TY 0, -2.0, 0
PHY SET PARAMETER 9, 1
PHY SET PARAMETER 39, 1
PHY SET PARAMETER 28, 1

//Make convex shape actor for each limb
PHY SET SCALE MULTIPLIER 0.1
limb = 1 
while limb exist (1, limb)
  PHY COOK CONVEX MESH 1, limb, limb  //MeshID shares limb number in this case 
  PHY MAKE CONVEX MESH 1, limb, limb, 10.0
  limb = limb + 1
endwhile

//SPHERICAL JOINT DESCRIPTOR
PHY MAKE JOINT DESC 1
PHY SET JOINT MOTION X 1, 0
PHY SET JOINT MOTION Y 1, 0
PHY SET JOINT MOTION Z 1, 0
PHY SET JOINT SWING1 MOTION 1, 1
P