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global objMODEL        as byte = 100

`Below will be used to represent objects for rigid bodies
global objBODY01       as byte = 101
global objBIP01        as byte = 103
global objPELVIS       as byte = 104
global objSPINE        as byte = 105
global objRTHIGH       as byte = 106
global objRCALF        as byte = 107
global objRFOOT        as byte = 108
global objRTOE0        as byte = 109
global objLTHIGH       as byte = 114
global objLCALF        as byte = 115
global objLFOOT        as byte = 116
global objLTOE0        as byte = 117
global objSPINE1       as byte = 122
global objSPINE2       as byte = 123
global objNECK         as byte = 124
global objRCLAV        as byte = 125
global objRUPPERARM    as byte = 126
global objRFOREARM     as byte = 127
global objRHAND        as byte = 128
global objRFINGER0     as byte = 129
global objLCLAV        as byte = 135
global objLUPPERARM    as byte = 136
global objLFOREARM     as byte = 137
global objLHAND        as byte = 138
global objLFINGER0     as byte = 141
global objHEAD         as byte = 147

`Actual Indices for the limbs from the model that will be loaded
global limbBODY01       as byte = 1
global limbBIP01        as byte = 3    `This is the start of the skeleton
global limbPELVIS       as byte = 4
global limbSPINE        as byte = 5
global limbRTHIGH       as byte = 6
global limbRCALF        as byte = 7
global limbRFOOT        as byte = 8
global limbRTOE0        as byte = 9
global limbLTHIGH       as byte = 14
global limbLCALF        as byte = 15
global limbLFOOT        as byte = 16
global limbLTOE0        as byte = 17
global limbSPINE1       as byte = 22
global limbSPINE2       as byte = 23
global limbNECK         as byte = 24
global limbRCLAV        as byte = 25
global limbRUPPERARM    as byte = 26
global limbRFOREARM     as byte = 27
global limbRHAND        as byte = 28
global limbRFINGER0     as byte = 29
global limbLCLAV        as byte = 35
global limbLUPPERARM    as byte = 36
global limbLFOREARM     as byte = 37
global limbLHAND        as byte = 38
global limbLFINGER0     as byte = 41
global limbHEAD         as byte = 47


load object "models\aiko\aiko.x",objMODEL
perform checklist for object limbs objMODEL
numLimbs=checklist quantity()

phy start

for limb = 1 to numLimbs - 1
   s$ = limb name$(objMODEL, limb)
   if s$ <> "FIRESPOT" AND s$ <> "$NoName$"

      `build the physic objects that will be used in ragdoll
      make object cube 100+limb, 3
      position object 100+limb, limb position x(objMODEL, limb),limb position y(objMODEL, limb),limb position z(objMODEL, limb)

     ` Rotate each object to limb direction
      xrotate object 100+limb, limb direction x(objMODEL, limb)
      yrotate object 100+limb, limb direction y(objMODEL, limb)
      zrotate object 100+limb, limb direction z(objMODEL, limb)
      phy make rigid body dynamic box 100+limb
   endif
next limb

`Make Ragdoll
phy make rag doll objMODEL, objMODEL, objBIP01   `objBIP01 should be start of skeleton???

`Assign each limb to object
phy assign rag doll part objMODEL, 0, limbBODY01, objBODY01
phy assign rag doll part objMODEL, 0, limbBIP01, objBIP01
phy assign rag doll part objMODEL, 0, limbPELVIS, objPELVIS
phy assign rag doll part objMODEL, 0, limbSPINE, objSPINE
phy assign rag doll part objMODEL, 0, limbRTHIGH, objRTHIGH
phy assign rag doll part objMODEL, 0, limbRCALF, objRCALF
phy assign rag doll part objMODEL, 0, limbRFOOT, objRFOOT
phy assign rag doll part objMODEL, 0, limbRTOE0, objRTOE
phy assign rag doll part objMODEL, 0, limbLTHIGH, objLTHIGH
phy assign rag doll part objMODEL, 0, limbLCALF, objLCALF
phy assign rag doll part objMODEL, 0, limbLFOOT, objLFOOT
phy assign rag doll part objMODEL, 0, limbLTOE0, objLTOE0
phy assign rag doll part objMODEL, 0, limbSPINE1, objSPINE1
phy assign rag doll part objMODEL, 0, limbSPINE2, objSPINE2
phy assign rag doll part objMODEL, 0, limbNECK, objNECK
phy assign rag doll part objMODEL, 0, limbRCLAV, objRCLAV
phy assign rag doll part objMODEL, 0, limbRUPPERARM, objRUPPERARM
phy assign rag doll part objMODEL, 0, limbRFOREARM, objRFOREARM
phy assign rag doll part objMODEL, 0, limbRHAND, objRHAND
phy assign rag doll part objMODEL, 0, limbRFINGER0, objRFINGER0
phy assign rag doll part objMODEL, 0, limbLCLAV, objLCLAV
phy assign rag doll part objMODEL, 0, limbLUPPERARM, objLUPPERARM
phy assign rag doll part objMODEL, 0, limbLFOREARM, objLFOREARM
phy assign rag doll part objMODEL, 0, limbLHAND, objLHAND
phy assign rag doll part objMODEL, 0, limbLFINGER0, objLFINGER0
phy assign rag doll part objMODEL, 0, limbRHAND, objHEAD


`Make fixed joints for simplicity
phy make fixed joint 1, objBIP01, objPELVIS: phy build fixed joint 1
phy make fixed joint 2, objPELVIS, objSPINE: phy build fixed joint 2
phy make fixed joint 3, objSPINE, objSPINE1: phy build fixed joint 3
phy make fixed joint 4, objSPINE1,objSPINE2: phy build fixed joint 4
phy make fixed joint 5, objSPINE2,objNECK: phy build fixed joint 5
phy make fixed joint 6, objNECK,objHEAD: phy build fixed joint 6

phy make fixed joint 7, objPELVIS, objRTHIGH: phy build fixed joint 7
phy make fixed joint 8, objRTHIGH, objRCALF: phy build fixed joint 8
phy make fixed joint 9, objRCALF, objRFOOT: phy build fixed joint 9
phy make fixed joint 10, objRFOOT, objRTOE0: phy build fixed joint 10

phy make fixed joint 11, objPELVIS, objLTHIGH: phy build fixed joint 11
phy make fixed joint 12, objLTHIGH, objLCALF: phy build fixed joint 12
phy make fixed joint 13, objLCALF, objLFOOT: phy build fixed joint 13
phy make fixed joint 14, objLFOOT, objLTOE0: phy build fixed joint 14

phy make fixed joint 15, objNECK, objRCLAV: phy build fixed joint 15
phy make fixed joint 16, objRCLAV, objRUPPERARM: phy build fixed joint 16
phy make fixed joint 17, objRUPPERARM, objRFOREARM: phy build fixed joint 17
phy make fixed joint 18, objRFOREARM, objRHAND: phy build fixed joint 18
phy make fixed joint 19, objRHAND, objRFINGER0: phy build fixed joint 19

phy make fixed joint 20, objNECK, objLCLAV: phy build fixed joint 20
phy make fixed joint 21, objLCLAV, objLUPPERARM: phy build fixed joint 21
phy make fixed joint 22, objLUPPERARM, objLFOREARM: phy build fixed joint 22
phy make fixed joint 23, objLFOREARM, objLHAND: phy build fixed joint 23
phy make fixed joint 24, objLHAND, objLFINGER0: phy build fixed joint 24

`Make box
make object box 51, 200, 5, 200: position object 51, 0,-25,0
phy make rigid body static box 51

autocam off
backdrop on
sync on: sync rate 60
set ambient light 80
position camera 20,80,-100
yrotate camera 0

Do
   phy update
   sync
Loop
phy end

phy make rag doll objMODEL, objMODEL, objBIP01   `objBIP01 should be start of skeleton???

phy assign rag doll part objMODEL, 0, limbBODY01, objBODY01

phy create force field 1

phy set force field coordinates 1, 0
phy set force field constant 1, -0.8, 0.0, 0.0

phy build force field 1

phy add force field box 1, 0, 0.0, 0.0, 0.0, 5.0, 5.0, 5.0
phy add force field box 1, 1, -5.0, 0.0, 0.0, 1.0, 5.0, 5.0

phy create force field 1
phy set force field coordinates 1, 1
phy set force field constant 1, -800.0, 2000.0, 0.0
phy set force field rigid body 1, 500
phy build force field 1
phy add force field sphere 1, 0, 0.0, 0.0, 0.0, 4

phy start
sync on
sync rate 90

`setting objects

`box 1
make object cube 1,10
position object 1,-10,0,0
zrotate object 1,45
phy make rigid body dynamic box 1

`box 2
make object cube 2,10
position object 2,10,0,0
zrotate object 2,45
phy make rigid body dynamic box 2

`ground
make object box 3,100,1,100
position object 3,0,-40,0
phy make rigid body static box 3

`setting joints
phy make fixed joint 1,1,2
phy build fixed joint 1 

do
	set cursor 0,0
	print "Pressing space should delete the joint"
	if spkey = 1 then print "But it doesn't ..." 
	
	if spacekey() = 1 and spkey = 0
		phy delete joint 1
		spkey = 1
	endif

	sync
	phy update
loop

cls
sync on
sync rate 60
phy start


make object cube 1,10
position object 1,0,0,0
phy make rigid body dynamic box 1

make object cube 2,10
position object 2,8,5,0
phy make rigid body dynamic box 2

make object cube 3,100
scale object 3,100,5,100
position object 3,0,-30,0
phy make rigid body static box 3


phy make fixed joint 1,1,2
phy build fixed joint 1



do

set cursor 0,0
print "Press enter to reset."

   if returnkey() = 1 and retkey = 0
      `delete all physics
      phy clear

      `re-initilise world
      position object 1,0,0,0
      position object 2,8,5,0
      rotate object 1,0,0,0
      rotate object 2,0,0,0

      phy make rigid body dynamic box 1
      phy make rigid body dynamic box 2
      phy make rigid body static box 3

      `Check if joint exist - without this line, error occurs
`      if phy get joint exist(1) = 1 then phy delete joint 1

      phy make fixed joint 1,1,2
      phy build fixed joint 1

      retkey = 1
   endif

   if returnkey() = 0 and retkey = 1 then retkey = 0

   phy update
   sync
loop

if spacekey ( )
    phy delete joint 1
    phy delete joint 2
endif

if phy get joint state ( 1 ) = 2
   set cursor 0, 100
   print "joint has broken"
endif

if phy get collision ( 2, 3 )
   color object 3, rgb ( 255, 0, 0 )

   for i = 1 to phy get collision count ( 3 )
      x# = phy get collision contact point x ( 3, i )
      y# = phy get collision contact point y ( 3, i )
      z# = phy get collision contact point z ( 3, i )

      dirX# = phy get collision contact normal x ( 3, i )
      dirY# = phy get collision contact normal y ( 3, i )
      dirZ# = phy get collision contact normal z ( 3, i )


      make object sphere ID, 1
      position object ID, x#, y#, z#
      inc ID
   next i
endif

phy get collision normal force x ( )

phy get collision friction force x ( )

` call this command to be able to use physics in our prograam
phy start

` turn sync rate on
sync on
sync rate 60

` make a box that will be our ground
make object box 1, 50, 1, 50
phy make rigid body static box 1

` create a cube and place it just above the edge of the ground
make object cube 3, 5:hide object 3
instance object 2,3``#######################replace this with "clone object" and it won't get culled anymore
position object 2, 0, 10, 0
phy make rigid body dynamic box 2


` position the camera so we can see the cube and box
position camera 0, 10, -50

` and here's our main loop
CAMERA_SetupFlyUsingKeys() 
do
    CAMERA_FlyUsingKeys(2)
   ` update the physics simulation and the screen
   phy update
   text 32,32,str$(statistic(1))
   fastsync
   
loop

` stop the physics engine
phy end

Function CAMERA_SetupFlyUsingKeys()    
    global cr# as float
    global cf# as float
    global ncr# as float
    global ncf# as float
    global cx# as float
    global cy# as float
    global ncx# as float
    global ncy# as float
endfunction
Function CAMERA_FlyUsingKeys(speed)
        `Camera Control
    cr#=0:cf#=0
    if KEYSTATE(32)=1 then cr#=-speed
    if KEYSTATE(30)=1 then cr#=speed
    if KEYSTATE(17)=1 then cf#=speed
    if KEYSTATE(31)=1 then cf#=-speed
    
    ncr#=curvevalue(cr#,ncr#,10)
    ncf#=curvevalue(cf#,ncf#,10)
    cx#=cx#+mousemovey()*0.2
    cy#=cy#+mousemovex()*0.2
    
    
    if cx#>90 then cx#=90``32767
    if cx#<-90  then cx#=-90
    ncx#=curveangle(cx#,ncx#,5)
    ncy#=curveangle(cy#,ncy#,5)
    move camera ncf#
    rotate camera 0,wrapvalue(ncy#-90),0
    move camera ncr#
    rotate camera 0,wrapvalue(ncy#+90),0
    rotate camera ncx#,ncy#,0
endfunction

phy start

make object cube 1, 5:hide object 1
clone object 2,1
phy load rigid body dynamic mesh 2,"x.phy"

phy start

make object cube 1, 5:hide object 1
instance object 2,1
phy load rigid body dynamic mesh 2,"x.phy"