Somebody on reddit gave me some revolutionary info, that I could pin collisionshapes to my character and use remote transform to make them follow the rigidbodies, which means I will NOT have to code my own physics engine thank the heavens. This information has been incredibly helpful! I already have a character up and moving that can react to the enviroment, and I plan on adding graphics to it soon. However I need to implement:
States to decide when the body leans forward, straigtens up, crouches, etc
IK for the limbs so that they don't just aimlessly flop about
More finite control on the gameplay body
I used a method im calling a "Gameplay Tail" or "Gameplay Body" Where I attach a rigidbody with a shape beneath all the actual bones that will be invisible ingame, this is an easy way to balance the character, and gives me finite control over how they move on terrain, hopefully I can get a demo vid out soon when its done.