// A7 physics initialization
	fps_max = 60;
	fps_min = 30;
	
	ph_iterations = 20; // set itterating physics to smooth out.
	ph_setgravity(vector(0, 0, -668)); // set gravity
	ph_setcorrections(9000, 0); // set physics corrections
	ph_setcollisions(1000, 20);

// A8 physics initialization for CCD
	physX_open();
	pX_setgravity(vector(0, 0, -9.81)); // set gravity
	pX_setccd(1);

// A7 physics object initialization
	set(entityMe, PASSABLE);
	phent_settype(entityMe, PH_RIGID, PH_BOX);
	phent_setmass(entityMe, mass, PH_BOX);
	phent_setfriction(entityMe, 15);
	phent_setdamping(entityMe, 35, 35);
	phent_setelasticity(entityMe, 35, 30); // bounciness
	reset(entityMe, PASSABLE);

// A8 physics object initialization with CCD
	pXent_settype(entityMe, PH_RIGID, PH_BOX);
	pXent_setccdskeleton(entityMe, nullvector, 1);

// A7 hinge initialization
	var tempHinge;
	// make constraint
	tempHinge = phcon_add(PH_HINGE, constr_1, constr_2); // attach to bodypart
	phcon_setparams1(tempHinge, constr_1.x, RD_Hinge1, nullvector); // set hinge limits
	phcon_setparams2(tempHinge, RD_Hinge2, nullvector, nullvector);

// A8 hinge initialization
	// make constraint
	pXcon_add(PH_HINGE, constr_1, constr_2, 0); // attach to bodypart
	pXcon_setparams1(constr_1, constr_1.x, RD_Hinge1, NULL); // set hinge limits
	pXcon_setparams2(constr_1, RD_Hinge2, NULL, NULL); // same

// A7
	pXent_enable(limb, 0);
	vec_for_bone(limb.x, actor, boneBlend); // place at right position
	ang_for_bone(limb.pan, actor, boneBlend); // rotate by right angle
	pXent_enable(limb, 1);

// A8
	vec_for_bone(limb.x, actor, boneBlend); // place at right position
	ang_for_bone(limb.pan, actor, boneBlend); // rotate by right angle

RD_blendPose(Pelvis, you, "Bip01");
RD_blendPose(L_leg_up, you, "Bip01_L_Thigh");
RD_blendPose(L_leg_down, you, "Bip01_L_Calf");
RD_blendPose(R_leg_up, you, "Bip01_R_Thigh");
RD_blendPose(R_leg_down, you, "Bip01_R_Calf");
RD_blendPose(Stomach, you, "Bip01_Spine2"); //Bip01_Spine1
RD_blendPose(Torso, you, "Bip01_Spine3");
RD_blendPose(L_arm_up, you, "Bip01_L_UpperArm");
RD_blendPose(L_arm_down, you, "Bip01_L_Forearm");
RD_blendPose(R_arm_up, you, "Bip01_R_UpperArm");
RD_blendPose(R_arm_down, you, "Bip01_R_Forearm");
RD_blendPose(Head, you, "Bip01_Head");

while(you) {
// set pelvis to right position
vec_set(you.x, my.x);
vec_set(you.pan, my.pan);

// update all physics (limb) parts
RD_updateBoneHinge(L_leg_up, "Bip01_L_Thigh", you);
RD_updateBoneHinge(L_leg_down, "Bip01_L_Calf", you);
RD_updateBoneHinge(R_leg_up, "Bip01_R_Thigh", you);
RD_updateBoneHinge(R_leg_down, "Bip01_R_Calf", you);
RD_updateBoneHinge(Stomach, "Bip01_Spine2", you);
RD_updateBoneHinge(Torso, "Bip01_Spine3", you);
RD_updateBoneHinge(L_arm_up, "Bip01_L_UpperArm", you);
RD_updateBoneHinge(L_arm_down, "Bip01_L_Forearm", you);
RD_updateBoneHinge(R_arm_up, "Bip01_R_UpperArm", you); 
RD_updateBoneHinge(R_arm_down, "Bip01_R_Forearm", you);
RD_updateBoneHinge(Head, "Bip01_Head", you);

wait(1);
}