The sphere joint seems to work best for the rag doll effect, because with the hinge joint when using the set limits command, it seems to break the rag doll when setting the rotation angles. The result is that the character flies off like it has a rocket up its ***.
The terrible thing is that I have come to this by trial and error.
It's interesting that in the end it's a game, but somehow we want this to behave like in the real world. We could say that the asteroid rounds a piece of dark matter and the physics behavior is totally different in the horizon event of a black hole.
Trying with the spherical joints, it is not perfect, but it could survive with this that the player when dying breaks his arms. That is, the angle of rotation will always be at the global level in the joints