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Anyone familliar with active ragdolls,Gang Beasts style?

Hey guys,im prototyping an active ragdoll game ,managed to do some stuff, but I cant seem to figure out how to make the character grab ledges and etc.Any tips would be massively appreciated!Thanks!

Not sure if this will be helpful but it might point you in the right direction … Ledge Climbing System guide - Work in Progress - Unreal Engine Forums

Thanks for the reply,but i have no animations , im controlling the character with torque and force.By ledge grabbing i meant something like this.Gang Beasts Debug Gameplay - YouTube

found any good resouce or tutorial ?