I am working on a ragdoll animation as part of a new game. Some of it was quite easy, I have a bunch of sticks connecting particles with rigid joints. No problem there. I can also collide the particles against a polygon. But I also need to collide the sticks against the polygon, and this is more complicated.

What strategy would you use for that problem? (I mean, except for using Newton or Chipmunk Physics.) I have a decent line-to-polygon test, but it is hard to avoid numerical problems, roundoff problems and violent jerks in the motion. My current approach is to push the stick if there are TWO intersections.

Any ideas? What strategy would you suggest?