///////////////////////////////
#include <acknex.h>
#include <default.c>
#include <ackphysx.h>
///////////////////////////////

ENTITY* Kopf;
ENTITY* OberarmR;
ENTITY* UnterarmR;
ENTITY* HandR;
ENTITY* OberarmL;
ENTITY* UnterarmL;
ENTITY* HandL;
ENTITY* Bein1R;
ENTITY* Bein2R;
ENTITY* FussR;
ENTITY* Bein1L;
ENTITY* Bein2L;
ENTITY* FussL;
ENTITY* Body1;
ENTITY* Body2;
ENTITY* Body3;
ENTITY* Hals;
ENTITY* Skelett;
ENTITY* Plane;

function main()
{
	vec_set(screen_size,vector(1200,900,0));
	ENTITY* to;
	var Motion[6];
	video_window(NULL,NULL,0,"PhysX Grundsteuerung");
	physX_open();
	pX_setsteprate(512, 8, NX_TIMESTEP_VARIABLE);
	pX_setccd (1);
	level_load("");
	Motion[0] = NX_D6JOINT_MOTION_LOCKED;
	Motion[1] = NX_D6JOINT_MOTION_LOCKED;
	Motion[2] = NX_D6JOINT_MOTION_LOCKED;
	Motion[3] = NX_D6JOINT_MOTION_LOCKED;
	Motion[4] = NX_D6JOINT_MOTION_FREE;
	Motion[5] = NX_D6JOINT_MOTION_FREE;
	
	wait(5);
	
	Plane = ent_create(NULL, nullvector,NULL);
	Kopf = ent_create("Kopf.mdl",nullvector,NULL);
	OberarmR = ent_create("ArmR1.mdl",nullvector,NULL);
	UnterarmR = ent_create("ArmR2.mdl",nullvector,NULL);
	HandR = ent_create("HandR.mdl",nullvector,NULL);
	OberarmL = ent_create("ArmL1.mdl",nullvector,NULL);
	UnterarmL = ent_create("ArmL2.mdl",nullvector,NULL);
	HandL = ent_create("HandL.mdl",nullvector,NULL);
	Bein1R = ent_create("BeinR1.mdl",nullvector,NULL);
	Bein2R = ent_create("BeinR2.mdl",nullvector,NULL);
	FussR = ent_create("FusR.mdl",nullvector,NULL);
	Bein1L = ent_create("BeinL1.mdl",nullvector,NULL);
	Bein2L = ent_create("BeinL2.mdl",nullvector,NULL);
	FussL = ent_create("FusL.mdl",nullvector,NULL);
	Body1 = ent_create("Body1.mdl",nullvector,NULL);
	Body2 = ent_create("Body2.mdl",nullvector,NULL);
	Body3 = ent_create("Body3.mdl",nullvector,NULL);
	Hals = ent_create("Hals.mdl",nullvector,NULL);
	Skelett = ent_create("Skelett.mdl",vector(0,0,5000),NULL);
	to = ent_create(NULL,nullvector,NULL);
	
	vec_for_bone(Body1.x,Skelett,"Main");
	vec_for_bone(Body2.x,Skelett,"Body");
	vec_for_bone(Body3.x,Skelett,"Body1");
	vec_for_bone(Hals.x,Skelett,"Body2");
	vec_for_bone(Kopf.x,Skelett,"Head");
	vec_for_bone(OberarmR.x,Skelett,"ArmR");
	vec_for_bone(UnterarmR.x,Skelett,"ArmR1");
	vec_for_bone(HandR.x,Skelett,"HandR");
	vec_for_bone(OberarmL.x,Skelett,"ArmL");
	vec_for_bone(UnterarmL.x,Skelett,"ArmL1");
	vec_for_bone(HandL.x,Skelett,"HandL");
	vec_for_bone(Bein1R.x,Skelett,"LegR");
	vec_for_bone(Bein2R.x,Skelett,"LegR1");
	vec_for_bone(FussR.x,Skelett,"FootR");
	vec_for_bone(Bein1L.x,Skelett,"LegL");
	vec_for_bone(Bein2L.x,Skelett,"LegL1");
	vec_for_bone(FussL.x,Skelett,"FootL");
	
	pXent_settype(Plane, PH_STATIC, PH_PLANE);
	pXent_settype(Kopf, PH_RIGID, PH_CONVEX);
	pXent_settype(OberarmR, PH_RIGID, PH_CONVEX);
	pXent_settype(UnterarmR, PH_RIGID, PH_CONVEX);
	pXent_settype(HandR, PH_RIGID, PH_CONVEX);
	pXent_settype(OberarmL, PH_RIGID, PH_CONVEX);
	pXent_settype(UnterarmL, PH_RIGID, PH_CONVEX);
	pXent_settype(HandL, PH_RIGID, PH_CONVEX);
	pXent_settype(Bein1R, PH_RIGID, PH_CONVEX);
	pXent_settype(Bein2R, PH_RIGID, PH_CONVEX);
	pXent_settype(FussR, PH_RIGID, PH_CONVEX);
	pXent_settype(Bein1L, PH_RIGID, PH_CONVEX);
	pXent_settype(Bein2L, PH_RIGID, PH_CONVEX);
	pXent_settype(FussL, PH_RIGID, PH_CONVEX);
	pXent_settype(Body1, PH_RIGID, PH_CONVEX);
	pXent_settype(Body2, PH_RIGID, PH_CONVEX);
	pXent_settype(Body3, PH_RIGID, PH_CONVEX);
	pXent_settype(Hals, PH_RIGID, PH_CONVEX);
	
	pXent_setelasticity(Plane, 0);
	pXent_setelasticity(Kopf, 0);
	pXent_setelasticity(Hals, 0);
	pXent_setelasticity(Body1, 0);
	pXent_setelasticity(Body2, 0);
	pXent_setelasticity(Body3, 0);
	pXent_setelasticity(OberarmR, 0);
	pXent_setelasticity(UnterarmR, 0);
	pXent_setelasticity(HandR, 0);
	pXent_setelasticity(Bein1R, 0);
	pXent_setelasticity(Bein2R, 0);
	pXent_setelasticity(FussR, 0);
	pXent_setelasticity(OberarmL, 0);
	pXent_setelasticity(UnterarmL, 0);
	pXent_setelasticity(HandL, 0);
	pXent_setelasticity(Bein1L, 0);
	pXent_setelasticity(Bein2L, 0);
	pXent_setelasticity(FussL, 0);
		
	pXcon_add(PH_6DJOINT,Body1,Body2,0);
	vec_for_bone(to.x,Skelett,"Body");
	pXcon_setparams1(Body1, to.x,NULL,NULL);
	pXcon_set6djoint(Body1,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Body2,Body3,0);
	vec_for_bone(to.x,Skelett,"Body1");
	pXcon_setparams1(Body2, to.x,NULL,NULL);
	pXcon_set6djoint(Body2,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Body3,Hals,0);
	vec_for_bone(to.x,Skelett,"Body2");
	pXcon_setparams1(Body3, to.x,NULL,NULL);
	pXcon_set6djoint(Body3,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,OberarmR,Body3,0);	
	vec_for_bone(to.x,Skelett,"ArmR");
	pXcon_setparams1(OberarmR, to.x,NULL,NULL);
	pXcon_set6djoint(OberarmR,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,OberarmL,Body3,0);
	vec_for_bone(to.x,Skelett,"ArmL");
	pXcon_setparams1(OberarmL, to.x,NULL,NULL);
	pXcon_set6djoint(OberarmL,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Hals,Kopf,0);
	vec_for_bone(to.x,Skelett,"Head");
	pXcon_setparams1(Hals, to.x,NULL,NULL);
	pXcon_set6djoint(Hals,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,UnterarmR,OberarmR,0);
	vec_for_bone(to.x,Skelett,"ArmR1");
	pXcon_setparams1(UnterarmR, to.x,NULL,NULL);
	pXcon_set6djoint(UnterarmR,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,UnterarmL,OberarmL,0);
	vec_for_bone(to.x,Skelett,"ArmL1");
	pXcon_setparams1(UnterarmL, to.x,NULL,NULL);
	pXcon_set6djoint(UnterarmL,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,HandR,UnterarmR,0);
	vec_for_bone(to.x,Skelett,"HandR");
	pXcon_setparams1(HandR, to.x,NULL,NULL);
	pXcon_set6djoint(HandR,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,HandL,UnterarmL,0);
	vec_for_bone(to.x,Skelett,"HandL");
	pXcon_setparams1(HandL, to.x,NULL,NULL);
	pXcon_set6djoint(HandL,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Bein1R,Body1,0);
	vec_for_bone(to.x,Skelett,"LegR");
	pXcon_setparams1(Bein1R, to.x,NULL,NULL);
	pXcon_set6djoint(Bein1R,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Bein1L,Body1,0);
	vec_for_bone(to.x,Skelett,"LegL");
	pXcon_setparams1(Bein1L, to.x,NULL,NULL);
	pXcon_set6djoint(Bein1L,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Bein2R,Bein1R,0);
	vec_for_bone(to.x,Skelett,"LegR1");
	pXcon_setparams1(Bein2R, to.x,NULL,NULL);
	pXcon_set6djoint(Bein2R,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,Bein2L,Bein1L,0);
	vec_for_bone(to.x,Skelett,"LegL1");
	pXcon_setparams1(Bein2L, to.x,NULL,NULL);	
	pXcon_set6djoint(Bein2L,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,FussR,Bein2R,0);
	vec_for_bone(to.x,Skelett,"FootR");
	pXcon_setparams1(FussR, to.x,NULL,NULL);		
	pXcon_set6djoint(FussR,Motion,NULL);
	
	pXcon_add(PH_6DJOINT,FussL,Bein2L,0);
	vec_for_bone(to.x,Skelett,"FootL");
	pXcon_setparams1(FussL, to.x,NULL,NULL);
	pXcon_set6djoint(FussL,Motion,NULL);

	pXent_setiterations(Kopf, 128);
	pXent_setiterations(Hals, 128);
	pXent_setiterations(Body1, 128);
	pXent_setiterations(Body2, 128);
	pXent_setiterations(Body3, 128);
	pXent_setiterations(OberarmR, 128);
	pXent_setiterations(UnterarmR, 128);
	pXent_setiterations(HandR, 128);
	pXent_setiterations(Bein1R, 128);
	pXent_setiterations(Bein2R, 128);
	pXent_setiterations(FussR, 128);
	pXent_setiterations(OberarmL, 128);
	pXent_setiterations(UnterarmL, 128);
	pXent_setiterations(HandL, 128);
	pXent_setiterations(Bein1L, 128);
	pXent_setiterations(Bein2L, 128);
	pXent_setiterations(FussL, 128);

	vec_set(camera.x,vector(1000,0,0));
	vec_set(camera.pan,vector(180,15,0));
	while(1)
	{
		pX_pick();
		wait(1);
	}
}