

   public Rigidbody Hip;

   public Animator Animator;

   #endregion

   #region Update

   void FixedUpdate()

   {

       Vector3 direction = GetTransformInput();

       if (direction.magnitude >= 0.1f)

       {

           float targetAngle = Mathf.Atan2(direction.z, direction.x) * Mathf.Rad2Deg;

           ChangeRotation(targetAngle);

           Move(direction * Speed);

       }

       else

       {

           StopMove();

       }

   }

   #endregion

   #region Input

   private Vector3 GetTransformInput()

   {

       return new Vector3(Input.GetAxisRaw("Horizontal"), 0, Input.GetAxisRaw("Vertical")).normalized;

   }

   #endregion

   #region Moving

   /// <summary>

   /// To move the character, add force in the hip, and play animation

   /// </summary>

   /// <param name="force"></param>

   private void Move(Vector3 force)

   {

       Hip.AddForce(force);

       Animator.SetBool("IsMove", true);

   }

   private void StopMove()

   {

       Animator.SetBool("IsMove", false);

   }

   /// <summary>

   /// To change the rotation of the character, we modify targetRotation of the Hip

   /// </summary>

   /// <param name="targetAngle"></param>

   private void ChangeRotation(float targetAngle)

   {

       Hip.angularVelocity = Vector3.zero;

       Hip.GetComponent<ConfigurableJoint>().targetRotation = Quaternion.Euler(0f, targetAngle, 0f);

   }

   #endregion

}