I can't seem to find any info on connected rigid bodies by a joint. Can someone explain the basics to me? I'm trying to do a little research to find out how feasible it would be to implement 3d ragdoll physics for my first person shooter game.
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This article actually contains everything you need to know about programming cool ragdoll physics engine. Code samples included!
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A rag-doll is mostly connected with ball joints, which constrain the position of one point of the rigid body, and allow all three degrees of freedom. There are no easy answers, although the equations needed can be found in college level dynamics book.
Here is a reference that explains the science of rigid bodies.