Visit these sites, they might give you a glimpse of what rag-doll physics is:

http://www.ode.org
http://www.newtondynamics.com
http://www.tokamakphysics.com

All those engines can be integrated into Pascal or Delphi quite easily. There is a Delphi VCL for ODE http://www.cambrianlabs.com/Mattias/...DE/Default.asp

I am going to create a simpe mini golf game using one of those physics engine to handle ball's movement and collision.