@Override
    public void populateStructureData() {
        super.populateStructureData();

        //you're using box collision on legs, fix
        //also, keep carefull watch on leg orientation to jbullet orientation, relative grid factoring etc

        int pieceIndex = 0;
        StructurePiece mainBody = new StructurePiece(pieceIndex++, (IStructureUser)job, 0, 0, 0);
        body = mainBody;

        //radius, 1 + this
        int radX = 3;
        int radY = 0;
        int radZ = 2;

        int sizeX = radX*2;
        int sizeY = radY*2;
        int sizeZ = radZ*2;

        int radius = Math.max(1, Math.max(sizeX, sizeZ));

        //we cant generate the predicted capsule radius area here, because adding to the grid will extend that height we predicted, changing it

        //body
        for (int x = -sizeX/2; x <= sizeX/2; x++) {
            for (int z = -sizeZ/2; z <= sizeZ/2; z++) {
                for (int y = -sizeY/2; y <= sizeY/2; y++) {
                    mainBody.nodes.add(new StructureNode(mainBody, x, y, z));
                    if (x == -sizeX/2 || x == sizeX/2 || z == -sizeZ/2 || z == sizeZ/2) {
                        mainBody.nodes.add(new StructureNode(mainBody, x, y+1, z));
                    }
                }
            }
        }

        float dampLinear = 0.2F;
        float dampAngular = 0.2F;

        mainBody.calculateCenter();
        //RigidBody rb = mainBody.initPhysicsObject(new CapsuleShape(mainBody.axisYRadius, mainBody.sizeHalf.y*2), new Vector3f((float)job.ent.posX, (float)job.ent.posY, (float)job.ent.posZ), 5F);
        RigidBody rb = mainBody.initPhysicsObject(new BoxShape(new Vector3f(sizeX, sizeY, sizeZ)), new Vector3f((float)job.ent.posX, (float)job.ent.posY+10, (float)job.ent.posZ), 1F);
        rb.setDamping(0, 0);

        //if (true) return;

        int armLength = 3;
        int armLengthLower = 9;
        int spaceBetweenArms = 2;

        int limbOffsetX = 2;//(sizeX/2)+1;
        int limbOffsetZ = (sizeZ/2);

        //legA upper
        StructurePiece limb1 = new StructurePiece(pieceIndex++, mainBody, limbOffsetX, 0, -limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb1.nodes.add(new StructureNode(limb1, 0, -length, 0));
        }
        mainBody.addChildPiece(limb1);
        rb = limb1.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legA lower
        StructurePiece limb11 = new StructurePiece(pieceIndex++, limb1, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb11.nodes.add(new StructureNode(limb11, 0, -length, 0));
        }
        limb1.addChildPiece(limb11);
        rb = limb11.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legB upper
        StructurePiece limb2 = new StructurePiece(pieceIndex++, mainBody, 0, 0, -limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb2.nodes.add(new StructureNode(limb2, 0, -length, 0));
        }
        mainBody.addChildPiece(limb2);
        rb = limb2.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legB lower
        StructurePiece limb22 = new StructurePiece(pieceIndex++, limb2, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb22.nodes.add(new StructureNode(limb22, 0, -length, 0));
        }
        limb2.addChildPiece(limb22);
        rb = limb22.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legC upper
        StructurePiece limb3 = new StructurePiece(pieceIndex++, mainBody, -limbOffsetX, 0, -limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb3.nodes.add(new StructureNode(limb3, 0, -length, 0));
        }
        mainBody.addChildPiece(limb3);
        rb = limb3.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legC lower
        StructurePiece limb33 = new StructurePiece(pieceIndex++, limb3, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb33.nodes.add(new StructureNode(limb33, 0, -length, 0));
        }
        limb3.addChildPiece(limb33);
        rb = limb33.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legD upper
        StructurePiece limb4 = new StructurePiece(pieceIndex++, mainBody, limbOffsetX, 0, limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb4.nodes.add(new StructureNode(limb4, 0, -length, 0));
        }
        mainBody.addChildPiece(limb4);
        rb = limb4.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legD lower
        StructurePiece limb44 = new StructurePiece(pieceIndex++, limb4, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb44.nodes.add(new StructureNode(limb44, 0, -length, 0));
        }
        limb4.addChildPiece(limb44);
        rb = limb44.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legE upper
        StructurePiece limb5 = new StructurePiece(pieceIndex++, mainBody, 0, 0, limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb5.nodes.add(new StructureNode(limb5, 0, -length, 0));
        }
        mainBody.addChildPiece(limb5);
        rb = limb5.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legE lower
        StructurePiece limb55 = new StructurePiece(pieceIndex++, limb5, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb55.nodes.add(new StructureNode(limb55, 0, -length, 0));
        }
        limb5.addChildPiece(limb55);
        rb = limb55.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legF upper
        StructurePiece limb6 = new StructurePiece(pieceIndex++, mainBody, -limbOffsetX, 0, limbOffsetZ);
        for (int length = 0; length < armLength; length++) {
            limb6.nodes.add(new StructureNode(limb6, 0, -length, 0));
        }
        mainBody.addChildPiece(limb6);
        rb = limb6.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //legF lower
        StructurePiece limb66 = new StructurePiece(pieceIndex++, limb6, 0, -armLength-spaceBetweenArms, 0);
        for (int length = 0; length < armLengthLower; length++) {
            limb66.nodes.add(new StructureNode(limb66, 0, -length, 0));
        }
        limb6.addChildPiece(limb66);
        rb = limb66.initPhysicsObject(1F);
        rb.setDamping(dampLinear, dampAngular);

        //everything needed for constraint setup:
        //- bodyA
        //- bodyB
        //- local connection point for piece A
        //- local connection point for piece B
        //- might not need upper and lower angular limits, currently set to 0,0,0 then runtime muscle adjusters take control, everythings initialized downwards y
        //-




        //limb has issues reaching out to a 90 degree angle with this < 1, gets stuck just past 45 degrees upwards
        //issues with 1 too
        limbOffsetX += spaceBetweenArms;
        limbOffsetZ += spaceBetweenArms;

        //notice: relative coords are inverted between structure piece inits and constraints (bug)

        setupConstraint(mainBody, limb1, new Vector3f(limbOffsetX, 0.0F, -limbOffsetZ), new Vector3f());
        setupConstraint(limb1, limb11, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

        setupConstraint(mainBody, limb2, new Vector3f(0, 0.0F, -limbOffsetZ), new Vector3f());
        setupConstraint(limb2, limb22, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

        setupConstraint(mainBody, limb3, new Vector3f(-limbOffsetX, 0.0F, -limbOffsetZ), new Vector3f());
        setupConstraint(limb3, limb33, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

        setupConstraint(mainBody, limb4, new Vector3f(limbOffsetX, 0.0F, limbOffsetZ), new Vector3f());
        setupConstraint(limb4, limb44, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

        setupConstraint(mainBody, limb5, new Vector3f(0, 0.0F, limbOffsetZ), new Vector3f());
        setupConstraint(limb5, limb55, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

        setupConstraint(mainBody, limb6, new Vector3f(-limbOffsetX, 0.0F, limbOffsetZ), new Vector3f());
        setupConstraint(limb6, limb66, new Vector3f(0, -armLength-spaceBetweenArms, 0), new Vector3f());

    }