Is it better to use PxArticulation for ragdolls in terms of performance?

[Tooflevor]

Hello!

Let's assume our game includes many ragdolls, potentially up to hundreds of thousands. To make this work at all, the physics for these ragdolls is created and destroyed based on certain game conditions (for example, when players are nearby). Currently, they are implemented using a set of PxRigidDynamic and PxJoint to connect them. When many of these ragdolls are simulated simultaneously, it significantly impacts performance. Thus, I have a few questions:

1. Is it indeed a good idea to create/destroy the physics for ragdolls when they don't need to be simulated? Are there simpler ways to achieve this? For example, something like PxActorFlag::eDISABLE_SIMULATION.
2. Is there merit in transitioning these ragdolls to PxArticulation in terms of performance? Considering that we primarily use PxArticulationJointType::eSPHERICAL joints with two degrees of freedom.