This is exactly the kind of tools that help users.
Thank you for sharing your work with us. I hope you continue this project until you have the most complete (and helpful) tool that you can build.
I am familiar with Newton, but not in the joints department (yet). I know I will eventually need to go more and more into joints, but right now I've only used "NDB_NewtonConstraintCreateUpVector" sparingly in places where I've needed it. Since you're so far ahead in working with joints, can I ask: On a ball joint, can you set constraints for all 3 axes? As in the example of the joint at your shoulder. It can rotate on all 3 axes, but some more than others, and limited (contrained) depending on the other axes. Or is that what rag dolls are for, because it's too complicated to set up these joints?
In any case, I hope you continue to develop this tool to its fullest functionality...thanks again.
http://www.geocities.com/crmnlelmnt/