fix(editor): qcursorconstraints for windows

(cherry picked from commit 2a60994013)

.clangd

@@ -1,2 +1,3 @@
 CompileFlags:
   Add: [-std=c++20]
+  Remove: [-mno-direct-extern-access]

.vscode/launch.json

@@ -4,6 +4,13 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
+        {
+            "type": "gdb",
+            "request": "launch",
+            "name": "Debug (gdb)",
+            "program": "${workspaceFolder}/build/bin/editor",
+            "cwd": "${workspaceFolder}",
+        },
         {
             "type": "lldb",
             "request": "launch",

BUILD.md

@@ -1,20 +1,27 @@
 # Building on Linux
 
-For pre-requisite packages, check [deps.txt](./deps.txt)
+You will need to install Qt and LLVM/libclang beforehand. All other packages will automatically be obtained through CPM.
 
-If your distribution does not provide ReactPhysics3D, you will have to build (and install) it yourself prior to this step
+ccache is highly recommended.
 
 Use the following to generate the build files:
 
     cmake -Bbuild .
 
+> [!NOTE]  
+> Add -DCMAKE_BUILD_TYPE=Release to produce a release build
+
 Then build the project using:
 
     cmake --build build
 
+The compiled binaries should then be located in `./build/bin/` and should be ready for redistribution without any further work.
+
+If any of the compilation steps fail, or the binaries fail to execute, please create an issue so that this can be corrected.
+
 # Building on Windows
 
-The project will be built using VCPKG and MSVC
+The process is very similar on Windows
 
 ## Pre-requisites
 
@@ -22,6 +29,7 @@ The project will be built using VCPKG and MSVC
 * Qt 6.8.3 or higher, with MSVC toolchain
 * CMake
 * Git (for cloning the repo, optional)
+* LLVM/libclang 18.1.8+ (from https://github.com/llvm/llvm-project/releases/download/llvmorg-18.1.8/LLVM-18.1.8-win64.exe)
 * QScintilla already built (see [docs/qscintilla.md](./docs/qscintilla.md)) *\*likely temporary\**
 
 To start, clone the repository:
@@ -34,18 +42,18 @@ Once in the directory, add Qt to the `CMAKE_PREFIX_PATH` variable (for instance,
 
     set CMAKE_PREFIX_PATH=C:\Qt\6.8.3\msvc2022_64
 
-Now, generate the build files with cmake via the vcpkg preset:
+Now, generate the build files:
 
-    cmake -Bbuild . --preset vcpkg
+    cmake -Bbuild .
 
-Then, finally, build in release mode\*:
+Then, finally build:
 
-    cmake --build build --config Release
+    cmake --build build
 
-The compiled binaries should then be placed in `./build/bin/` and should be ready for redistribution without any further work.
+> [!NOTE]
+> To build in release mode, add -DCMAKE_BUILD_TYPE=Release to the configure (first) command,
+> and add --config Release to the build (second) command
+
+The compiled binaries should then be located in `./build/bin/[Debug|Release]` and should be ready for redistribution without any further work.
 
 If any of the compilation steps fail, or the binaries fail to execute, please create an issue so that this can be corrected.
-
-\* Release mode is necessary as debug mode copies DLLs that are not linked to the output binary
-
-DEVELOPER NOTE: AKA Not for you. If you get CUSTOM COMMAND BUILD errors just keep rerunning build

CMakeLists.txt

@@ -10,6 +10,7 @@ else()
 endif()
 
 set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+set(USE_CCACHE ON)
 
 add_subdirectory(autogen)
 
@@ -24,4 +25,6 @@ add_subdirectory(client)
 add_subdirectory(editor)
 
 
-install(FILES $<TARGET_RUNTIME_DLLS:editor> TYPE BIN)
+set( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tests )
+enable_testing()
+add_subdirectory(tests)

CMakePresets.json

@@ -1,21 +0,0 @@
-{
-  "version": 2,
-  "configurePresets": [
-    {
-      "name": "vcpkg",
-      "generator": "Visual Studio 17 2022",
-      "binaryDir": "${sourceDir}/build",
-      "cacheVariables": {
-        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
-      }
-    },
-    {
-      "name": "vcpkg-linux",
-      "generator": "Ninja",
-      "binaryDir": "${sourceDir}/build",
-      "cacheVariables": {
-        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
-      }
-    }
-  ]
-}

CMakeUserPresets.json

@@ -1,13 +0,0 @@
-{
-  "version": 2,
-  "configurePresets": [
-    {
-      "name": "default",
-      "inherits": "vcpkg",
-      "environment": {
-        "VCPKG_ROOT": "C:\\Program Files\\Microsoft Visual Studio\\2022\\Community\\VC\\vcpkg\\vcpkg.exe"
-      }
-    }
-  ]
-}
- 

asset-srcs/models/NOTE.txt

@@ -0,0 +1,9 @@
+sphere.obj was made by subdividing a cube, unwrapping it using cube projection, and then using the "To-sphere" tool in Blender to fully smoothen it out.
+Make sure you select "shade smooth" before exporting!
+
+Other settings:
+    Up axis: Y
+    Forward axis: -Z
+
+The winding order in .obj files is always counter-clockwise, so my script (genmesh.py) uses reversed() to reverse this and homogenous the winding order
+across meshes

asset-srcs/models/arc.obj

@@ -0,0 +1,565 @@
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+# www.blender.org
+mtllib arc.mtl
+o Torus.001
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asset-srcs/models/arrow.obj

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asset-srcs/models/cube.obj

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asset-srcs/models/cylinder.obj

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asset-srcs/models/outline.obj

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+vn 1.0000 -0.0000 -0.0000
+vn -0.0000 -0.0000 1.0000
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+vn -0.0000 1.0000 -0.0000
+vt 0.625000 0.187500
+vt 0.562500 0.250000
+vt 0.562500 0.187500
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+vt 0.562500 0.500000
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+vt 0.625000 0.687500
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+vt 0.562500 1.000000
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+vt 0.562500 0.062500
+vt 0.625000 0.000000
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+vt 0.875000 0.562500
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+vt 0.437500 0.500000
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+vt 0.437500 0.812500
+vt 0.437500 0.750000
+vt 0.437500 0.312500
+vt 0.437500 0.250000
+vt 0.437500 1.000000
+vt 0.437500 0.937500
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+vt 0.437500 0.187500
+vt 0.375000 0.250000
+vt 0.375000 0.187500
+vt 0.375000 0.437500
+vt 0.375000 0.750000
+vt 0.375000 1.000000
+vt 0.375000 0.937500
+vt 0.375000 0.812500
+vt 0.375000 0.312500
+vt 0.375000 0.062500
+vt 0.375000 0.000000
+vt 0.625000 1.000000
+vt 0.875000 0.750000
+s 0
+f 18/1/1 34/2/1 42/3/1
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asset-srcs/models/wedge.obj

@@ -0,0 +1,36 @@
+# Blender 4.4.3
+# www.blender.org
+mtllib wedge.mtl
+o Cube
+v 1.000000 -1.000000 -1.000000
+v 1.000000 1.000000 1.000000
+v 1.000000 -1.000000 1.000000
+v -1.000000 -1.000000 -1.000000
+v -1.000000 1.000000 1.000000
+v -1.000000 -1.000000 1.000000
+vn -0.0000 -0.0000 1.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 -1.0000 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn -0.0000 0.7071 -0.7071
+vt 0.625000 0.750000
+vt 0.375000 1.000000
+vt 0.375000 0.750000
+vt 0.375000 0.000000
+vt 0.625000 0.000000
+vt 0.375000 0.250000
+vt 0.375000 0.500000
+vt 0.125000 0.750000
+vt 0.125000 0.500000
+vt 0.875000 0.750000
+vt 0.625000 1.000000
+s 0
+usemtl Material
+f 2/1/1 6/2/1 3/3/1
+f 6/4/2 5/5/2 4/6/2
+f 1/7/3 6/8/3 4/9/3
+f 1/7/4 2/1/4 3/3/4
+f 5/10/5 1/7/5 4/6/5
+f 2/1/1 5/11/1 6/2/1
+f 1/7/3 3/3/3 6/8/3
+f 5/10/5 2/1/5 1/7/5

assets/shaders/generic2d.fs

@@ -3,10 +3,10 @@
 // I/O
 
 out vec4 fColor;
-uniform vec3 aColor;
+uniform vec4 aColor;
 
 // Main
 
 void main() {
-    fColor = vec4(aColor, 1.0);
+    fColor = aColor;
 }

assets/shaders/phong.fs

@@ -54,11 +54,14 @@ uniform int numPointLights;
 uniform DirLight sunLight;
 uniform Material material;
 uniform sampler2DArray studs;
+uniform samplerCube skybox;
 uniform float transparency;
+uniform float reflectance;
 uniform vec3 texScale;
 
-// Functions
 
+// Functions
+vec3 calculateReflection();
 vec3 calculateDirectionalLight(DirLight light);
 vec3 calculatePointLight(PointLight light);
 mat3 lookAlong(vec3 pos, vec3 forward, vec3 up);
@@ -68,6 +71,7 @@ mat3 lookAlong(vec3 pos, vec3 forward, vec3 up);
 void main() {
     vec3 result = vec3(0.0);
 
+    result += calculateReflection();
     result += calculateDirectionalLight(sunLight);
     
     for (int i = 0; i < numPointLights; i++) {
@@ -95,6 +99,25 @@ mat3 lookAlong(vec3 pos, vec3 forward, vec3 up) {
 	return mat3(s, u, f);
 }
 
+
+vec3 sampleSkybox()
+{
+    vec3 norm = normalize(vNormal);
+    vec3 viewDir = normalize(viewPos - vPos);
+    vec3 reflectDir = reflect(-viewDir, norm);
+
+    return textureLod(skybox,reflectDir, 5.0 * (1.0-material.shininess)).rgb;
+}
+
+vec3 calculateReflection() {
+    vec3 norm = normalize(vNormal);
+    vec3 viewDir = normalize(viewPos - vPos);
+    vec3 reflectDir = reflect(viewDir, norm);
+    float fresnel = (pow(1.0-max(dot(viewDir, norm), 0.0), 5.0));
+    vec3 result = sampleSkybox() * mix(/* TEMPORARY: will be replaced by setting */ 0 * /* /TEMPORARY */ fresnel * material.specular, vec3(1.0), reflectance);
+    return result;
+}
+
 vec3 calculateDirectionalLight(DirLight light) {
     // Calculate diffuse
     vec3 norm = normalize(vNormal);
@@ -105,10 +128,13 @@ vec3 calculateDirectionalLight(DirLight light) {
     vec3 viewDir = normalize(viewPos - vPos);
     vec3 reflectDir = reflect(-lightDir, norm);
     float spec = pow(max(dot(viewDir, reflectDir), 0.0), material.shininess);
+    // float fresnel = (pow(1.0-max(dot(viewDir, norm), 0.0), 5.0));
     
-    vec3 ambient = light.ambient * material.diffuse;
-    vec3 diffuse = light.diffuse * diff * material.diffuse;
+    
+    vec3 ambient = light.ambient * (material.diffuse * (1.0-reflectance));
+    vec3 diffuse = light.diffuse * diff * (material.diffuse * (1.0-reflectance));
     vec3 specular = light.specular * spec * material.specular;
+    // specular += sampleSkybox() * fresnel * material.specular;
     
     return (ambient + diffuse + specular);
 }

assets/shaders/phong.vs

@@ -9,6 +9,7 @@ const int FaceBack = 2;
 const int FaceLeft = 3;	
 const int FaceBottom = 4;
 const int FaceFront	= 5;
+const int FaceNone	= 6;
 
 const int SurfaceSmooth = 0;
 const int SurfaceGlue = 1;
@@ -31,6 +32,8 @@ uniform mat4 projection;
 uniform int surfaces[6];
 uniform vec3 texScale;
 
+const float faceThreshold = sqrt(2)/2;
+
 void main()
 {
     gl_Position = projection * view * model * vec4(aPos, 1.0);
@@ -38,12 +41,20 @@ void main()
     lPos = aPos;
     vNormal = normalMatrix * aNormal;
     lNormal = aNormal;
-    int vFace = aNormal == vec3(0,1,0) ? FaceTop :
-            aNormal == vec3(0, -1, 0) ? FaceBottom :
-            aNormal == vec3(1, 0, 0) ? FaceRight :
-            aNormal == vec3(-1, 0, 0) ? FaceLeft :
-            aNormal == vec3(0, 0, -1) ? FaceFront :
-            aNormal == vec3(0, 0, 1) ? FaceBack : -1;
+    int vFace = FaceNone;
+
+    if (dot(vec3(0, 1, 0), aNormal) > faceThreshold)
+        vFace = FaceTop;
+    else if (dot(vec3(0, -1, 0), aNormal) > faceThreshold)
+        vFace = FaceBottom;
+    else if (dot(vec3(1, 0, 0), aNormal) > faceThreshold)
+        vFace = FaceRight;
+    else if (dot(vec3(-1, 0, 0), aNormal) > faceThreshold)
+        vFace = FaceLeft;
+    else if (dot(vec3(0, 0, -1), aNormal) > faceThreshold)
+        vFace = FaceFront;
+    else if (dot(vec3(0, 0, 1), aNormal) > faceThreshold)
+        vFace = FaceBack;
 
     vSurfaceZ = surfaces[vFace];
     if (surfaces[vFace] > SurfaceUniversal) vSurfaceZ = 0;

autogen/src/main.cpp

@@ -26,6 +26,7 @@ int processHeader(fs::path srcRoot, fs::path srcPath, fs::path outPath) {
     std::string srcRootStr = string_of(srcRoot);
     std::string srcPathStr = string_of(srcPath);
     std::string outPathStr = string_of(outPath);
+    std::string logFileStr = outPathStr + ".log";
 
     const char* cargs[] = { "-xc++", "-std=c++17", "-I", srcRootStr.c_str(), "-D__AUTOGEN__", 0 };
     // THANK YOU SO MUCH THIS STACKOVERFLOW ANSWER IS SO HELPFUL
@@ -42,17 +43,26 @@ int processHeader(fs::path srcRoot, fs::path srcPath, fs::path outPath) {
         return 1;
     }
 
+    fs::create_directories(outPath.parent_path()); // Make sure generated dir exists before we try writing to it
+
+    // We write to a special log file instead of stdout/stderr to
+    // 1. avoid confusion
+    // 2. prevent MSBuild from reading the word "error" and detecting there's a problem with the program (there isn't)
+    FILE* logout = fopen(logFileStr.c_str(), "w");
+    
     // Print errors
     int ndiags = clang_getNumDiagnostics(unit);
     for (int i = 0; i < ndiags; i++) {
         CXDiagnostic diag = clang_getDiagnostic(unit, i);
         CXString str = clang_formatDiagnostic(diag, 0);
-        fprintf(stderr, "diag: %s\n", clang_getCString(str));
+        fprintf(logout, "diag: %s\n", clang_getCString(str));
 
         clang_disposeString(str);
         clang_disposeDiagnostic(diag);
     }
 
+    fclose(logout);
+
     CXCursor cursor = clang_getTranslationUnitCursor(unit);
 
     object::AnalysisState objectAnlyState;
@@ -66,8 +76,6 @@ int processHeader(fs::path srcRoot, fs::path srcPath, fs::path outPath) {
     data::analyzeClasses(cursor, srcRootStr, &dataAnlyState);
     enum_::analyzeClasses(cursor, srcRootStr, &enumAnlyState);
 
-    fs::create_directories(outPath.parent_path()); // Make sure generated dir exists before we try writing to it
-
     printf("[AUTOGEN] Generating file %s...\n", relpathStr.c_str());
     std::ofstream outStream(outPathStr);
 
@@ -104,5 +112,7 @@ int main(int argc, char** argv) {
     fs::path srcPath = argv[2];
     fs::path outPath = argv[3];
 
+    // fprintf(stderr, "Some error here\n");
+    // return 0;
     return processHeader(srcRoot, srcPath, outPath);
 }

client/CMakeLists.txt

@@ -1,8 +1,24 @@
-find_package(SDL2 REQUIRED)
-include_directories(${SDL2_INCLUDE_DIRS})
-
-find_package(glfw3 REQUIRED)
+include(${CMAKE_CURRENT_SOURCE_DIR}/deps.cmake)
 
 add_executable(client "src/main.cpp")
-target_link_libraries(client PRIVATE ${SDL2_LIBRARIES} openblocks glfw)
+target_link_libraries(client PRIVATE openblocks glfw)
 add_dependencies(client openblocks)
+
+if(WIN32)
+    # Copy assets
+    add_custom_command(
+        TARGET client POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy_directory
+            ${CMAKE_SOURCE_DIR}/assets
+            $<TARGET_FILE_DIR:client>/assets)
+endif()
+
+set_target_properties(client PROPERTIES
+    WIN32_EXECUTABLE ON
+)
+
+# https://stackoverflow.com/a/73899349/16255372
+if (WIN32)
+    # /ENTRY:mainCRTStartup keeps the same "main" function instead of requiring "WinMain"
+    target_link_options(client PRIVATE "/ENTRY:mainCRTStartup")
+endif()

client/deps.cmake

@@ -0,0 +1,12 @@
+# Declare/fetch packages
+
+include(FetchContent)
+FetchContent_Declare(
+    glfw3
+    GIT_REPOSITORY https://github.com/glfw/glfw
+    GIT_TAG 3.4
+)
+
+FetchContent_MakeAvailable(glfw3)
+
+# Find/include packages

client/src/main.cpp

@@ -1,8 +1,12 @@
-#include <GL/glew.h>
+#include <glad/gl.h>
 #include <GLFW/glfw3.h>
-#include "objects/part.h"
+#include "logger.h"
+#include "objects/part/part.h"
+#include "panic.h"
+#include "physics/world.h"
 #include "rendering/renderer.h"
 #include "common.h"
+#include "version.h"
 
 void errorCatcher(int id, const char* str);
 
@@ -15,24 +19,36 @@ void mouseCallback(GLFWwindow* window, double xpos, double ypos);
 void mouseButtonCallback(GLFWwindow* window, int button, int action, int mods);
 void resizeCallback(GLFWwindow* window, int width, int height);
 
-std::shared_ptr<Part> lastPart;
+std::shared_ptr<BasePart> lastPart;
 
 int main() {
     Logger::init();
 
     glfwSetErrorCallback(errorCatcher);
 
+    std::string title = std::string() + "Openblocks Client " + BUILD_VERSION;
+
     glfwInit();
     glfwWindowHint(GLFW_SAMPLES, 4);
-    GLFWwindow *window = glfwCreateWindow(1200, 900, "OpenBlocks Client ALPHA", NULL, NULL);
+    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_COMPAT_PROFILE); // Valid only in OpenGL 3.2+, see: https://stackoverflow.com/a/70519392/16255372
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    GLFWwindow *window = glfwCreateWindow(1200, 900, title.c_str(), NULL, NULL);
     glfwSetKeyCallback(window, keyCallback);
     glfwSetMouseButtonCallback(window, mouseButtonCallback);
     glfwSetCursorPosCallback(window, mouseCallback);
     glfwSetFramebufferSizeCallback(window, resizeCallback);
 
     glfwMakeContextCurrent(window);
-    glewInit();
+    int version = gladLoadGL(glfwGetProcAddress);
+    if (version == 0) {
+        Logger::fatalError("Failed to initialize OpenGL context");
+        panic();
+    } else {
+        Logger::debugf("Initialized GL context version %d.%d", GLAD_VERSION_MAJOR(version), GLAD_VERSION_MINOR(version));
+    }
 
+    physicsInit();
     gDataModel->Init();
     renderInit(1200, 900);
 
@@ -55,7 +71,7 @@ int main() {
 
     for (std::shared_ptr<Instance> inst : gWorkspace()->GetChildren()) {
         if (inst->GetClass()->className != "Part") continue;
-        std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(inst);
+        std::shared_ptr<BasePart> part = std::dynamic_pointer_cast<BasePart>(inst);
         gWorkspace()->SyncPartPhysics(part);
     }
 
@@ -72,12 +88,13 @@ int main() {
         glfwPollEvents();
     } while(!glfwWindowShouldClose(window));
 
+    physicsDeinit();
     glfwTerminate();
     return 0;
 }
 
 void errorCatcher(int id, const char* str) {
-    Logger::fatalError(std::format("GLFW Error: [{}] {}", id, str));
+    Logger::fatalErrorf("GLFW Error: [%d] %s", id, str);
 }
 
 float lastTime;
@@ -148,6 +165,7 @@ void mouseButtonCallback(GLFWwindow* window, int button, int action, int mods) {
     }
 }
 
+bool doDebugRender = false;
 void keyCallback(GLFWwindow* window, int key, int scancode, int action, int mods) {
     if (key == GLFW_KEY_F && action == GLFW_PRESS) {
         gWorkspace()->AddChild(lastPart = Part::New({
@@ -191,6 +209,8 @@ void keyCallback(GLFWwindow* window, int key, int scancode, int action, int mods
     if (key == GLFW_KEY_M && action == GLFW_PRESS) mode = 0;
     if (key == GLFW_KEY_E && action == GLFW_PRESS) mode = 1; // Enlarge
     if (key == GLFW_KEY_R && action == GLFW_PRESS) mode = 2;
+
+    if (key == GLFW_KEY_LEFT_BRACKET && action == GLFW_PRESS) setDebugRendererEnabled(doDebugRender = !doDebugRender);
 }
 
 void resizeCallback(GLFWwindow* window, int width, int height) {

cmake/CPM.cmake

@@ -0,0 +1,23 @@
+set(CPM_DOWNLOAD_VERSION 0.42.0)
+# Patch support is broken in CPM upstream atm, so we have to use a fork
+set(CPM_HASH_SUM "f7d92592a257d184fd8de6fb496a711ce393676ed68999b96043aab2e5e6f9e6")
+# set(CPM_HASH_SUM "2020b4fc42dba44817983e06342e682ecfc3d2f484a581f11cc5731fbe4dce8a")
+
+if(CPM_SOURCE_CACHE)
+  set(CPM_DOWNLOAD_LOCATION "${CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+elseif(DEFINED ENV{CPM_SOURCE_CACHE})
+  set(CPM_DOWNLOAD_LOCATION "$ENV{CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+else()
+  set(CPM_DOWNLOAD_LOCATION "${CMAKE_BINARY_DIR}/cmake/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+endif()
+
+# Expand relative path. This is important if the provided path contains a tilde (~)
+get_filename_component(CPM_DOWNLOAD_LOCATION ${CPM_DOWNLOAD_LOCATION} ABSOLUTE)
+
+file(DOWNLOAD
+     https://raw.githubusercontent.com/BohdanBuinich/CPM.cmake/refs/heads/feat/fix_patch_command/cmake/CPM.cmake
+    #  https://github.com/cpm-cmake/CPM.cmake/releases/download/v${CPM_DOWNLOAD_VERSION}/CPM.cmake
+     ${CPM_DOWNLOAD_LOCATION} EXPECTED_HASH SHA256=${CPM_HASH_SUM}
+)
+
+include(${CPM_DOWNLOAD_LOCATION})

cmake/FindQScintilla6.cmake

@@ -0,0 +1,60 @@
+# Modified from QGIS' FindQScintilla.cmake by Thomas Moenicke, Larry Schaffer
+
+add_library(QScintilla::QScintilla UNKNOWN IMPORTED)
+
+### NECESSARY TO PREVENT staticMetaObject ERROR!!! See qscintilla.prf AKA qmake config
+if(WIN32)
+  add_compile_definitions(QSCINTILLA_DLL)
+endif()
+
+FIND_PATH(QSCINTILLA_INCLUDE_DIR
+  NAMES Qsci/qsciglobal.h
+  PATHS
+    ${Qt6Core_INCLUDE_DIRS}
+    $ENV{LIB_DIR}/include
+    /usr/local/include
+    /usr/include
+    ${VCPKG_INSTALLED_DIR}/x64-windows/include
+  PATH_SUFFIXES ${QSCINTILLA_PATH_SUFFIXES}
+)
+
+set(QSCINTILLA_LIBRARY_NAMES
+  qscintilla2-qt6
+  qscintilla2_qt6
+  libqt6scintilla2
+  libqscintilla2-qt6
+  qt6scintilla2
+  libqscintilla2-qt6.dylib
+  qscintilla2
+)
+
+
+find_library(QSCINTILLA_LIBRARY
+NAMES ${QSCINTILLA_LIBRARY_NAMES}
+PATHS
+  "${QT_LIBRARY_DIR}"
+  $ENV{LIB_DIR}/lib
+  /usr/local/lib
+  /usr/local/lib/qt6
+  /usr/lib
+  /usr/lib64
+  /usr/lib32
+  ${VCPKG_INSTALLED_DIR}/x64-windows/lib
+)
+
+get_filename_component(QSCINTILLA_LIB_DIR ${QSCINTILLA_LIBRARY} DIRECTORY)
+list(TRANSFORM QSCINTILLA_LIBRARY_NAMES APPEND ".dll" OUTPUT_VARIABLE QSCINTILLA_DLL_NAMES)
+
+find_file(QSCINTILLA_DLLS
+NAMES ${QSCINTILLA_DLL_NAMES}
+PATHS
+  "${QT_LIBRARY_DIR}"
+  $ENV{LIB_DIR}/lib
+  /usr/local/lib
+  /usr/local/lib/qt6
+  /usr/lib64
+  /usr/lib32
+  /usr/lib
+  ${QSCINTILLA_LIB_DIR}
+  ${VCPKG_INSTALLED_DIR}/x64-windows/lib
+)

cmake/FindStb.cmake

@@ -1,30 +0,0 @@
-# Distributed under the OSI-approved BSD 3-Clause License.
-# Copyright Stefano Sinigardi
-
-#.rst:
-# FindStb
-# ------------
-#
-# Find the Stb include headers.
-#
-# Result Variables
-# ^^^^^^^^^^^^^^^^
-#
-# This module defines the following variables:
-#
-# ``Stb_FOUND``
-#   True if Stb library found
-#
-# ``Stb_INCLUDE_DIR``
-#   Location of Stb headers
-#
-
-include(${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake)
-include(${CMAKE_ROOT}/Modules/SelectLibraryConfigurations.cmake)
-
-if(NOT Stb_INCLUDE_DIR)
-  find_path(Stb_INCLUDE_DIR NAMES stb_image.h PATHS ${Stb_DIR} PATH_SUFFIXES include stb include/stb)
-endif()
-
-find_package_handle_standard_args(Stb DEFAULT_MSG Stb_INCLUDE_DIR)
-mark_as_advanced(Stb_INCLUDE_DIR)

cmake/gitversion.cmake

@@ -0,0 +1,40 @@
+
+# https://jonathanhamberg.com/post/cmake-embedding-git-hash/
+
+# Detect current version from git
+execute_process(
+    COMMAND git rev-parse HEAD
+    OUTPUT_VARIABLE GIT_COMMIT_HASH RESULT_VARIABLE GIT_RESULT OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET)
+
+execute_process(
+    COMMAND git describe --abbrev=0
+    OUTPUT_VARIABLE GIT_VERSION RESULT_VARIABLE GIT_RESULT OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET)
+    
+execute_process(
+    COMMAND git describe --dirty
+    OUTPUT_VARIABLE GIT_VERSION_LONG RESULT_VARIABLE GIT_RESULT OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET)
+
+# For some reason, CMake sets CMAKE_*_DIR all to be CMAKE_CURRENT_BINARY_DIR
+# so we have to bypass this by passing in custom "orig_" variables
+if (NOT GIT_STATE_WITHIN)
+    # Re-run this target always so that the version can be checked
+    add_custom_target(recheck_git_version ALL COMMAND ${CMAKE_COMMAND}
+        -DGIT_STATE_WITHIN=1
+        -DORIG_BINARY_DIR=${CMAKE_BINARY_DIR}
+        -DORIG_CURRENT_BINARY_DIR=${CMAKE_CURRENT_BINARY_DIR}
+        -DORIG_SOURCE_DIR=${CMAKE_SOURCE_DIR}
+        -DORIG_CURRENT_SOURCE_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+        -P ${CMAKE_MODULE_PATH}/gitversion.cmake
+        BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/src/version.cpp
+    )
+else ()
+    # # Set defaults if the git commands fail
+    if (NOT GIT_RESULT EQUAL 0)
+        set(GIT_COMMIT_HASH "unknown")
+        set(GIT_VERSION "unknown")
+        set(GIT_VERSION_LONG "unknown")
+    endif ()
+
+    # configure_file only touches the file if it has been changed, so no caching is necessary
+    configure_file(${ORIG_CURRENT_SOURCE_DIR}/src/version.cpp.in ${ORIG_CURRENT_BINARY_DIR}/src/version.cpp @ONLY)
+endif ()

core/CMakeLists.txt

@@ -1,29 +1,177 @@
-find_package(OpenGL REQUIRED COMPONENTS OpenGL)
+include(${CMAKE_CURRENT_SOURCE_DIR}/deps.cmake)
 
-find_package(GLEW REQUIRED)
-include_directories(${GLEW_INCLUDE_DIRS})
+## Sources
+set(SOURCES
+    src/stb.cpp
+    src/glad.cpp
 
-find_package(OpenGL)
-find_package(glm CONFIG REQUIRED)
-find_package(ReactPhysics3D REQUIRED)
-find_package(pugixml 1.15 REQUIRED)
-find_package(Freetype)
+    src/ptr_helpers.h
+    src/enum/part.h
+    src/enum/surface.cpp
+    src/enum/meta.h
+    src/enum/annotation.h
+    src/enum/surface.h
+    src/camera.cpp
+    src/datatypes/vector.cpp
+    src/datatypes/variant.h
+    src/datatypes/cframe.cpp
+    src/datatypes/signal.cpp
+    src/datatypes/base.h
+    src/datatypes/enum.h
+    src/datatypes/enum.cpp
+    src/datatypes/primitives.h
+    src/datatypes/cframe.h
+    src/datatypes/variant.cpp
+    src/datatypes/vector.h
+    src/datatypes/color3.h
+    src/datatypes/annotation.h
+    src/datatypes/color3.cpp
+    src/datatypes/primitives.cpp
+    src/datatypes/ref.cpp
+    src/datatypes/ref.h
+    src/datatypes/signal.h
+    src/common.cpp
+    src/utils.h
+    src/platform.h
+    src/math_helper.cpp
+    src/rendering/skybox.cpp
+    src/rendering/mesh2d.cpp
+    src/rendering/torus.cpp
+    src/rendering/mesh.h
+    src/rendering/font.cpp
+    src/rendering/debug/debugrenderer.cpp
+    src/rendering/texture.h
+    src/rendering/shader.h
+    src/rendering/defaultmeshes.cpp
+    src/rendering/skybox.h
+    src/rendering/mesh2d.h
+    src/rendering/light.h
+    src/rendering/renderer.cpp
+    src/rendering/texture3d.h
+    src/rendering/texture.cpp
+    src/rendering/renderer.h
+    src/rendering/shader.cpp
+    src/rendering/mesh.cpp
+    src/rendering/material.h
+    src/rendering/torus.h
+    src/rendering/font.h
+    src/rendering/defaultmeshes.h
+    src/rendering/texture3d.cpp
+    src/physics/world.h
+    src/physics/world.cpp
+    src/logger.cpp
+    src/handles.h
+    src/timeutil.h
+    src/error/error.h
+    src/error/result.h
+    src/error/instance.h
+    src/error/data.h
+    src/partassembly.h
+    src/objects/service/jointsservice.cpp
+    src/objects/service/script/serverscriptservice.h
+    src/objects/service/script/serverscriptservice.cpp
+    src/objects/service/script/scriptcontext.h
+    src/objects/service/script/scriptcontext.cpp
+    src/objects/service/workspace.cpp
+    src/objects/service/selection.cpp
+    src/objects/service/selection.h
+    src/objects/service/jointsservice.h
+    src/objects/service/workspace.h
+    src/objects/datamodel.cpp
+    src/objects/script.h
+    src/objects/joint/snap.h
+    src/objects/joint/jointinstance.h
+    src/objects/joint/rotatev.h
+    src/objects/joint/weld.cpp
+    src/objects/joint/jointinstance.cpp
+    src/objects/joint/rotate.cpp
+    src/objects/joint/rotate.h
+    src/objects/joint/weld.h
+    src/objects/joint/snap.cpp
+    src/objects/joint/rotatev.cpp
+    src/objects/base/service.h
+    src/objects/base/member.h
+    src/objects/base/instance.h
+    src/objects/base/service.cpp
+    src/objects/base/instance.cpp
+    src/objects/base/refstate.h
+    src/objects/message.h
+    src/objects/pvinstance.cpp
+    src/objects/hint.cpp
+    src/objects/pvinstance.h
+    src/objects/base.h
+    src/objects/folder.cpp
+    src/objects/model.cpp
+    src/objects/datamodel.h
+    src/objects/folder.h
+    src/objects/meta.cpp
+    src/objects/model.h
+    src/objects/part/part.cpp
+    src/objects/part/part.h
+    src/objects/part/wedgepart.h
+    src/objects/part/basepart.cpp
+    src/objects/part/wedgepart.cpp
+    src/objects/part/basepart.h
+    src/objects/meta.h
+    src/objects/hint.h
+    src/objects/annotation.h
+    src/objects/message.cpp
+    src/objects/script.cpp
+    src/partassembly.cpp
+    src/panic.cpp
+    src/logger.h
+    src/camera.h
+    src/handles.cpp
+    src/version.h
+    src/common.h
+    src/platform.cpp
+    src/panic.h
+    src/lua/instancelib.cpp
+    src/timeutil.cpp
+    src/luaapis.h
+    src/math_helper.h
+)
 
-find_package(Stb REQUIRED)
-include_directories(${Stb_INCLUDE_DIR})
+set(AUTOGEN_SOURCES
+    # Objects
+    src/objects/service/script/serverscriptservice.h
+    src/objects/service/script/scriptcontext.h
+    src/objects/service/selection.h
+    src/objects/service/jointsservice.h
+    src/objects/service/workspace.h
+    src/objects/script.h
+    src/objects/joint/snap.h
+    src/objects/joint/jointinstance.h
+    src/objects/joint/rotatev.h
+    src/objects/joint/rotate.h
+    src/objects/joint/weld.h
+    src/objects/message.h
+    src/objects/pvinstance.h
+    src/objects/base.h
+    src/objects/datamodel.h
+    src/objects/folder.h
+    src/objects/model.h
+    src/objects/part/part.h
+    src/objects/part/wedgepart.h
+    src/objects/part/basepart.h
+    src/objects/meta.h
+    src/objects/hint.h
+    # Enum
+    src/enum/part.h
+    src/enum/surface.h
+    # Data types
+    src/datatypes/enum.h
+    src/datatypes/cframe.h
+    src/datatypes/vector.h
+    src/datatypes/color3.h
+)
 
-# PkgConfig packages
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LUAJIT REQUIRED luajit)
-link_directories(${LUAJIT_LIBRARY_DIRS})
-
-# Run autogen
-file(GLOB_RECURSE AUTOGEN_SOURCES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/src" "src/objects/*.h" "src/datatypes/*.h" "src/enum/*.h")
+### Autogen
 
 # https://cmake.org/cmake/help/book/mastering-cmake/chapter/Custom%20Commands.html
 foreach (SRC ${AUTOGEN_SOURCES})
     string(REGEX REPLACE "[.]h$" ".cpp" OUT_SRC_NAME ${SRC})
-    set(SRC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/${SRC}")
+    set(SRC_PATH "${CMAKE_CURRENT_SOURCE_DIR}/${SRC}")
     set(OUT_PATH "${CMAKE_BINARY_DIR}/generated/${OUT_SRC_NAME}")
 
     add_custom_command(
@@ -36,17 +184,22 @@ foreach (SRC ${AUTOGEN_SOURCES})
     list(APPEND AUTOGEN_OUTS "${OUT_PATH}")
 endforeach()
 
+### /Autogen
+
+# Add version info into the build
+include(gitversion)
+
 add_custom_target(autogen_build ALL
     DEPENDS ${AUTOGEN_OUTS}
 )
 
-file(GLOB_RECURSE SOURCES "src/*.cpp" "src/*.h")
 list(APPEND SOURCES ${AUTOGEN_OUTS})
+list(APPEND SOURCES ${CMAKE_CURRENT_BINARY_DIR}/src/version.cpp)
 add_library(openblocks STATIC ${SOURCES})
 set_target_properties(openblocks PROPERTIES OUTPUT_NAME "openblocks")
 target_link_directories(openblocks PUBLIC ${LUAJIT_LIBRARY_DIRS})
-target_link_libraries(openblocks ${GLEW_LIBRARIES} ${LUAJIT_LIBRARIES} OpenGL::GL ReactPhysics3D::ReactPhysics3D pugixml::pugixml Freetype::Freetype)
-target_include_directories(openblocks PUBLIC "src" "../include" ${LUAJIT_INCLUDE_DIRS})
+target_link_libraries(openblocks Jolt pugixml::pugixml Freetype::Freetype glm::glm libluajit ${LuaJIT_LIBRARIES})
+target_include_directories(openblocks PUBLIC "src" "../include" "${CMAKE_SOURCE_DIR}/external/glad" ${LUAJIT_INCLUDE_DIRS} ${stb_SOURCE_DIR})
 add_dependencies(openblocks autogen_build autogen)
 
 # Windows-specific dependencies

core/deps.cmake

@@ -0,0 +1,30 @@
+
+include(CPM)
+
+# Some packages will build helper binaries. This keeps them out of our own build output
+set (PREV_BIN_PATH ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+unset (CMAKE_RUNTIME_OUTPUT_DIRECTORY)
+
+CPMAddPackage("gh:g-truc/glm#1.0.1")
+CPMAddPackage(NAME Jolt GIT_REPOSITORY "https://github.com/jrouwe/JoltPhysics" VERSION 5.3.0 SOURCE_SUBDIR "Build")
+CPMAddPackage("gh:zeux/pugixml@1.15")
+
+CPMAddPackage(
+    NAME freetype
+    GIT_REPOSITORY https://github.com/aseprite/freetype2.git
+    GIT_TAG VER-2-10-0
+    VERSION 2.10.0
+    PATCHES ${CMAKE_SOURCE_DIR}/patches/freetype_cmakever.patch
+)
+
+if (freetype_ADDED)
+    add_library(Freetype::Freetype ALIAS freetype)
+endif()
+
+CPMAddPackage("gh:nothings/stb#8cfb1605c02aee9fb6eb5d8ea559017745bd9a16") # 2.14
+CPMAddPackage("gh:WohlSoft/LuaJIT#a5da8f4a31972b74254f00969111b8b7a07cf584") # v2.1
+set(LUAJIT_INCLUDE_DIRS ${LuaJIT_SOURCE_DIR}/src)
+
+CPMAddPackage("gh:mackron/miniaudio#0.11.22")
+
+set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PREV_BIN_PATH})

core/src/common.h

@@ -8,9 +8,8 @@
 #include <memory>
 
 class Instance;
-// typedef std::function<void(std::shared_ptr<Instance> element, std::optional<std::shared_ptr<Instance>> newParent)> HierarchyUpdateHandler;
-typedef std::function<void(std::shared_ptr<Instance> object, std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent)> HierarchyPreUpdateHandler;
-typedef std::function<void(std::shared_ptr<Instance> object, std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent)> HierarchyPostUpdateHandler;
+typedef std::function<void(std::shared_ptr<Instance> object, nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent)> HierarchyPreUpdateHandler;
+typedef std::function<void(std::shared_ptr<Instance> object, nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent)> HierarchyPostUpdateHandler;
 typedef std::function<void(std::shared_ptr<Instance> instance, std::string property, Variant newValue)> PropertyUpdateHandler;
 
 // TEMPORARY COMMON DATA FOR VARIOUS INTERNAL COMPONENTS

core/src/datatypes/cframe.cpp

@@ -1,12 +1,10 @@
 #include "cframe.h"
 #include "datatypes/vector.h"
 #include "error/data.h"
-#include "physics/util.h"
 #include <glm/ext/matrix_transform.hpp>
 #include <glm/gtc/matrix_inverse.hpp>
 #include <glm/gtc/quaternion.hpp>
 #include <glm/matrix.hpp>
-#include <reactphysics3d/mathematics/Transform.h>
 #include "datatypes/variant.h"
 #include <pugixml.hpp>
 #define GLM_ENABLE_EXPERIMENTAL
@@ -40,9 +38,6 @@ CFrame::CFrame(Vector3 position, glm::quat quat)
     , rotation(quat) {
 }
 
-CFrame::CFrame(const rp::Transform& transform) : CFrame::CFrame(rpToGlm(transform.getPosition()), rpToGlm(transform.getOrientation())) {
-}
-
 glm::mat3 lookAt(Vector3 position, Vector3 lookAt, Vector3 up) {
     // https://github.com/sgorsten/linalg/issues/29#issuecomment-743989030
 	Vector3 f = (lookAt - position).Unit(); // Forward/Look
@@ -77,10 +72,6 @@ CFrame::operator glm::mat4() const {
     return glm::translate(glm::mat4(1.0f), this->translation) * glm::mat4(this->rotation);
 }
 
-CFrame::operator rp::Transform() const {
-    return rp::Transform(glmToRp(translation), glmToRp(rotation));
-}
-
 Vector3 CFrame::ToEulerAnglesXYZ() {
     float x;
     float y;

core/src/datatypes/cframe.h

@@ -8,8 +8,6 @@
 #include <glm/gtc/matrix_access.hpp>
 #include <glm/matrix.hpp>
 
-namespace reactphysics3d { class Transform; };
-
 class DEF_DATA_(name="CoordinateFrame") CFrame {
     AUTOGEN_PREAMBLE_DATA
 
@@ -24,7 +22,6 @@ public:
     DEF_DATA_CTOR CFrame();
     DEF_DATA_CTOR CFrame(float x, float y, float z, float R00, float R01, float R02, float R10, float R11, float R12, float R20, float R21, float R22);
     DEF_DATA_CTOR CFrame(Vector3 , Vector3 lookAt, Vector3 up = Vector3(0, 1, 0));
-    CFrame(const reactphysics3d::Transform&);
     CFrame(Vector3 position, glm::quat quat);
     virtual ~CFrame();
 
@@ -46,11 +43,11 @@ public:
     static void PushLuaLibrary(lua_State*);
 
     operator glm::mat4() const;
-    operator reactphysics3d::Transform() const;
 
     //inline static CFrame identity() { }
     DEF_DATA_PROP inline Vector3 Position() const { return translation; }
     DEF_DATA_PROP inline CFrame Rotation() const { return CFrame { glm::vec3(0, 0, 0), rotation }; }
+    inline glm::mat3 RotMatrix() const { return rotation; }
     DEF_DATA_METHOD CFrame Inverse() const;
     DEF_DATA_PROP inline float X() const { return translation.x; }
     DEF_DATA_PROP inline float Y() const { return translation.y; }

core/src/datatypes/color3.cpp

@@ -6,6 +6,7 @@
 #include <iomanip>
 #include <algorithm>
 
+Color3::Color3() {};
 Color3::Color3(float r, float g, float b) : r(std::clamp(r, 0.f, 1.f)), g(std::clamp(g, 0.f, 1.f)), b(std::clamp(b, 0.f, 1.f)) {};
 Color3::Color3(const glm::vec3& vec) : r(std::clamp(vec.x, 0.f, 1.f)), g(std::clamp(vec.y, 0.f, 1.f)), b(std::clamp(vec.z, 0.f, 1.f)) {};
 

core/src/datatypes/color3.h

@@ -14,6 +14,7 @@ class DEF_DATA Color3 {
 
 public:
     DEF_DATA_CTOR Color3(float r, float g, float b);
+    Color3();
     Color3(const glm::vec3&);
     virtual ~Color3();
 

core/src/datatypes/primitives.cpp

@@ -68,7 +68,7 @@ void Bool_PushLuaValue(Variant self, lua_State* L) {
 result<Variant, LuaCastError> Bool_FromLuaValue(lua_State* L, int idx) {
     if (!lua_isboolean(L, idx))
         return LuaCastError(lua_typename(L, idx), "boolean");
-    return Variant(lua_toboolean(L, idx));
+    return Variant((bool)lua_toboolean(L, idx));
 }
 
 const TypeDesc BOOL_TYPE {

core/src/datatypes/ref.cpp

@@ -151,9 +151,9 @@ static int inst_index(lua_State* L) {
     }
 
     // Look for child
-    std::optional<std::shared_ptr<Instance>> child = inst->FindFirstChild(key);
+    nullable std::shared_ptr<Instance> child = inst->FindFirstChild(key);
     if (child) {
-        InstanceRef(child.value()).PushLuaValue(L);
+        InstanceRef(child).PushLuaValue(L);
         return 1;
     }
 
@@ -173,7 +173,7 @@ static int inst_newindex(lua_State* L) {
     if (meta->flags & PROP_READONLY)
         return luaL_error(L, "'%s' of %s is read-only", key.c_str(), inst->GetClass()->className.c_str());
     if (key == "Parent" && inst->IsParentLocked())
-        return luaL_error(L, "Cannot set property Parent (%s) of %s, parent is locked", inst->GetParent() ? inst->GetParent().value()->name.c_str() : "NULL", inst->GetClass()->className.c_str());
+        return luaL_error(L, "Cannot set property Parent (%s) of %s, parent is locked", inst->GetParent() ? inst->GetParent()->name.c_str() : "NULL", inst->GetClass()->className.c_str());
 
     // TODO: Make this work for enums, this is not a solution!!
     result<Variant, LuaCastError> value = meta->type.descriptor->fromLuaValue(L, -1);

core/src/datatypes/signal.cpp

@@ -7,7 +7,6 @@
 #include <memory>
 #include <vector>
 
-extern const char* WRAPPER_SRC; // TODO: Move this to a shared header
 int script_errhandler(lua_State*); // extern
 
 SignalSource::SignalSource() : std::shared_ptr<Signal>(std::make_shared<Signal>()) {}
@@ -39,30 +38,11 @@ LuaSignalConnection::~LuaSignalConnection() {
     luaL_unref(state, LUA_REGISTRYINDEX, thread);
 }
 
-#if 0
-static void stackdump(lua_State* L) {
-    printf("%d\n", lua_gettop(L));
-    fflush(stdout);
-    lua_getfield(L, LUA_GLOBALSINDEX, "tostring");
-    for (int i = lua_gettop(L)-1; i >= 1; i--) {
-        lua_pushvalue(L, -1);
-        lua_pushvalue(L, i);
-        lua_call(L, 1, 1);
-        const char* str = lua_tostring(L, -1);
-        lua_pop(L, 1);
-        printf("%s: %s\n", lua_typename(L, lua_type(L, i)), str);
-    }
-    lua_pop(L, 1);
-    printf("\n\n");
-    fflush(stdout);
-}
-#endif
-
 void LuaSignalConnection::Call(std::vector<Variant> args) {
     lua_State* thread = lua_newthread(state);
 
     // Push wrapepr as thread function
-    luaL_loadbuffer(thread, WRAPPER_SRC, strlen(WRAPPER_SRC), "=PCALL_WRAPPER");
+    lua_getfield(thread, LUA_REGISTRYINDEX, "LuaPCallWrapper");
 
     // Push function as upvalue for wrapper
     lua_rawgeti(thread, LUA_REGISTRYINDEX, function);

core/src/datatypes/vector.cpp

@@ -3,7 +3,6 @@
 #include <cstdlib>
 #include <glm/ext/quaternion_geometric.hpp>
 #include <iomanip>
-#include <reactphysics3d/mathematics/Vector3.h>
 #include <string>
 #include <pugixml.hpp>
 #include "datatypes/base.h"
@@ -11,11 +10,8 @@
 #include "error/data.h"
 #include <sstream>
 
-namespace rp = reactphysics3d;
-
 Vector3::Vector3() : vector(glm::vec3(0, 0, 0)) {};
 Vector3::Vector3(const glm::vec3& src) : vector(src) {};
-Vector3::Vector3(const rp::Vector3& src) : vector(glm::vec3(src.x, src.y, src.z)) {};
 Vector3::Vector3(float x, const float y, float z) : vector(glm::vec3(x, y, z)) {};
 
 Vector3::~Vector3() = default;
@@ -31,7 +27,6 @@ const std::string Vector3::ToString() const {
 }
 
 Vector3::operator glm::vec3() const { return vector; };
-Vector3::operator rp::Vector3() const { return rp::Vector3(X(), Y(), Z()); };
 
 // Operators
 

core/src/datatypes/vector.h

@@ -5,9 +5,6 @@
 #include "error/data.h"
 #include <glm/ext/vector_float3.hpp>
 #include <glm/geometric.hpp>
-#include <reactphysics3d/mathematics/Vector3.h>
-
-// namespace reactphysics3d { class Vector3; };
 
 class DEF_DATA Vector3 {
     AUTOGEN_PREAMBLE_DATA
@@ -18,7 +15,6 @@ public:
     DEF_DATA_CTOR Vector3(float x, float y, float z);
     inline Vector3(float value) : Vector3(value, value, value) {}
     Vector3(const glm::vec3&);
-    Vector3(const reactphysics3d::Vector3&);
     virtual ~Vector3();
 
     DEF_DATA_PROP static Vector3 ZERO;
@@ -33,7 +29,6 @@ public:
     static void PushLuaLibrary(lua_State*);
 
     operator glm::vec3() const;
-    operator reactphysics3d::Vector3() const;
 
     DEF_DATA_PROP inline float X() const { return vector.x; }
     DEF_DATA_PROP inline float Y() const { return vector.y; }

core/src/enum/part.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include "datatypes/enum.h"
+#include "enum/annotation.h"
+
+
+enum class DEF_ENUM PartType {
+    Ball = 0,
+    Block = 1,
+    Cylinder = 2,
+};
+
+namespace EnumType {
+    extern const Enum PartType;
+};

core/src/glad.cpp

@@ -0,0 +1,2 @@
+#define GLAD_GL_IMPLEMENTATION
+#include <glad/gl.h>

core/src/handles.cpp

@@ -8,10 +8,6 @@
 #include <glm/ext/scalar_common.hpp>
 #include <memory>
 #include <optional>
-#include <reactphysics3d/collision/RaycastInfo.h>
-#include <reactphysics3d/engine/PhysicsCommon.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
-#include <reactphysics3d/mathematics/Transform.h>
 
 HandleFace HandleFace::XPos(0, glm::vec3(1,0,0));
 HandleFace HandleFace::XNeg(1, glm::vec3(-1,0,0));
@@ -23,15 +19,11 @@ std::array<HandleFace, 6> HandleFace::Faces { HandleFace::XPos, HandleFace::XNeg
 
 static CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
 
-// Shitty solution
-static rp3d::PhysicsCommon common;
-static rp3d::PhysicsWorld* world = common.createPhysicsWorld();
-
-std::shared_ptr<Part> getHandleAdornee() {
+std::shared_ptr<BasePart> getHandleAdornee() {
     std::shared_ptr<Selection> selection = gDataModel->GetService<Selection>();
     for (std::weak_ptr<Instance> inst : selection->Get()) {
-        if (!inst.expired() && inst.lock()->IsA<Part>())
-            return inst.lock()->CastTo<Part>().expect();
+        if (!inst.expired() && inst.lock()->IsA<BasePart>())
+            return inst.lock()->CastTo<BasePart>().expect();
     }
 
     return {};
@@ -52,24 +44,25 @@ CFrame partCFrameFromHandlePos(HandleFace face, Vector3 newPos) {
     return adornee->cframe.Rotation() + newPartPos;
 }
 
-std::optional<HandleFace> raycastHandle(rp3d::Ray ray) {
+std::optional<HandleFace> raycastHandle(Vector3 rayStart, Vector3 rayEnd) {
+    std::optional<HandleFace> closestFace = {};
+    float closestDistance = -1;
+
     for (HandleFace face : HandleFace::Faces) {
         CFrame cframe = getHandleCFrame(face);
-        // Implement manual detection via boxes instead of... this shit
-        // This code also hardly works, and is not good at all... Hooo nope.
-        rp3d::RigidBody* body = world->createRigidBody(CFrame::IDENTITY + cframe.Position());
-        body->addCollider(common.createBoxShape(cframe.Rotation() * Vector3(handleSize(face) / 2.f)), rp3d::Transform::identity());
 
-        rp3d::RaycastInfo info;
-        if (body->raycast(ray, info)) {
-            world->destroyRigidBody(body);
-            return face;
+        Vector3 halfSize = (cframe.Rotation() * Vector3(handleSize(face) / 2.f)).Abs();
+        Vector3 minB = cframe.Position() - halfSize, maxB = cframe.Position() + halfSize;
+
+        glm::vec3 hitPoint;
+        bool hit = HitBoundingBox(minB, maxB, rayStart, (rayEnd - rayStart).Unit(), hitPoint);
+        float distance = ((Vector3)hitPoint - rayStart).Magnitude();
+
+        if (hit && (closestDistance == -1 || distance < closestDistance))
+            closestFace = face, closestDistance = distance;
     }
 
-        world->destroyRigidBody(body);
-    }
-
-    return std::nullopt;
+    return closestFace;
 }
 
 Vector3 handleSize(HandleFace face) {
@@ -82,8 +75,8 @@ static int getAABBOfSelection(glm::vec3& pos, glm::vec3& size, glm::vec3& min, g
     int count = 0;
     std::shared_ptr<Selection> selection = gDataModel->GetService<Selection>();
     for (std::weak_ptr<Instance> inst : selection->Get()) {
-        if (inst.expired() || !inst.lock()->IsA<Part>()) continue;
-        std::shared_ptr<Part> part = inst.lock()->CastTo<Part>().expect();
+        if (inst.expired() || !inst.lock()->IsA<BasePart>()) continue;
+        std::shared_ptr<BasePart> part = inst.lock()->CastTo<BasePart>().expect();
 
         if (count == 0)
             min = part->position(), max = part->position();
@@ -99,12 +92,12 @@ static int getAABBOfSelection(glm::vec3& pos, glm::vec3& size, glm::vec3& min, g
     return count;
 }
 
-static std::shared_ptr<Part> getFirstSelectedPart() {
+static std::shared_ptr<BasePart> getFirstSelectedPart() {
     std::shared_ptr<Selection> selection = gDataModel->GetService<Selection>();
     for (std::weak_ptr<Instance> inst : selection->Get()) {
-        if (inst.expired() || !inst.lock()->IsA<Part>()) continue;
+        if (inst.expired() || !inst.lock()->IsA<BasePart>()) continue;
         
-        return inst.lock()->CastTo<Part>().expect();
+        return inst.lock()->CastTo<BasePart>().expect();
     }
 
     return {};

core/src/handles.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "datatypes/cframe.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include <array>
 #include <memory>
 
@@ -36,11 +36,11 @@ struct Handles {
     bool worldMode = false;
 };
 
-std::shared_ptr<Part> getHandleAdornee();
+std::shared_ptr<BasePart> getHandleAdornee();
 CFrame getHandleCFrame(HandleFace face);
 CFrame partCFrameFromHandlePos(HandleFace face, Vector3 newPos);
 Vector3 handleSize(HandleFace face);
-std::optional<HandleFace> raycastHandle(rp3d::Ray ray);
+std::optional<HandleFace> raycastHandle(Vector3 rayStart, Vector3 rayEnd);
 
 // Gets the cframe of the handle local to the center of the selected objects
 CFrame getLocalHandleCFrame(HandleFace face);

core/src/logger.cpp

@@ -9,26 +9,33 @@
 
 static std::ofstream logStream;
 static std::vector<Logger::LogListener> logListeners;
-static std::vector<Logger::TraceLogListener> traceLogListeners;
 std::string Logger::currentLogDir = "NULL";
+static std::stringstream* rawOutputBuffer = nullptr;
 
 void Logger::init() {
     initProgramLogsDir();
 
     const auto now = std::chrono::system_clock::now();
+    const auto nows = std::chrono::floor<std::chrono::seconds>(now);
 
-    std::string fileName = std::format("log_{0:%Y%m%d}_{0:%H%M%S}.txt", now);
+    std::string fileName = std::format("log_{0:%Y%m%d}_{0:%H%M%S}.txt", nows);
 
     logStream = std::ofstream(currentLogDir = (getProgramLogsDir() + "/" + fileName));
     Logger::debug("Logger initialized");
 }
 
+// Initializes the logger in a "void" mode for testing.
+// It is not necessary to call Logger::finish
+void Logger::initTest(std::stringstream* outputBuffer) {
+    rawOutputBuffer = outputBuffer;
+}
+
 void Logger::finish() {
     Logger::debug("Closing logger...");
     logStream.close();
 }
 
-void Logger::log(std::string message, Logger::LogLevel logLevel) {
+void Logger::log(std::string message, Logger::LogLevel logLevel, ScriptSource source) {
     std::string logLevelStr = logLevel == Logger::LogLevel::INFO ? "INFO" : 
         logLevel == Logger::LogLevel::DEBUG ? "DEBUG" :
         logLevel == Logger::LogLevel::TRACE ? "TRACE" :
@@ -42,9 +49,10 @@ void Logger::log(std::string message, Logger::LogLevel logLevel) {
 
     logStream << formattedLogLine << std::endl;
     printf("%s\n", formattedLogLine.c_str());
+    if (rawOutputBuffer != nullptr) *rawOutputBuffer << logLevelStr << ": " << message << "\n";
 
     for (Logger::LogListener listener : logListeners) {
-        listener(logLevel, message);
+        listener(logLevel, message, source);
     }
 
     if (logLevel == Logger::LogLevel::FATAL_ERROR) {
@@ -52,20 +60,10 @@ void Logger::log(std::string message, Logger::LogLevel logLevel) {
     }
 }
 
-void Logger::trace(std::string source, int line, void* userData) {
-    std::string message = "'" + source + "' Line " + std::to_string(line);
-
-    log(message, Logger::LogLevel::TRACE);
-
-    for (Logger::TraceLogListener listener : traceLogListeners) {
-        listener(message, source, line, userData);
-    }
-}
-
 void Logger::addLogListener(Logger::LogListener listener) {
     logListeners.push_back(listener);
 }
 
-void Logger::addLogListener(Logger::TraceLogListener listener) {
-    traceLogListeners.push_back(listener);
+void Logger::resetLogListeners() {
+    logListeners.clear();
 }

core/src/logger.h

@@ -1,9 +1,12 @@
 #pragma once
 
-#include <format>
 #include <functional>
+#include <memory>
+#include <ostream>
 #include <string>
 
+class Script;
+
 namespace Logger {
     enum class LogLevel {
         INFO,
@@ -14,32 +17,39 @@ namespace Logger {
         FATAL_ERROR,
     };
 
-    typedef std::function<void(LogLevel logLevel, std::string message)> LogListener;
-    typedef std::function<void(std::string message, std::string source, int line, void* userData)> TraceLogListener;
+    struct ScriptSource {
+        std::shared_ptr<Script> script;
+        int line;
+    };
+
+    typedef std::function<void(LogLevel logLevel, std::string message, ScriptSource source)> LogListener;
 
     extern std::string currentLogDir;
 
     void init();
+    void initTest(std::stringstream* out); // Testing only!
     void finish();
     void addLogListener(LogListener);
-    void addLogListener(TraceLogListener);
+    void resetLogListeners(); // Testing only!
 
-    void log(std::string message, LogLevel logLevel);
+    void log(std::string message, LogLevel logLevel, ScriptSource source = {});
     inline void info(std::string message) { log(message, LogLevel::INFO); }
     inline void debug(std::string message) { log(message, LogLevel::DEBUG); }
     inline void warning(std::string message) { log(message, LogLevel::WARNING); }
     inline void error(std::string message) { log(message, LogLevel::ERROR); }
     inline void fatalError(std::string message) { log(message, LogLevel::FATAL_ERROR); }
+    inline void trace(std::string message) { log(message, LogLevel::TRACE); };
 
-    inline void traceStart() { log("Stack start", LogLevel::TRACE); }
-    inline void traceEnd() { log("Stack end", LogLevel::TRACE); }
-    void trace(std::string source, int line, void* userData = nullptr);
+    template <typename ...Args>
+    void scriptLogf(std::string format, LogLevel logLevel, ScriptSource source, Args&&... args) {
+        char message[200];
+        sprintf(message, format.c_str(), args...);
+        log(message, logLevel, source);
+    }
 
     template <typename ...Args>
     void logf(std::string format, LogLevel logLevel, Args&&... args) {
-        char message[200];
-        sprintf(message, format.c_str(), args...);
-        log(message, logLevel);
+        scriptLogf(format, logLevel, {}, args...);
     }
 
     template <typename ...Args> inline void infof(std::string format, Args&&... args) { logf(format, LogLevel::INFO, args...); }

core/src/luaapis.h

@@ -6,6 +6,8 @@ extern "C" {
     #include <lua.h>
 }
 
+LUALIB_API void *(luaL_testudata) (lua_State *L, int ud, const char *tname);
+
 inline const char* x_luaL_udatatname (lua_State *L, int ud) {
   void *p = lua_touserdata(L, ud);
   if (p != NULL) {
@@ -17,3 +19,5 @@ inline const char* x_luaL_udatatname (lua_State *L, int ud) {
   }
   return NULL;
 }
+
+#define LUA_OK 0

core/src/math_helper.cpp

@@ -2,9 +2,65 @@
 
 #define CMP_EPSILON 0.00001
 
+
+void expandAABB(glm::vec3& min, glm::vec3& max, glm::vec3 point) {
+	min = glm::vec3(glm::min(min.x, point.x), glm::min(min.y, point.y), glm::min(min.z, point.z));
+	max = glm::vec3(glm::max(max.x, point.x), glm::max(max.y, point.y), glm::max(max.z, point.z));
+}
+
+void computeAABBFromPoints(glm::vec3& min, glm::vec3& max, glm::vec3* points, int count) {
+	if (count == 0) return;
+
+	min = points[0];
+	max = points[0];
+
+	for (int i = 0; i < count; i++) {
+		min = glm::vec3(glm::min(min.x, points[i].x), glm::min(min.y, points[i].y), glm::min(min.z, points[i].z));
+		max = glm::vec3(glm::max(max.x, points[i].x), glm::max(max.y, points[i].y), glm::max(max.z, points[i].z));
+	}
+}
+
+void getAABBCoords(glm::vec3 &pos, glm::vec3 &size, glm::vec3 min, glm::vec3 max) {
+	pos = (max + min) / 2.f;
+	size = (max - min);
+}
+
+
+// ==================== THIRD-PARTY SOURCE CODE ==================== //
+
 // After a long time researching, I was able to use and adapt Godot's implementation of movable handles (godot/editor/plugins/gizmos/gizmo_3d_helper.cpp)
 // All thanks goes to them and David Eberly for his algorithm.
 
+/**************************************************************************/
+/*  geometry_3d.cpp                                                       */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
 void get_closest_points_between_segments(const glm::vec3 &p_p0, const glm::vec3 &p_p1, const glm::vec3 &p_q0, const glm::vec3 &p_q1, glm::vec3 &r_ps, glm::vec3 &r_qt) {
     // Based on David Eberly's Computation of Distance Between Line Segments algorithm.
 
@@ -102,24 +158,83 @@ void get_closest_points_between_segments(const glm::vec3 &p_p0, const glm::vec3
 	r_qt = (1 - t) * p_q0 + t * p_q1;
 }
 
-void expandAABB(glm::vec3& min, glm::vec3& max, glm::vec3 point) {
-	min = glm::vec3(glm::min(min.x, point.x), glm::min(min.y, point.y), glm::min(min.z, point.z));
-	max = glm::vec3(glm::max(max.x, point.x), glm::max(max.y, point.y), glm::max(max.z, point.z));
+// https://github.com/erich666/GraphicsGems/tree/master?tab=License-1-ov-file#readme
+// Note: The code below predates open source
+
+/*
+ * EULA: The Graphics Gems code is copyright-protected. In other words, you cannot claim the text of the code as your own
+ * and resell it. Using the code is permitted in any program, product, or library, non-commercial or commercial. Giving
+ * credit is not required, though is a nice gesture. The code comes as-is, and if there are any flaws or problems with
+ * any Gems code, nobody involved with Gems - authors, editors, publishers, or webmasters - are to be held responsible.
+ * Basically, don't be a jerk, and remember that anything free comes with no guarantee.
+ */
+
+/* 
+Fast Ray-Box Intersection
+by Andrew Woo
+from "Graphics Gems", Academic Press, 1990
+*/
+
+#define RIGHT	0
+#define LEFT	1
+#define MIDDLE	2
+
+bool HitBoundingBox(
+	glm::vec3 minB, glm::vec3 maxB,             /*box */
+	glm::vec3 origin, glm::vec3 dir,            /*ray */
+	glm::vec3 &coord                            /* hit point */
+) {
+	bool inside = true;
+	glm::vec3 quadrant;
+	int i;
+	int whichPlane;
+	glm::vec3 maxT;
+	glm::vec3 candidatePlane;
+
+	/* Find candidate planes; this loop can be avoided if
+   	rays cast all from the eye(assume perpsective view) */
+	for (i = 0; i < 3; i++)
+		if(origin[i] < minB[i]) {
+			quadrant[i] = LEFT;
+			candidatePlane[i] = minB[i];
+			inside = false;
+		}else if (origin[i] > maxB[i]) {
+			quadrant[i] = RIGHT;
+			candidatePlane[i] = maxB[i];
+			inside = false;
+		}else	{
+			quadrant[i] = MIDDLE;
 		}
 
-void computeAABBFromPoints(glm::vec3& min, glm::vec3& max, glm::vec3* points, int count) {
-	if (count == 0) return;
-
-	min = points[0];
-	max = points[0];
-
-	for (int i = 0; i < count; i++) {
-		min = glm::vec3(glm::min(min.x, points[i].x), glm::min(min.y, points[i].y), glm::min(min.z, points[i].z));
-		max = glm::vec3(glm::max(max.x, points[i].x), glm::max(max.y, points[i].y), glm::max(max.z, points[i].z));
-	}
+	/* Ray origin inside bounding box */
+	if (inside)	{
+		coord = origin;
+		return (true);
 	}
 
-void getAABBCoords(glm::vec3 &pos, glm::vec3 &size, glm::vec3 min, glm::vec3 max) {
-	pos = (max + min) / 2.f;
-	size = (max - min);
+
+	/* Calculate T distances to candidate planes */
+	for (i = 0; i < 3; i++)
+		if (quadrant[i] != MIDDLE && dir[i] !=0.)
+			maxT[i] = (candidatePlane[i]-origin[i]) / dir[i];
+		else
+			maxT[i] = -1.;
+
+	/* Get largest of the maxT's for final choice of intersection */
+	whichPlane = 0;
+	for (i = 1; i < 3; i++)
+		if (maxT[whichPlane] < maxT[i])
+			whichPlane = i;
+
+	/* Check final candidate actually inside box */
+	if (maxT[whichPlane] < 0.) return (false);
+	for (i = 0; i < 3; i++)
+		if (whichPlane != i) {
+			coord[i] = origin[i] + maxT[whichPlane] * dir[i];
+			if (coord[i] < minB[i] || coord[i] > maxB[i])
+				return (false);
+		} else {
+			coord[i] = candidatePlane[i];
+		}
+	return true;				/* ray hits box */
 }

core/src/math_helper.h

@@ -1,9 +1,20 @@
 #pragma once
 #include <glm/glm.hpp>
 
-// From godot/editor/plugins/gizmos/gizmo_3d_helper.h
-void get_closest_points_between_segments(const glm::vec3 &p_p0, const glm::vec3 &p_p1, const glm::vec3 &p_q0, const glm::vec3 &p_q1, glm::vec3 &r_ps, glm::vec3 &r_qt);
-
 void expandAABB(glm::vec3& min, glm::vec3& max, glm::vec3 point);
 void computeAABBFromPoints(glm::vec3& min, glm::vec3& max, glm::vec3* points, int count);
 void getAABBCoords(glm::vec3& pos, glm::vec3& size, glm::vec3 min, glm::vec3 max);
+
+// From godot/editor/plugins/gizmos/gizmo_3d_helper.h
+void get_closest_points_between_segments(const glm::vec3 &p_p0, const glm::vec3 &p_p1, const glm::vec3 &p_q0, const glm::vec3 &p_q1, glm::vec3 &r_ps, glm::vec3 &r_qt);
+
+/* 
+Fast Ray-Box Intersection
+by Andrew Woo
+from "Graphics Gems", Academic Press, 1990
+*/
+bool HitBoundingBox(
+	glm::vec3 minB, glm::vec3 maxB,             /*box */
+	glm::vec3 origin, glm::vec3 dir,            /*ray */
+	glm::vec3 &coord                            /* hit point */
+);

core/src/objects/base/instance.cpp

@@ -44,21 +44,16 @@ Instance::Instance(const InstanceType* type) {
 Instance::~Instance () {
 }
 
-template <typename T>
-std::weak_ptr<T> optional_to_weak(std::optional<std::shared_ptr<T>> a) {
-    return a ? a.value() : std::weak_ptr<T>();
-}
-
 // TODO: Test this
-bool Instance::ancestryContinuityCheck(std::optional<std::shared_ptr<Instance>> newParent) {
-    for (std::optional<std::shared_ptr<Instance>> currentParent = newParent; currentParent.has_value(); currentParent = currentParent.value()->GetParent()) {
-        if (currentParent.value() == this->shared_from_this())
+bool Instance::ancestryContinuityCheck(nullable std::shared_ptr<Instance> newParent) {
+    for (std::shared_ptr<Instance> currentParent = newParent; currentParent != nullptr; currentParent = currentParent->GetParent()) {
+        if (currentParent == this->shared_from_this())
             return false;
     }
     return true;
 }
 
-bool Instance::SetParent(std::optional<std::shared_ptr<Instance>> newParent) {
+bool Instance::SetParent(nullable std::shared_ptr<Instance> newParent) {
     if (this->parentLocked || !ancestryContinuityCheck(newParent))
         return false;
 
@@ -70,10 +65,10 @@ bool Instance::SetParent(std::optional<std::shared_ptr<Instance>> newParent) {
         oldParent->children.erase(std::find(oldParent->children.begin(), oldParent->children.end(), this->shared_from_this()));
     }
     // Add ourselves to the new parent
-    if (newParent.has_value()) {
-        newParent.value()->children.push_back(this->shared_from_this());
+    if (newParent != nullptr) {
+        newParent->children.push_back(this->shared_from_this());
     }
-    this->parent = optional_to_weak(newParent);
+    this->parent = newParent;
     // TODO: Add code for sending signals for parent updates
     // TODO: Yeahhh maybe this isn't the best way of doing this?
     if (hierarchyPostUpdateHandler.has_value()) hierarchyPostUpdateHandler.value()(this->shared_from_this(), lastParent, newParent);
@@ -85,21 +80,21 @@ bool Instance::SetParent(std::optional<std::shared_ptr<Instance>> newParent) {
     return true;
 }
 
-void Instance::updateAncestry(std::optional<std::shared_ptr<Instance>> updatedChild, std::optional<std::shared_ptr<Instance>> newParent) {
+void Instance::updateAncestry(nullable std::shared_ptr<Instance> updatedChild, nullable std::shared_ptr<Instance> newParent) {
     auto oldDataModel = _dataModel;
     auto oldWorkspace = _workspace;
 
     // Update parent data model and workspace, if applicable
-    if (GetParent()) {
-        this->_dataModel = GetParent().value()->GetClass() == &DataModel::TYPE ? std::dynamic_pointer_cast<DataModel>(GetParent().value()) : GetParent().value()->_dataModel;
-        this->_workspace = GetParent().value()->GetClass() == &Workspace::TYPE ? std::dynamic_pointer_cast<Workspace>(GetParent().value()) : GetParent().value()->_workspace;
+    if (GetParent() != nullptr) {
+        this->_dataModel = GetParent()->GetClass() == &DataModel::TYPE ? std::dynamic_pointer_cast<DataModel>(GetParent()) : GetParent()->_dataModel;
+        this->_workspace = GetParent()->GetClass() == &Workspace::TYPE ? std::dynamic_pointer_cast<Workspace>(GetParent()) : GetParent()->_workspace;
     } else {
         this->_dataModel = {};
         this->_workspace = {};
     }
 
     OnAncestryChanged(updatedChild, newParent);
-    AncestryChanged->Fire({updatedChild.has_value() ? InstanceRef(updatedChild.value()) : InstanceRef(), newParent.has_value() ? InstanceRef(newParent.value()) : InstanceRef()});
+    AncestryChanged->Fire({updatedChild != nullptr ? InstanceRef(updatedChild) : InstanceRef(), newParent != nullptr ? InstanceRef(newParent) : InstanceRef()});
 
     // Old workspace used to exist, and workspaces differ
     if (!oldWorkspace.expired() && oldWorkspace != _workspace) {
@@ -108,7 +103,7 @@ void Instance::updateAncestry(std::optional<std::shared_ptr<Instance>> updatedCh
 
     // New workspace exists, and workspaces differ
     if (!_workspace.expired() && (_workspace != oldWorkspace)) {
-        OnWorkspaceAdded(!oldWorkspace.expired() ? std::make_optional(oldWorkspace.lock()) : std::nullopt, _workspace.lock());
+        OnWorkspaceAdded(oldWorkspace.expired() ? nullptr : oldWorkspace.lock(), _workspace.lock());
     }
 
     // Update ancestry in descendants
@@ -117,23 +112,22 @@ void Instance::updateAncestry(std::optional<std::shared_ptr<Instance>> updatedCh
     }
 }
 
-std::optional<std::shared_ptr<DataModel>> Instance::dataModel() {
-    return (_dataModel.expired()) ? std::nullopt : std::make_optional(_dataModel.lock());
+nullable std::shared_ptr<DataModel> Instance::dataModel() {
+    return _dataModel.expired() ? nullptr : _dataModel.lock();
 }
 
-std::optional<std::shared_ptr<Workspace>> Instance::workspace() {
-    return (_workspace.expired()) ? std::nullopt : std::make_optional(_workspace.lock());
+nullable std::shared_ptr<Workspace> Instance::workspace() {
+    return _workspace.expired() ? nullptr : _workspace.lock();
 }
 
-std::optional<std::shared_ptr<Instance>> Instance::GetParent() {
-    if (parent.expired()) return std::nullopt;
-    return parent.lock();
+nullable std::shared_ptr<Instance> Instance::GetParent() {
+    return parent.expired() ? nullptr : parent.lock();
 }
 
 void Instance::Destroy() {
     if (parentLocked) return;
     // TODO: Implement proper distruction stuff
-    SetParent(std::nullopt);
+    SetParent(nullptr);
     parentLocked = true;
 }
 
@@ -143,12 +137,12 @@ bool Instance::IsA(std::string className) {
     return cur != nullptr;
 }
 
-std::optional<std::shared_ptr<Instance>> Instance::FindFirstChild(std::string name) {
+nullable std::shared_ptr<Instance> Instance::FindFirstChild(std::string name) {
     for (auto child : children) {
         if (child->name == name)
             return child;
     }
-    return std::nullopt;
+    return nullptr;
 }
 
 static std::shared_ptr<Instance> DUMMY_INSTANCE;
@@ -164,15 +158,15 @@ bool Instance::IsParentLocked() {
     return this->parentLocked;
 }
 
-void Instance::OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) {
+void Instance::OnParentUpdated(nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent) {
     // Empty stub
 }
 
-void Instance::OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) {
+void Instance::OnAncestryChanged(nullable std::shared_ptr<Instance> child, nullable std::shared_ptr<Instance> newParent) {
     // Empty stub
 }
 
-void Instance::OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) {
+void Instance::OnWorkspaceAdded(nullable std::shared_ptr<Workspace> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) {
     // Empty stub
 }
 
@@ -230,7 +224,7 @@ fallible<MemberNotFound, AssignToReadOnlyMember> Instance::InternalSetPropertyVa
         this->name = (std::string)value.get<std::string>();
     } else if (name == "Parent") {
         std::weak_ptr<Instance> ref = value.get<InstanceRef>();
-        SetParent(ref.expired() ? std::nullopt : std::make_optional(ref.lock()));
+        SetParent(ref.expired() ? nullptr : ref.lock());
     } else if (name == "ClassName") {
         return AssignToReadOnlyMember(GetClass()->className, name);
     } else {
@@ -430,9 +424,9 @@ DescendantsIterator::self_type DescendantsIterator::operator++(int _) {
     }
 
     // If we've hit the end of this item's children, move one up
-    while (current->GetParent() && current->GetParent().value()->GetChildren().size() <= size_t(siblingIndex.back() + 1)) {
+    while (current->GetParent() != nullptr && current->GetParent()->GetChildren().size() <= size_t(siblingIndex.back() + 1)) {
         siblingIndex.pop_back();
-        current = current->GetParent().value();
+        current = current->GetParent();
 
         // But not if one up is null or the root element
         if (!current->GetParent() || current == root) {
@@ -443,12 +437,12 @@ DescendantsIterator::self_type DescendantsIterator::operator++(int _) {
 
     // Now move to the next sibling
     siblingIndex.back()++;
-    current = current->GetParent().value()->GetChildren()[siblingIndex.back()];
+    current = current->GetParent()->GetChildren()[siblingIndex.back()];
 
     return *this;
 }
 
-std::optional<std::shared_ptr<Instance>> Instance::Clone(RefStateClone state) {
+nullable std::shared_ptr<Instance> Instance::Clone(RefStateClone state) {
     if (state == nullptr) state = std::make_shared<__RefStateClone>();
     std::shared_ptr<Instance> newInstance = GetClass()->constructor();
 
@@ -494,9 +488,9 @@ std::optional<std::shared_ptr<Instance>> Instance::Clone(RefStateClone state) {
 
     // Clone children
     for (std::shared_ptr<Instance> child : GetChildren()) {
-        std::optional<std::shared_ptr<Instance>> clonedChild = child->Clone(state);
+        nullable std::shared_ptr<Instance> clonedChild = child->Clone(state);
         if (clonedChild)
-            newInstance->AddChild(clonedChild.value());
+            newInstance->AddChild(clonedChild);
     }
 
     return newInstance;
@@ -521,12 +515,12 @@ std::vector<std::pair<std::string, std::shared_ptr<Instance>>> Instance::GetRefe
 
 std::string Instance::GetFullName() {
     std::string currentName = name;
-    std::optional<std::shared_ptr<Instance>> currentParent = GetParent();
+    nullable std::shared_ptr<Instance> currentParent = GetParent();
 
-    while (currentParent.has_value() && !currentParent.value()->IsA("DataModel")) {
-        currentName = currentParent.value()->name + "." + currentName;
+    while (currentParent && !currentParent->IsA("DataModel")) {
+        currentName = currentParent->name + "." + currentName;
 
-        currentParent = currentParent.value()->GetParent();
+        currentParent = currentParent->GetParent();
     }
 
     return currentName;

core/src/objects/base/instance.h

@@ -16,6 +16,7 @@
 #include "error/result.h"
 #include "member.h"
 #include "objects/base/refstate.h"
+#include "utils.h"
 
 class Instance;
 typedef std::shared_ptr<Instance>(*InstanceConstructor)();
@@ -59,8 +60,8 @@ private:
     std::weak_ptr<DataModel> _dataModel;
     std::weak_ptr<Workspace> _workspace;
 
-    bool ancestryContinuityCheck(std::optional<std::shared_ptr<Instance>> newParent);
-    void updateAncestry(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent);
+    bool ancestryContinuityCheck(nullable std::shared_ptr<Instance> newParent);
+    void updateAncestry(nullable std::shared_ptr<Instance> child, nullable std::shared_ptr<Instance> newParent);
 
     friend JointInstance; // This isn't ideal, but oh well
 protected:
@@ -75,17 +76,17 @@ protected:
     virtual void InternalUpdateProperty(std::string name);
     virtual std::vector<std::string> InternalGetProperties();
 
-    virtual void OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent);
-    virtual void OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent);
-    virtual void OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWorkspace, std::shared_ptr<Workspace> newWorkspace);
+    virtual void OnParentUpdated(nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent);
+    virtual void OnAncestryChanged(nullable std::shared_ptr<Instance> child, nullable std::shared_ptr<Instance> newParent);
+    virtual void OnWorkspaceAdded(nullable std::shared_ptr<Workspace> oldWorkspace, std::shared_ptr<Workspace> newWorkspace);
     virtual void OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace);
 
     // The root data model this object is a descendant of
-    std::optional<std::shared_ptr<DataModel>> dataModel();
+    nullable std::shared_ptr<DataModel> dataModel();
     // The root workspace this object is a descendant of
     // NOTE: This value is not necessarily present if dataModel is present
     // Objects under services other than workspace will NOT have this field set
-    std::optional<std::shared_ptr<Workspace>> workspace();
+    nullable std::shared_ptr<Workspace> workspace();
 public:
     const static InstanceType TYPE;
     std::string name;
@@ -96,8 +97,8 @@ public:
     // Instance is abstract, so it should not implement GetClass directly
     virtual const InstanceType* GetClass() = 0;
     static void PushLuaLibrary(lua_State*); // Defined in lua/instancelib.cpp
-    bool SetParent(std::optional<std::shared_ptr<Instance>> newParent);
-    std::optional<std::shared_ptr<Instance>> GetParent();
+    bool SetParent(nullable std::shared_ptr<Instance> newParent);
+    nullable std::shared_ptr<Instance> GetParent();
     bool IsParentLocked();
     inline const std::vector<std::shared_ptr<Instance>> GetChildren() { return children; }
     void Destroy();
@@ -111,7 +112,7 @@ public:
     DescendantsIterator GetDescendantsEnd();
     // Utility functions
     inline void AddChild(std::shared_ptr<Instance> object) { object->SetParent(this->shared_from_this()); }
-    std::optional<std::shared_ptr<Instance>> FindFirstChild(std::string);
+    nullable std::shared_ptr<Instance> FindFirstChild(std::string);
     std::string GetFullName();
 
     // Properties
@@ -136,7 +137,7 @@ public:
     // Serialization
     void Serialize(pugi::xml_node parent, RefStateSerialize state = {});
     static result<std::shared_ptr<Instance>, NoSuchInstance> Deserialize(pugi::xml_node node, RefStateDeserialize state = {});
-    std::optional<std::shared_ptr<Instance>> Clone(RefStateClone state = {});
+    nullable std::shared_ptr<Instance> Clone(RefStateClone state = {});
 };
 
 // https://gist.github.com/jeetsukumaran/307264
@@ -158,7 +159,7 @@ public:
 
     self_type operator++(int _);
 private:
-    std::optional<std::shared_ptr<Instance>> root;
+    nullable std::shared_ptr<Instance> root;
     std::shared_ptr<Instance> current;
     std::vector<int> siblingIndex;
 };

core/src/objects/base/service.cpp

@@ -7,9 +7,9 @@
 Service::Service(const InstanceType* type) : Instance(type) {}
 
 // Fail if parented to non-datamodel, otherwise lock parent
-void Service::OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) {
-    if (!newParent || newParent.value()->GetClass() != &DataModel::TYPE) {
-        Logger::fatalErrorf("Service %s was parented to object of type %s", GetClass()->className.c_str(), newParent ? newParent.value()->GetClass()->className.c_str() : "NULL");
+void Service::OnParentUpdated(nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent) {
+    if (!newParent || newParent->GetClass() != &DataModel::TYPE) {
+        Logger::fatalErrorf("Service %s was parented to object of type %s", GetClass()->className.c_str(), newParent ? newParent->GetClass()->className.c_str() : "NULL");
         panic();
     }
 

core/src/objects/base/service.h

@@ -13,7 +13,7 @@ protected:
     virtual void InitService();
     virtual void OnRun();
 
-    void OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) override;
+    void OnParentUpdated(nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent) override;
 
     friend class DataModel;
 };

core/src/objects/datamodel.cpp

@@ -20,6 +20,12 @@ DataModel::DataModel()
     this->name = "Place";
 }
 
+DataModel::~DataModel() {
+#ifndef NDEBUG
+    printf("Datamodel successfully destroyed\n");
+#endif
+}
+
 void DataModel::Init(bool runMode) {
     // Create default services
     GetService<Workspace>();
@@ -107,14 +113,14 @@ result<std::shared_ptr<Service>, NoSuchService> DataModel::GetService(std::strin
     return std::dynamic_pointer_cast<Service>(services[className]);
 }
 
-result<std::optional<std::shared_ptr<Service>>, NoSuchService> DataModel::FindService(std::string className) {
+result<nullable std::shared_ptr<Service>, NoSuchService> DataModel::FindService(std::string className) {
     if (!INSTANCE_MAP[className] || (INSTANCE_MAP[className]->flags ^ (INSTANCE_NOTCREATABLE | INSTANCE_SERVICE)) != 0) {
         return NoSuchService(className);
     }
 
     if (services.count(className) != 0)
-        return std::make_optional(std::dynamic_pointer_cast<Service>(services[className]));
-    return (std::optional<std::shared_ptr<Service>>)std::nullopt;
+        return std::dynamic_pointer_cast<Service>(services[className]);
+    return nullptr;
 }
 
 std::shared_ptr<DataModel> DataModel::CloneModel() {
@@ -166,11 +172,11 @@ std::shared_ptr<DataModel> DataModel::CloneModel() {
         if (!result)
             continue;
 
-        newModel->AddChild(result.value());
+        newModel->AddChild(result);
 
         // Special case: Ignore instances parented to DataModel which are not services
         if (child->GetClass()->flags & INSTANCE_SERVICE) {
-            newModel->services[child->GetClass()->className] = std::dynamic_pointer_cast<Service>(result.value());            
+            newModel->services[child->GetClass()->className] = std::dynamic_pointer_cast<Service>(result);
         }
     }
 

core/src/objects/datamodel.h

@@ -24,12 +24,13 @@ public:
     std::optional<std::string> currentFile;
 
     DataModel();
+    ~DataModel();
     void Init(bool runMode = false);
 
     static inline std::shared_ptr<DataModel> New() { return std::make_shared<DataModel>(); };
 
     result<std::shared_ptr<Service>, NoSuchService> GetService(std::string className);
-    result<std::optional<std::shared_ptr<Service>>, NoSuchService> FindService(std::string className);
+    result<nullable std::shared_ptr<Service>, NoSuchService> FindService(std::string className);
 
     template <typename T>
     std::shared_ptr<T> GetService() {
@@ -38,10 +39,10 @@ public:
     }
 
     template <typename T>
-    std::optional<std::shared_ptr<T>> FindService() {
+    nullable std::shared_ptr<T> FindService() {
         auto result = FindService(T::TYPE.className).expect("FindService<T>() was called with a non-service instance type");
-        if (!result) return std::nullopt;
-        return std::dynamic_pointer_cast<T>(result.value());
+        if (!result) return nullptr;
+        return std::dynamic_pointer_cast<T>(result);
     }
 
     // Saving/loading

core/src/objects/hint.cpp

@@ -0,0 +1,4 @@
+#include "hint.h"
+
+Hint::Hint(): Message(&TYPE) {}
+Hint::~Hint() = default;

core/src/objects/hint.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "objects/annotation.h"
+#include "objects/base/instance.h"
+#include "objects/message.h"
+#include <memory>
+
+// Dims the player's screen and displays some centered text
+class DEF_INST_(explorer_icon="message") Hint : public Message {
+    AUTOGEN_PREAMBLE
+
+public:
+    Hint();
+    ~Hint();
+
+    static inline std::shared_ptr<Hint> New() { return std::make_shared<Hint>(); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Hint>(); };
+};

core/src/objects/joint/jointinstance.cpp

@@ -1,15 +1,11 @@
 #include "jointinstance.h"
 
-#include "datatypes/cframe.h"
 #include "datatypes/ref.h"
 #include "objects/datamodel.h"
 #include "objects/service/jointsservice.h"
-#include "objects/part.h"
+#include "objects/part/basepart.h"
 #include "objects/service/workspace.h"
 #include <memory>
-#include <reactphysics3d/constraint/FixedJoint.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
-#include "ptr_helpers.h"
 
 JointInstance::JointInstance(const InstanceType* type): Instance(type) {
 }
@@ -17,43 +13,49 @@ JointInstance::JointInstance(const InstanceType* type): Instance(type) {
 JointInstance::~JointInstance() {
 }
 
-void JointInstance::OnAncestryChanged(std::optional<std::shared_ptr<Instance>>, std::optional<std::shared_ptr<Instance>>) {
-    // Destroy and rebuild the joint, it's the simplest solution that actually works
-
-    breakJoint();
-    buildJoint();
+void JointInstance::OnAncestryChanged(nullable std::shared_ptr<Instance>, nullable std::shared_ptr<Instance>) {
+    Update();
 }
 
-void JointInstance::onUpdated(std::string property) {
-    // Add ourselves to the attached parts, or remove, if applicable
+void JointInstance::OnPartParamsUpdated() {
+}
 
-    // Parts differ, delete 
-    if (part0 != oldPart0 && !oldPart0.expired()) {
+void JointInstance::Update() {
+    // To keep it simple compared to our previous algorithm, this one is pretty barebones:
+    // 1. Every time we update, (whether our parent changed, or a property), destroy the current joints
+    // 2. If the new configuration is valid, rebuild our joints
+
+    if (!jointWorkspace.expired()) {
+        jointWorkspace.lock()->DestroyJoint(joint);
+        if (!oldPart0.expired())
             oldPart0.lock()->untrackJoint(shared<JointInstance>());
-    }
-
-    if (part1 != oldPart1 && !oldPart1.expired()) {
+        if (!oldPart1.expired())
             oldPart1.lock()->untrackJoint(shared<JointInstance>());
     }
 
-    // Parts differ, add 
-    if (part0 != oldPart0 && !part0.expired()) {
-        part0.lock()->trackJoint(shared<JointInstance>());
-    }
+    oldPart0 = part0;
+    oldPart1 = part1;
 
-    if (part1 != oldPart1 && !part1.expired()) {
+    // Don't build the joint if we're not part of either a workspace or JointsService
+    if ((!GetParent() || GetParent()->GetClass() != &JointsService::TYPE) && !workspace()) return;
+
+    // If either part is invalid or they are part of separate worlds, fail
+    if (part0.expired()
+        || part1.expired()
+        || !workspaceOfPart(part0.lock())
+        || !workspaceOfPart(part1.lock())
+        || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())
+    ) return;
+
+    // TODO: Add joint continuity check here
+
+    // Finally, build the joint
+    buildJoint();
+
+    part0.lock()->trackJoint(shared<JointInstance>());
     part1.lock()->trackJoint(shared<JointInstance>());
 }
 
-    // Destroy and rebuild the joint, if applicable
-
-    breakJoint();
-    buildJoint();
-
-    oldPart0 = part0;
-    oldPart1 = part1;
-}
-
-std::optional<std::shared_ptr<Workspace>> JointInstance::workspaceOfPart(std::shared_ptr<Part> part) {
+nullable std::shared_ptr<Workspace> JointInstance::workspaceOfPart(std::shared_ptr<BasePart> part) {
     return part->workspace();
 }

core/src/objects/joint/jointinstance.h

@@ -3,39 +3,46 @@
 #include "objects/base/instance.h"
 #include "../annotation.h"
 #include <memory>
-#include <optional>
 #include "datatypes/cframe.h"
+#include "physics/world.h"
 
 //this is necessary ebcause we use std::weak_ptr<Part> without including it in this file
 #ifdef __AUTOGEN_EXTRA_INCLUDES__
-#include "../part.h"
+#include "objects/part/part.h"
 #endif
 
-class Part;
+#define DEF_PROP_PHYS DEF_PROP_(on_update=onUpdated)
+
+class BasePart;
 class Workspace;
 
 class DEF_INST_ABSTRACT JointInstance : public Instance {
     AUTOGEN_PREAMBLE
 
-    std::weak_ptr<Part> oldPart0;
-    std::weak_ptr<Part> oldPart1;
+    std::weak_ptr<BasePart> oldPart0;
+    std::weak_ptr<BasePart> oldPart1;
 protected:
     // The workspace the joint was created in, if it exists
     std::weak_ptr<Workspace> jointWorkspace;
+    PhysJoint joint;
 
-    void OnAncestryChanged(std::optional<std::shared_ptr<Instance>>, std::optional<std::shared_ptr<Instance>>) override;
+    void OnAncestryChanged(nullable std::shared_ptr<Instance>, nullable std::shared_ptr<Instance>) override;
+
+    nullable std::shared_ptr<Workspace> workspaceOfPart(std::shared_ptr<BasePart>);
+    inline void onUpdated(std::string property) { Update(); };
 
-    std::optional<std::shared_ptr<Workspace>> workspaceOfPart(std::shared_ptr<Part>);
-    void onUpdated(std::string property);
     virtual void buildJoint() = 0;
-    virtual void breakJoint() = 0;
 public:
+    void Update();
+    virtual void OnPartParamsUpdated();
 
-    DEF_PROP_(on_update=onUpdated) std::weak_ptr<Part> part0;
-    DEF_PROP_(on_update=onUpdated) std::weak_ptr<Part> part1;
-    DEF_PROP_(on_update=onUpdated) CFrame c0;
-    DEF_PROP_(on_update=onUpdated) CFrame c1;
+    DEF_PROP_PHYS std::weak_ptr<BasePart> part0;
+    DEF_PROP_PHYS std::weak_ptr<BasePart> part1;
+    DEF_PROP_PHYS CFrame c0;
+    DEF_PROP_PHYS CFrame c1;
 
     JointInstance(const InstanceType*);
     ~JointInstance();
 };
+
+#undef DEF_PROP_PHYS

core/src/objects/joint/rotate.cpp

@@ -1,9 +1,8 @@
 #include "rotate.h"
 #include "objects/service/jointsservice.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/service/workspace.h"
 #include "rendering/renderer.h"
-#include <reactphysics3d/constraint/HingeJoint.h>
 
 Rotate::Rotate(): JointInstance(&TYPE) {
 }
@@ -13,35 +12,15 @@ Rotate::~Rotate() {
 static CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
 
 void Rotate::buildJoint() {
-    // Only if both parts are set, are not the same part, are part of a workspace, and are part of the same workspace, we build the joint
-    if (part0.expired() || part1.expired() || part0.lock() == part1.lock() || !workspaceOfPart(part0.lock()) || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())) return;
-
-    // Don't build the joint if we're not part of either a workspace or JointsService
-    if ((!GetParent() || GetParent().value()->GetClass() != &JointsService::TYPE) && !workspace()) return;
-
-    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock()).value();
+    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
 
     // Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
     // used to be rather than specifying an anchor rotation, so whatever.
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
-    workspace->SyncPartPhysics(part1.lock());
+
     // Do NOT use Abs() in this scenario. For some reason that breaks it
-    rp::HingeJointInfo jointInfo(part0.lock()->rigidBody, part1.lock()->rigidBody, (part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
-    this->joint = dynamic_cast<rp::HingeJoint*>(workspace->CreateJoint(jointInfo));
+    PhysRotatingJointInfo jointInfo(c0, c1);
+    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
-
-    // part1.lock()->rigidBody->getCollider(0)->setCollideWithMaskBits(0b10);
-    // part1.lock()->rigidBody->getCollider(0)->setCollisionCategoryBits(0b10);
-    // part0.lock()->rigidBody->getCollider(0)->setCollideWithMaskBits(0b01);
-    // part0.lock()->rigidBody->getCollider(0)->setCollisionCategoryBits(0b01);
-}
-
-// !!! REMINDER: This has to be called manually when parts are destroyed/removed from the workspace, or joints will linger
-void Rotate::breakJoint() {
-    // If the joint doesn't exist, or its workspace expired (not our problem anymore), then no need to do anything
-    if (!this->joint || jointWorkspace.expired()) return;
-
-    jointWorkspace.lock()->DestroyJoint(this->joint);
-    this->joint = nullptr;
 }

core/src/objects/joint/rotate.h

@@ -5,15 +5,10 @@
 #include "objects/joint/jointinstance.h"
 #include <memory>
 
-namespace reactphysics3d { class HingeJoint; }
-
 class DEF_INST Rotate : public JointInstance {
     AUTOGEN_PREAMBLE
 
-    reactphysics3d::HingeJoint* joint = nullptr;
-
     virtual void buildJoint() override;
-    virtual void breakJoint() override;
 public:
     Rotate();
     ~Rotate();

core/src/objects/joint/rotatev.cpp

@@ -1,9 +1,8 @@
 #include "rotatev.h"
 #include "objects/service/jointsservice.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/service/workspace.h"
 #include "rendering/renderer.h"
-#include <reactphysics3d/constraint/HingeJoint.h>
 
 #define PI 3.14159
 
@@ -15,39 +14,21 @@ RotateV::~RotateV() {
 static CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
 
 void RotateV::buildJoint() {
-    // Only if both parts are set, are not the same part, are part of a workspace, and are part of the same workspace, we build the joint
-    if (part0.expired() || part1.expired() || part0.lock() == part1.lock() || !workspaceOfPart(part0.lock()) || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())) return;
-
-    // Don't build the joint if we're not part of either a workspace or JointsService
-    if ((!GetParent() || GetParent().value()->GetClass() != &JointsService::TYPE) && !workspace()) return;
-
-    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock()).value();
-
+    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
 
     // Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
     // used to be rather than specifying an anchor rotation, so whatever.
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
-    workspace->SyncPartPhysics(part1.lock());
     // Do NOT use Abs() in this scenario. For some reason that breaks it
-    rp::HingeJointInfo jointInfo(part0.lock()->rigidBody, part1.lock()->rigidBody, (part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
+    float vel = part0.lock()->GetSurfaceParamB(-c0.LookVector().Unit()) * 6.28;
+    PhysRotatingJointInfo jointInfo(c0, c1, vel);
     
-    jointInfo.isCollisionEnabled = false;
-
-    this->joint = dynamic_cast<rp::HingeJoint*>(workspace->CreateJoint(jointInfo));
+    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
-
-
-    // part1.lock()->rigidBody->getCollider(0)->setCollideWithMaskBits(0b10);
-    // part1.lock()->rigidBody->getCollider(0)->setCollisionCategoryBits(0b10);
-    // part0.lock()->rigidBody->getCollider(0)->setCollideWithMaskBits(0b01);
-    // part0.lock()->rigidBody->getCollider(0)->setCollisionCategoryBits(0b01);
 }
 
-void RotateV::breakJoint() {
-    // If the joint doesn't exist, or its workspace expired (not our problem anymore), then no need to do anything
-    if (!this->joint || jointWorkspace.expired()) return;
-
-    jointWorkspace.lock()->DestroyJoint(this->joint);
-    this->joint = nullptr;
+void RotateV::OnPartParamsUpdated() {
+    float vel = part0.lock()->GetSurfaceParamB(-c0.LookVector().Unit()) * 6.28;
+    this->joint.setAngularVelocity(vel);
 }

core/src/objects/joint/rotatev.h

@@ -4,19 +4,17 @@
 #include "objects/base/instance.h"
 #include "objects/joint/jointinstance.h"
 #include <memory>
-namespace reactphysics3d { class HingeJoint; }
 
 class DEF_INST RotateV : public JointInstance {
     AUTOGEN_PREAMBLE
 
-    reactphysics3d::HingeJoint* joint = nullptr;
-
     virtual void buildJoint() override;
-    virtual void breakJoint() override;
 public:
     RotateV();
     ~RotateV();
 
+    void OnPartParamsUpdated() override;
+
     static inline std::shared_ptr<RotateV> New() { return std::make_shared<RotateV>(); };
     static inline std::shared_ptr<Instance> Create() { return std::make_shared<RotateV>(); };
 };

core/src/objects/joint/snap.cpp

@@ -4,11 +4,10 @@
 #include "objects/datamodel.h"
 #include "objects/joint/jointinstance.h"
 #include "objects/service/jointsservice.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/service/workspace.h"
+#include "physics/world.h"
 #include <memory>
-#include <reactphysics3d/constraint/FixedJoint.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
 
 Snap::Snap(): JointInstance(&TYPE) {
 }
@@ -17,30 +16,14 @@ Snap::~Snap() {
 }
 
 void Snap::buildJoint() {
-    // Only if both parts are set, are not the same part, are part of a workspace, and are part of the same workspace, we build the joint
-    if (part0.expired() || part1.expired() || part0.lock() == part1.lock() || !workspaceOfPart(part0.lock()) || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())) return;
-
-    // Don't build the joint if we're not part of either a workspace or JointsService
-    if ((!GetParent() || GetParent().value()->GetClass() != &JointsService::TYPE) && !workspace()) return;
-
-    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock()).value();
+    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
 
     // Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
     // used to be rather than specifying an anchor rotation, so whatever.
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
-    workspace->SyncPartPhysics(part1.lock());
 
-    rp::FixedJointInfo jointInfo(part0.lock()->rigidBody, part1.lock()->rigidBody, (c0.Inverse() * c1).Position());
-    this->joint = dynamic_cast<rp::FixedJoint*>(workspace->CreateJoint(jointInfo));
+    PhysFixedJointInfo jointInfo(c0, c1);
+    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
 }
-
-// !!! REMINDER: This has to be called manually when parts are destroyed/removed from the workspace, or joints will linger
-void Snap::breakJoint() {
-    // If the joint doesn't exist, or its workspace expired (not our problem anymore), then no need to do anything
-    if (!this->joint || jointWorkspace.expired()) return;
-
-    jointWorkspace.lock()->DestroyJoint(this->joint);
-    this->joint = nullptr;
-}

core/src/objects/joint/snap.h

@@ -5,15 +5,10 @@
 #include "objects/joint/jointinstance.h"
 #include <memory>
 
-namespace reactphysics3d { class FixedJoint; }
-
 class DEF_INST Snap : public JointInstance {
     AUTOGEN_PREAMBLE
 
-    reactphysics3d::FixedJoint* joint = nullptr;
-
     virtual void buildJoint() override;
-    virtual void breakJoint() override;
 public:
     Snap();
     ~Snap();

core/src/objects/joint/weld.cpp

@@ -4,11 +4,10 @@
 #include "objects/datamodel.h"
 #include "objects/joint/jointinstance.h"
 #include "objects/service/jointsservice.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/service/workspace.h"
+#include "physics/world.h"
 #include <memory>
-#include <reactphysics3d/constraint/FixedJoint.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
 
 Weld::Weld(): JointInstance(&TYPE) {
 }
@@ -17,30 +16,14 @@ Weld::~Weld() {
 }
 
 void Weld::buildJoint() {
-    // Only if both parts are set, are not the same part, are part of a workspace, and are part of the same workspace, we build the joint
-    if (part0.expired() || part1.expired() || part0.lock() == part1.lock() || !workspaceOfPart(part0.lock()) || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())) return;
-
-    // Don't build the joint if we're not part of either a workspace or JointsService
-    if ((!GetParent() || GetParent().value()->GetClass() != &JointsService::TYPE) && !workspace()) return;
-
-    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock()).value();
+    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock());
 
     // Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
     // used to be rather than specifying an anchor rotation, so whatever.
     CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
     part1.lock()->cframe = newFrame;
-    workspace->SyncPartPhysics(part1.lock());
 
-    rp::FixedJointInfo jointInfo(part0.lock()->rigidBody, part1.lock()->rigidBody, (c0.Inverse() * c1).Position());
-    this->joint = dynamic_cast<rp::FixedJoint*>(workspace->CreateJoint(jointInfo));
+    PhysFixedJointInfo jointInfo(c0, c1);
+    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
     jointWorkspace = workspace;
 }
-
-// !!! REMINDER: This has to be called manually when parts are destroyed/removed from the workspace, or joints will linger
-void Weld::breakJoint() {
-    // If the joint doesn't exist, or its workspace expired (not our problem anymore), then no need to do anything
-    if (!this->joint || jointWorkspace.expired()) return;
-
-    jointWorkspace.lock()->DestroyJoint(this->joint);
-    this->joint = nullptr;
-}

core/src/objects/joint/weld.h

@@ -5,15 +5,10 @@
 #include "objects/joint/jointinstance.h"
 #include <memory>
 
-namespace reactphysics3d { class FixedJoint; }
-
 class DEF_INST Weld : public JointInstance {
     AUTOGEN_PREAMBLE
 
-    reactphysics3d::FixedJoint* joint = nullptr;
-
     virtual void buildJoint() override;
-    virtual void breakJoint() override;
 public:
     Weld();
     ~Weld();

core/src/objects/message.cpp

@@ -0,0 +1,5 @@
+#include "message.h"
+
+Message::Message(const InstanceType* type) : Instance(type) {}
+Message::Message(): Instance(&TYPE) {}
+Message::~Message() = default;

core/src/objects/message.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "objects/annotation.h"
+#include "objects/base/instance.h"
+#include <memory>
+
+// Dims the player's screen and displays some centered text
+class DEF_INST_(explorer_icon="message") Message : public Instance {
+    AUTOGEN_PREAMBLE
+
+protected:
+    Message(const InstanceType* type);
+public:
+    Message();
+    ~Message();
+
+    DEF_PROP std::string text;
+
+    static inline std::shared_ptr<Message> New() { return std::make_shared<Message>(); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Message>(); };
+};

core/src/objects/meta.cpp

@@ -1,12 +1,15 @@
 #include "meta.h"
 #include "objects/folder.h"
+#include "objects/hint.h"
 #include "objects/joint/jointinstance.h"
 #include "objects/joint/rotate.h"
 #include "objects/joint/rotatev.h"
 #include "objects/joint/weld.h"
+#include "objects/message.h"
+#include "objects/part/wedgepart.h"
 #include "objects/service/jointsservice.h"
 #include "objects/model.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/joint/snap.h"
 #include "objects/script.h"
 #include "objects/service/script/scriptcontext.h"
@@ -19,7 +22,9 @@ std::map<std::string, const InstanceType*> INSTANCE_MAP = {
     { "Instance", &Instance::TYPE },
     { "DataModel", &DataModel::TYPE },
 
+    { "BasePart", &BasePart::TYPE },
     { "Part", &Part::TYPE },
+    { "WedgePart", &WedgePart::TYPE },
     { "Snap", &Snap::TYPE },
     { "Weld", &Weld::TYPE },
     { "Rotate", &Rotate::TYPE },
@@ -27,6 +32,8 @@ std::map<std::string, const InstanceType*> INSTANCE_MAP = {
     { "JointInstance", &JointInstance::TYPE },
     { "Script", &Script::TYPE },
     { "Model", &Model::TYPE },
+    { "Message", &Message::TYPE },
+    { "Hint", &Hint::TYPE },
     // { "Folder", &Folder::TYPE },
 
     // Services

core/src/objects/part/basepart.cpp

@@ -1,5 +1,5 @@
-#include "part.h"
-#include "base/instance.h"
+#include "basepart.h"
+#include "objects/base/instance.h"
 #include "common.h"
 #include "datatypes/base.h"
 #include "datatypes/cframe.h"
@@ -14,34 +14,29 @@
 #include "objects/joint/snap.h"
 #include "rendering/renderer.h"
 #include "enum/surface.h"
-#include <cstdio>
 #include <glm/common.hpp>
 #include <memory>
 #include <optional>
 
-Part::Part(): Part(PartConstructParams { .size = glm::vec3(2, 1.2, 4), .color = Color3(0.639216f, 0.635294f, 0.647059f) }) {
+BasePart::BasePart(const InstanceType* type): BasePart(type, PartConstructParams { .size = glm::vec3(4, 1.2, 2), .color = Color3(0.639216f, 0.635294f, 0.647059f) }) {
 }
 
-Part::Part(PartConstructParams params): PVInstance(&TYPE), cframe(CFrame::FromEulerAnglesXYZ((Vector3)params.rotation) + params.position),
+BasePart::BasePart(const InstanceType* type, PartConstructParams params): PVInstance(type), cframe(CFrame::FromEulerAnglesXYZ((Vector3)params.rotation) + params.position),
                                         size(params.size), color(params.color), anchored(params.anchored), locked(params.locked) {
-    
 }
 
-Part::~Part() {
-    // This relies on physicsCommon still existing. Be very careful.
-    if (this->rigidBody && workspace()) {
-        workspace().value()->DestroyRigidBody(rigidBody);
-        this->rigidBody = nullptr;
+BasePart::~BasePart() {
+    if (workspace() != nullptr) {
+        workspace()->RemoveBody(shared<BasePart>());
     }
 }
 
 
-void Part::OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) {
-    if (this->rigidBody)
-        this->rigidBody->setIsActive(workspace().has_value());
+void BasePart::OnAncestryChanged(nullable std::shared_ptr<Instance> child, nullable std::shared_ptr<Instance> newParent) {
+    this->rigidBody.setActive(workspace() != nullptr);
 
-    if (workspace())
-        workspace().value()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(this->shared_from_this()));
+    if (workspace() != nullptr)
+        workspace()->SyncPartPhysics(std::dynamic_pointer_cast<BasePart>(this->shared_from_this()));
 
     // Destroy joints
     if (!workspace()) BreakJoints();
@@ -49,28 +44,41 @@ void Part::OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std
     // TODO: Sleeping bodies that touch this one also need to be updated
 }
 
-void Part::OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) {
-    newWorkspace->AddBody(shared<Part>());
+void BasePart::OnWorkspaceAdded(nullable std::shared_ptr<Workspace> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) {
+    newWorkspace->AddBody(shared<BasePart>());
 }
 
-void Part::OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace) {
-    if (simulationTicket.has_value())
-        oldWorkspace->RemoveBody(shared<Part>());
+void BasePart::OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace) {
+    BreakJoints();
+    oldWorkspace->RemoveBody(shared<BasePart>());
 }
 
-void Part::onUpdated(std::string property) {
-    // Reset velocity
-    if (property != "Velocity")
-        velocity = Vector3::ZERO;
+void BasePart::onUpdated(std::string property) {
+    bool reset = property == "Position" || property == "Rotation" || property == "CFrame" || property == "Size" || property == "Shape";
 
-    if (workspace())
-        workspace().value()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(this->shared_from_this()));
+    // Sanitize size
+    // TODO: Replace this with a validator instead
+    if (property == "Size") {
+        size = glm::max((glm::vec3)size, glm::vec3(0.1f, 0.1f, 0.1f));
+    }
+    
+    if (workspace() != nullptr)
+        workspace()->SyncPartPhysics(std::dynamic_pointer_cast<BasePart>(this->shared_from_this()));
 
     // When position/rotation/size is manually edited, break all joints, they don't apply anymore
-    if (property != "Anchored")
+    if (reset)
         BreakJoints();
 }
 
+void BasePart::onParamUpdated(std::string property) {
+    // Send signal to joints to update themselves
+    for (std::weak_ptr<JointInstance> joint : primaryJoints) {
+        if (joint.expired()) continue;
+
+        joint.lock()->OnPartParamsUpdated();
+    }
+}
+
 // Expands provided extents to fit point
 static void expandMaxExtents(Vector3* min, Vector3* max, Vector3 point) {
     *min = Vector3(glm::min(min->X(), point.X()), glm::min(min->Y(), point.Y()), glm::min(min->Z(), point.Z()));
@@ -88,7 +96,7 @@ static Vector3 verts[8] {
     {1, 1, 1},
 };
 
-Vector3 Part::GetAABB() {
+Vector3 BasePart::GetAABB() {
     Vector3 min(0, 0, 0);
     Vector3 max(0, 0, 0);
     for (Vector3 vert : verts) {
@@ -99,7 +107,7 @@ Vector3 Part::GetAABB() {
     return (min - max).Abs() / 2;
 }
 
-void Part::BreakJoints() {
+void BasePart::BreakJoints() {
     for (std::weak_ptr<JointInstance> joint : primaryJoints) {
         if (joint.expired()) continue;
         joint.lock()->Destroy();
@@ -120,7 +128,7 @@ static Vector3 FACES[6] = {
     {0, 0, -1},
 };
 
-SurfaceType Part::surfaceFromFace(NormalId face) {
+SurfaceType BasePart::surfaceFromFace(NormalId face) {
     switch (face) {
         case Top: return topSurface;
         case Bottom: return bottomSurface;
@@ -132,7 +140,7 @@ SurfaceType Part::surfaceFromFace(NormalId face) {
     return SurfaceType::Smooth; // Unreachable
 }
 
-float Part::GetSurfaceParamA(Vector3 face) {
+float BasePart::GetSurfaceParamA(Vector3 face) {
     switch (faceFromNormal(face)) {
         case Top: return topParamA;
         case Bottom: return bottomParamA;
@@ -144,7 +152,7 @@ float Part::GetSurfaceParamA(Vector3 face) {
     return 0; // Unreachable
 }
 
-float Part::GetSurfaceParamB(Vector3 face) {
+float BasePart::GetSurfaceParamB(Vector3 face) {
     switch (faceFromNormal(face)) {
         case Top: return topParamB;
         case Bottom: return bottomParamB;
@@ -156,14 +164,18 @@ float Part::GetSurfaceParamB(Vector3 face) {
     return 0; // Unreachable
 }
 
-bool Part::checkJointContinuity(std::shared_ptr<Part> otherPart) {
+Vector3 BasePart::GetEffectiveSize() {
+    return size;
+}
+
+bool BasePart::checkJointContinuity(std::shared_ptr<BasePart> otherPart) {
     // Make sure that the two parts don't depend on one another
 
     return checkJointContinuityUp(otherPart) && checkJointContinuityDown(otherPart);
 }
 
-bool Part::checkJointContinuityDown(std::shared_ptr<Part> otherPart) {
-    if (shared<Part>() == otherPart) return false;
+bool BasePart::checkJointContinuityDown(std::shared_ptr<BasePart> otherPart) {
+    if (shared<BasePart>() == otherPart) return false;
     for (auto joint : primaryJoints) {
         if (joint.expired() || joint.lock()->part1.expired()) continue;
         if (!joint.lock()->part1.lock()->checkJointContinuityDown(otherPart))
@@ -172,8 +184,8 @@ bool Part::checkJointContinuityDown(std::shared_ptr<Part> otherPart) {
     return true;
 }
 
-bool Part::checkJointContinuityUp(std::shared_ptr<Part> otherPart) {
-    if (shared<Part>() == otherPart) return false;
+bool BasePart::checkJointContinuityUp(std::shared_ptr<BasePart> otherPart) {
+    if (shared<BasePart>() == otherPart) return false;
     for (auto joint : secondaryJoints) {
         if (joint.expired() || joint.lock()->part0.expired()) continue;
         if (!joint.lock()->part0.lock()->checkJointContinuityUp(otherPart))
@@ -182,7 +194,7 @@ bool Part::checkJointContinuityUp(std::shared_ptr<Part> otherPart) {
     return true;
 }
 
-bool Part::checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<Part> otherPart) {
+bool BasePart::checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<BasePart> otherPart) {
     Vector3 farCorner0 = surfaceFrame.Inverse() * otherPart->cframe * (Vector3::ONE * (otherPart->size / 2.f));
     Vector3 farCorner1 = surfaceFrame.Inverse() * otherPart->cframe * (-Vector3::ONE * (otherPart->size / 2.f));
     
@@ -205,7 +217,7 @@ bool Part::checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFa
     return horizOverlap && vertOverlap;
 }
 
-std::optional<std::shared_ptr<JointInstance>> makeJointFromSurfaces(SurfaceType a, SurfaceType b) {
+nullable std::shared_ptr<JointInstance> makeJointFromSurfaces(SurfaceType a, SurfaceType b) {
     if (a == SurfaceType::Weld || b == SurfaceType::Weld || a == SurfaceType::Glue || b == SurfaceType::Glue) return Weld::New();
     if ((a == SurfaceType::Studs && (b == SurfaceType::Inlet || b == SurfaceType::Universal))
     || (a == SurfaceType::Inlet && (b == SurfaceType::Studs || b == SurfaceType::Universal))
@@ -215,10 +227,10 @@ std::optional<std::shared_ptr<JointInstance>> makeJointFromSurfaces(SurfaceType
         return Rotate::New();
     if (a == SurfaceType::Motor)
         return RotateV::New();
-    return std::nullopt;
+    return nullptr;
 }
 
-void Part::MakeJoints() {
+void BasePart::MakeJoints() {
     // Algorithm: Find nearby parts
     // Make sure parts are not dependant on each other (via primary/secondaryJoints)
     // Find matching surfaces (surface normal dot product < -0.999)
@@ -230,11 +242,11 @@ void Part::MakeJoints() {
 
     // TEMPORARY
     // TODO: Use more efficient algorithm to *actually* find nearby parts)
-    for (auto it = workspace().value()->GetDescendantsStart(); it != workspace().value()->GetDescendantsEnd(); it++) {
+    for (auto it = workspace()->GetDescendantsStart(); it != workspace()->GetDescendantsEnd(); it++) {
         std::shared_ptr<Instance> obj = *it;
         if (obj == shared_from_this()) continue; // Skip ourselves
-        if (obj->GetClass()->className != "Part") continue; // TODO: Replace this with a .IsA call instead of comparing the class name directly
-        std::shared_ptr<Part> otherPart = obj->CastTo<Part>().expect();
+        if (!obj->IsA<BasePart>()) continue;
+        std::shared_ptr<BasePart> otherPart = obj->CastTo<BasePart>().expect();
 
         for (Vector3 myFace : FACES) {
             Vector3 myWorldNormal = cframe.Rotation() * myFace;
@@ -277,21 +289,23 @@ void Part::MakeJoints() {
 
                 auto joint_ = makeJointFromSurfaces(mySurface, otherSurface);
                 if (!joint_) continue;
-                std::shared_ptr<JointInstance> joint = joint_.value();
-                joint->part0 = shared<Part>();
-                joint->part1 = otherPart->shared<Part>();
+                std::shared_ptr<JointInstance> joint = joint_;
+                joint->part0 = shared<BasePart>();
+                joint->part1 = otherPart->shared<BasePart>();
                 joint->c0 = contact0;
                 joint->c1 = contact1;
-                dataModel().value()->GetService<JointsService>()->AddChild(joint);
+                // // If both parts touch directly, this can cause friction in Rotate and RotateV joints, so we leave a little extra space
+                // if (joint->IsA("Rotate") || joint->IsA("RotateV"))
+                //     joint->c1 = joint->c1 + joint->c1.LookVector() * 0.02f,
+                //     joint->c0 = joint->c0 - joint->c0.LookVector() * 0.02f;
+                dataModel()->GetService<JointsService>()->AddChild(joint);
                 joint->UpdateProperty("Part0");
-
-                Logger::debugf("Made joint between %s and %s!\n", name.c_str(), otherPart->name.c_str());
             }
         }
     }
 }
 
-void Part::trackJoint(std::shared_ptr<JointInstance> joint) {
+void BasePart::trackJoint(std::shared_ptr<JointInstance> joint) {
     if (!joint->part0.expired() && joint->part0.lock() == shared_from_this()) {
         for (auto it = primaryJoints.begin(); it != primaryJoints.end();) {
             // Clean expired refs
@@ -325,7 +339,7 @@ void Part::trackJoint(std::shared_ptr<JointInstance> joint) {
     }
 }
 
-void Part::untrackJoint(std::shared_ptr<JointInstance> joint) {
+void BasePart::untrackJoint(std::shared_ptr<JointInstance> joint) {
     for (auto it = primaryJoints.begin(); it != primaryJoints.end();) {
         // Clean expired refs
         if (it->expired() || it->lock() == joint) {

core/src/objects/part/basepart.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <list>
 #include <memory>
 #include <glm/glm.hpp>
 #include <glm/ext.hpp>
@@ -10,14 +9,14 @@
 #include "datatypes/vector.h"
 #include "objects/base/instance.h"
 #include "enum/surface.h"
-#include <mutex>
-#include <optional>
-#include <reactphysics3d/reactphysics3d.h>
 #include <vector>
-#include "annotation.h"
+#include "objects/annotation.h"
 #include "objects/pvinstance.h"
+#include "physics/world.h"
 
-namespace rp = reactphysics3d;
+// Common macro for part properties
+#define DEF_PROP_PHYS DEF_PROP_(on_update=onUpdated)
+#define DEF_PROP_PHYSPARAM DEF_PROP_(on_update=onParamUpdated)
 
 // For easy construction from C++. Maybe should be removed?
 struct PartConstructParams {
@@ -30,15 +29,9 @@ struct PartConstructParams {
     bool locked = false;
 };
 
-class Workspace;
+class PhysWorld;
 
-#ifndef __SIMULATION_TICKET
-#define __SIMULATION_TICKET
-class Part;
-typedef std::list<std::shared_ptr<Part>>::iterator SimulationTicket;
-#endif
-
-class DEF_INST_(explorer_icon="part") Part : public PVInstance {
+class DEF_INST_ABSTRACT_(explorer_icon="part") BasePart : public PVInstance {
     AUTOGEN_PREAMBLE
 protected:
     // Joints where this part is Part0
@@ -50,36 +43,41 @@ protected:
     void untrackJoint(std::shared_ptr<JointInstance>);
 
     SurfaceType surfaceFromFace(NormalId);
-    bool checkJointContinuity(std::shared_ptr<Part>);
-    bool checkJointContinuityUp(std::shared_ptr<Part>);
-    bool checkJointContinuityDown(std::shared_ptr<Part>);
-    bool checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<Part> otherPart); 
+    bool checkJointContinuity(std::shared_ptr<BasePart>);
+    bool checkJointContinuityUp(std::shared_ptr<BasePart>);
+    bool checkJointContinuityDown(std::shared_ptr<BasePart>);
+    bool checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<BasePart> otherPart); 
 
     friend JointInstance;
-    friend Workspace;
+    friend PhysWorld;
 
-    virtual void OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) override;
+    virtual void OnWorkspaceAdded(nullable std::shared_ptr<Workspace> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) override;
     virtual void OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace) override;
-    void OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) override;
+    void OnAncestryChanged(nullable std::shared_ptr<Instance> child, nullable std::shared_ptr<Instance> newParent) override;
     void onUpdated(std::string);
+    void onParamUpdated(std::string);
+
+    BasePart(const InstanceType*);
+    BasePart(const InstanceType*, PartConstructParams params);
 public:
     DEF_PROP_CATEGORY(DATA)
-    DEF_PROP_(on_update=onUpdated) Vector3 velocity;
+    DEF_PROP_PHYS Vector3 velocity;
     [[ def_prop(name="CFrame", on_update=onUpdated), cframe_position_prop(name="Position"), cframe_rotation_prop(name="Rotation") ]]
     CFrame cframe;
 
     DEF_PROP_CATEGORY(PART)
     // Special compatibility changes for this property were made in
     // Instance::Serialize
-    DEF_PROP_(on_update=onUpdated) Vector3 size;
+    DEF_PROP_PHYS Vector3 size;
 
     DEF_PROP_CATEGORY(APPEARANCE)
     DEF_PROP Color3 color;
     DEF_PROP float transparency = 0.f;
+    DEF_PROP float reflectance = 0.f;
     
     DEF_PROP_CATEGORY(BEHAVIOR)
-    DEF_PROP_(on_update=onUpdated) bool anchored = false;
-    DEF_PROP_(on_update=onUpdated) bool canCollide = true;
+    DEF_PROP_PHYS bool anchored = false;
+    DEF_PROP_PHYS bool canCollide = true;
     DEF_PROP bool locked = false;
 
     DEF_PROP_CATEGORY(SURFACE)
@@ -91,38 +89,31 @@ public:
     DEF_PROP SurfaceType backSurface = SurfaceType::Smooth;
 
     DEF_PROP_CATEGORY(SURFACE_INPUT)
-    DEF_PROP float topParamA = -0.5;
-    DEF_PROP float bottomParamA = -0.5;
-    DEF_PROP float leftParamA = -0.5;
-    DEF_PROP float rightParamA = -0.5;
-    DEF_PROP float frontParamA = -0.5;
-    DEF_PROP float backParamA = -0.5;
+    DEF_PROP_PHYSPARAM float topParamA = -0.5;
+    DEF_PROP_PHYSPARAM float bottomParamA = -0.5;
+    DEF_PROP_PHYSPARAM float leftParamA = -0.5;
+    DEF_PROP_PHYSPARAM float rightParamA = -0.5;
+    DEF_PROP_PHYSPARAM float frontParamA = -0.5;
+    DEF_PROP_PHYSPARAM float backParamA = -0.5;
 
-    DEF_PROP float topParamB = 0.5;
-    DEF_PROP float bottomParamB = 0.5;
-    DEF_PROP float leftParamB = 0.5;
-    DEF_PROP float rightParamB = 0.5;
-    DEF_PROP float frontParamB = 0.5;
-    DEF_PROP float backParamB = 0.5;
+    DEF_PROP_PHYSPARAM float topParamB = 0.5;
+    DEF_PROP_PHYSPARAM float bottomParamB = 0.5;
+    DEF_PROP_PHYSPARAM float leftParamB = 0.5;
+    DEF_PROP_PHYSPARAM float rightParamB = 0.5;
+    DEF_PROP_PHYSPARAM float frontParamB = 0.5;
+    DEF_PROP_PHYSPARAM float backParamB = 0.5;
 
     DEF_SIGNAL SignalSource Touched;
     DEF_SIGNAL SignalSource TouchEnded;
 
-    rp::RigidBody* rigidBody = nullptr;
-    std::optional<SimulationTicket> simulationTicket;
-    bool rigidBodyDirty = true;
+    PhysRigidBody rigidBody;
     
     inline SurfaceType GetSurfaceFromFace(NormalId face) { return surfaceFromFace(face); }
     float GetSurfaceParamA(Vector3 face);
     float GetSurfaceParamB(Vector3 face);
+    virtual Vector3 GetEffectiveSize();
 
-    Part();
-    Part(PartConstructParams params);
-    ~Part() override;
-
-    static inline std::shared_ptr<Part> New() { return std::make_shared<Part>(); };
-    static inline std::shared_ptr<Part> New(PartConstructParams params) { return std::make_shared<Part>(params); };
-    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Part>(); };
+    ~BasePart() override;
 
     inline Vector3 position() { return cframe.Position(); }
 
@@ -132,3 +123,6 @@ public:
     // Calculate size of axis-aligned bounding box
     Vector3 GetAABB();
 };
+
+#undef DEF_PROP_PHYS
+#undef DEF_PROP_PHYSPARAM

core/src/objects/part/part.cpp

@@ -0,0 +1,22 @@
+#include "part.h"
+#include "enum/part.h"
+#include <glm/common.hpp>
+
+Part::Part(): BasePart(&TYPE) {
+}
+
+Part::Part(PartConstructParams params): BasePart(&TYPE, params) {
+}
+
+Vector3 Part::GetEffectiveSize() {
+    float diameter;
+    switch (shape) {
+    case PartType::Ball:
+        return (Vector3)glm::vec3(glm::min(size.X(), size.Y(), size.Z()));
+    case PartType::Cylinder:
+        diameter = glm::min(size.Y(), size.Z());
+        return Vector3(size.X(), diameter, diameter);
+    default:
+        return size;
+    }
+}

core/src/objects/part/part.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "basepart.h"
+#include "enum/part.h"
+#include "objects/annotation.h"
+
+class DEF_INST Part : public BasePart {
+    AUTOGEN_PREAMBLE
+protected:
+
+public:
+    Part();
+    Part(PartConstructParams params);
+
+    DEF_PROP_(on_update=onUpdated) PartType shape = PartType::Block;
+
+    Vector3 GetEffectiveSize() override;
+
+    static inline std::shared_ptr<Part> New() { return std::make_shared<Part>(); };
+    static inline std::shared_ptr<Part> New(PartConstructParams params) { return std::make_shared<Part>(params); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Part>(); };
+};

core/src/objects/part/wedgepart.cpp

@@ -0,0 +1,6 @@
+#include "wedgepart.h"
+
+WedgePart::WedgePart(): BasePart(&TYPE) {
+}
+
+WedgePart::WedgePart(PartConstructParams params): BasePart(&TYPE, params) {}

core/src/objects/part/wedgepart.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "basepart.h"
+#include "objects/annotation.h"
+
+class DEF_INST WedgePart : public BasePart {
+    AUTOGEN_PREAMBLE
+
+public:
+    WedgePart();
+    WedgePart(PartConstructParams params);
+
+    static inline std::shared_ptr<WedgePart> New() { return std::make_shared<WedgePart>(); };
+    static inline std::shared_ptr<WedgePart> New(PartConstructParams params) { return std::make_shared<WedgePart>(params); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<WedgePart>(); };
+};

core/src/objects/script.cpp

@@ -1,5 +1,6 @@
 #include "script.h"
 #include "common.h"
+#include "datatypes/variant.h"
 #include "lauxlib.h"
 #include "logger.h"
 #include "objects/base/instance.h"
@@ -12,13 +13,8 @@
 #include <algorithm>
 #include <memory>
 
-int script_wait(lua_State*);
-int script_delay(lua_State*);
 int script_errhandler(lua_State*);
 
-// TODO: Move this to a shared header
-const char* WRAPPER_SRC = "local func, errhandler = ... return function(...) local args = {...} xpcall(function() func(unpack(args)) end, errhandler) end";
-
 Script::Script(): Instance(&TYPE) {
     source = "print(\"Hello, world!\")";
 }
@@ -27,7 +23,7 @@ Script::~Script() {
 }
 
 void Script::Run() {
-    std::shared_ptr<ScriptContext> scriptContext = dataModel().value()->GetService<ScriptContext>();
+    std::shared_ptr<ScriptContext> scriptContext = dataModel()->GetService<ScriptContext>();
 
     lua_State* L = scriptContext->state;
     int top = lua_gettop(L);
@@ -36,30 +32,8 @@ void Script::Run() {
     this->thread = lua_newthread(L);
     lua_State* Lt = thread;
 
-    // Initialize script globals
-    lua_getglobal(Lt, "_G");
-
-    InstanceRef(shared_from_this()).PushLuaValue(Lt);
-    lua_setfield(Lt, -2, "script");
-    
-    InstanceRef(dataModel().value()).PushLuaValue(Lt);
-    lua_setfield(Lt, -2, "game");
-
-    InstanceRef(dataModel().value()->GetService<Workspace>()).PushLuaValue(Lt);
-    lua_setfield(Lt, -2, "workspace");
-
-    lua_pushlightuserdata(Lt, scriptContext.get());
-    lua_pushcclosure(Lt, script_wait, 1);
-    lua_setfield(Lt, -2, "wait");
-
-    lua_pushlightuserdata(Lt, scriptContext.get());
-    lua_pushcclosure(Lt, script_delay, 1);
-    lua_setfield(Lt, -2, "delay");
-
-    lua_pop(Lt, 1); // _G
-
     // Push wrapper as thread function
-    luaL_loadbuffer(Lt, WRAPPER_SRC, strlen(WRAPPER_SRC), "=PCALL_WRAPPER");
+    lua_getfield(Lt, LUA_REGISTRYINDEX, "LuaPCallWrapper");
 
     // Load source code and push onto thread as upvalue for wrapper
     int status = luaL_loadbuffer(Lt, source.c_str(), source.size(), this->GetFullName().c_str());
@@ -71,6 +45,21 @@ void Script::Run() {
         return;
     }
 
+    // Initialize script globals
+    scriptContext->NewEnvironment(Lt); // Pushes envtable, metatable
+
+    // Set script in metatable source
+    InstanceRef(shared_from_this()).PushLuaValue(Lt);
+    lua_setfield(Lt, -2, "source");
+
+    lua_pop(Lt, 1); // Pop metatable
+
+    // Set script in environment
+    InstanceRef(shared_from_this()).PushLuaValue(Lt);
+    lua_setfield(Lt, -2, "script");
+
+    lua_setfenv(Lt, -2); // Set env of loaded function
+
     // Push our error handler and then generate the wrapped function
     lua_pushcfunction(Lt, script_errhandler);
     lua_call(Lt, 2, 1);
@@ -86,33 +75,32 @@ void Script::Stop() {
     // TODO:
 }
 
-int script_wait(lua_State* L) {
-    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
-    float secs = lua_gettop(L) == 0 ? 0.03 : std::max(luaL_checknumber(L, 1), 0.03);
-    if (lua_gettop(L) > 0) lua_pop(L, 1); // pop secs
+static std::shared_ptr<Script> getfsource(lua_State* L, lua_Debug* dbg) {
+    int top = lua_gettop(L);
 
-    scriptContext->PushThreadSleep(L, secs);
-
-    // Yield
-    return lua_yield(L, 0);
+    lua_getinfo(L, "f", dbg);
+    lua_getfenv(L, -1); // Get fenv of stack pos
+    if (lua_isnil(L, -1)) { // No env could be found
+        lua_settop(L, top);
+        return nullptr;
     }
 
-int script_delay(lua_State* L) {
-    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
-    float secs = std::max(luaL_checknumber(L, 1), 0.03);
-    luaL_checktype(L, 2, LUA_TFUNCTION);
+    // Get source from metatable
+    lua_getmetatable(L, -1);
+    lua_getfield(L, -1, "source");
 
-    lua_State* Lt = lua_newthread(L); // Create a new thread
-    // I think this is memory abuse??
-    // Wouldn't popping the thread in this case make it eligible for garbage collection?
-    lua_pop(L, 1); // pop the newly created thread so that xmove moves func instead of it into itself
-    lua_xmove(L, Lt, 1); // move func
-    lua_pop(L, 1); // pop secs
+    auto result = InstanceRef::FromLuaValue(L, -1);
+    if (!result) {
+        lua_settop(L, top);
+        return nullptr;
+    }
 
-    // Schedule next run
-    scriptContext->PushThreadSleep(Lt, secs);
+    lua_settop(L, top);
 
-    return 0;
+    std::shared_ptr<Instance> ref = result.expect().get<InstanceRef>();
+    if (!ref->IsA<Script>()) return nullptr;
+
+    return ref->CastTo<Script>().expect();
 }
 
 int script_errhandler(lua_State* L) {
@@ -121,7 +109,7 @@ int script_errhandler(lua_State* L) {
 
     // Traceback
 
-    Logger::traceStart();
+    Logger::trace("Stack start");
 
     lua_Debug dbg;
     int stack = 1;
@@ -131,10 +119,13 @@ int script_errhandler(lua_State* L) {
         if (strcmp(dbg.what, "C") == 0 || strcmp(dbg.source, "=PCALL_WRAPPER") == 0)
             continue;
 
-        Logger::trace(dbg.source, dbg.currentline);
+        // Find script source
+        std::shared_ptr<Script> source = getfsource(L, &dbg);
+
+        Logger::scriptLogf("'%s', Line %d", Logger::LogLevel::TRACE, {source, dbg.currentline}, dbg.source, dbg.currentline);
     }
 
-    Logger::traceEnd();
+    Logger::trace("Stack end");
     
     return 0;
 }

core/src/objects/service/jointsservice.cpp

@@ -18,8 +18,8 @@ void JointsService::InitService() {
     }
 }
 
-std::optional<std::shared_ptr<Workspace>> JointsService::jointWorkspace() {
-    if (!dataModel()) return std::nullopt;
+nullable std::shared_ptr<Workspace> JointsService::jointWorkspace() {
+    if (!dataModel()) return nullptr;
 
-    return dataModel().value()->FindService<Workspace>();
+    return dataModel()->FindService<Workspace>();
 }

core/src/objects/service/jointsservice.h

@@ -3,10 +3,10 @@
 #include "objects/annotation.h"
 #include "objects/base/service.h"
 
-class DEF_INST_SERVICE JointsService : public Service {
+class DEF_INST_SERVICE_(hidden) JointsService : public Service {
     AUTOGEN_PREAMBLE
 private:
-    std::optional<std::shared_ptr<Workspace>> jointWorkspace();
+    nullable std::shared_ptr<Workspace> jointWorkspace();
 protected:
     void InitService() override;
     bool initialized = false;

core/src/objects/service/script/scriptcontext.cpp

@@ -1,22 +1,32 @@
 #include "scriptcontext.h"
 #include "datatypes/cframe.h"
 #include "datatypes/color3.h"
+#include "datatypes/ref.h"
 #include "datatypes/vector.h"
 #include "logger.h"
+#include "objects/datamodel.h"
+#include "objects/service/workspace.h"
 #include "timeutil.h"
+#include <chrono>
 #include <ctime>
 #include <string>
 #include "luaapis.h" // IWYU pragma: keep
 
+const char* WRAPPER_SRC = "local func, errhandler = ... return function(...) local args = {...} xpcall(function() func(unpack(args)) end, errhandler) end";
+
+int g_wait(lua_State*);
+int g_delay(lua_State*);
+int g_tick(lua_State*);
 static int g_print(lua_State*);
 static int g_require(lua_State*);
-static const struct luaL_Reg luaglobals [] = {
+static const luaL_Reg luaglobals [] = {
     {"print", g_print},
     {"require", g_require},
     {NULL, NULL} /* end of array */
 };
 
 std::string unsafe_globals[] = {
+    // Todo implement our own "safe" setfenv/getfenv
     "loadfile", "loadstring", "load", "dofile", "getfenv", "setfenv"
 };
 
@@ -48,6 +58,32 @@ void ScriptContext::InitService() {
     Color3::PushLuaLibrary(state);
     Instance::PushLuaLibrary(state);
 
+    // Add other globals
+    lua_getglobal(state, "_G");
+
+    InstanceRef(dataModel()).PushLuaValue(state);
+    lua_setfield(state, -2, "game");
+
+    InstanceRef(dataModel()->GetService<Workspace>()).PushLuaValue(state);
+    lua_setfield(state, -2, "workspace");
+
+    lua_pushlightuserdata(state, this);
+    lua_pushcclosure(state, g_wait, 1);
+    lua_setfield(state, -2, "wait");
+
+    lua_pushlightuserdata(state, this);
+    lua_pushcclosure(state, g_delay, 1);
+    lua_setfield(state, -2, "delay");
+
+    lua_pushcclosure(state, g_tick, 0);
+    lua_setfield(state, -2, "tick");
+
+    lua_pop(state, 1); // _G
+
+    // Add wrapper function
+    luaL_loadbuffer(state, WRAPPER_SRC, strlen(WRAPPER_SRC), "=PCALL_WRAPPER");
+    lua_setfield(state, LUA_REGISTRYINDEX, "LuaPCallWrapper");
+
     // TODO: custom os library
 
     // Override print
@@ -131,6 +167,27 @@ void ScriptContext::RunSleepingThreads() {
         schedTime = tu_clock_micros() - startTime;
 }
 
+void ScriptContext::NewEnvironment(lua_State* L) {
+    lua_newtable(L); // Env table
+    lua_newtable(L); // Metatable
+
+    // Push __index
+    lua_pushvalue(L, LUA_GLOBALSINDEX);
+    lua_setfield(L, -2, "__index");
+
+    // Push __metatable
+    lua_pushstring(L, "metatable is locked");
+    lua_setfield(L, -2, "__metatable");
+
+    // Copy metatable and set the env table's metatable
+    lua_pushvalue(L, -1);
+    lua_setmetatable(L, -3);
+
+    // Remainder on stack:
+    // 1. Env table
+    // 2. Metatable
+}
+
 // https://www.lua.org/source/5.1/lbaselib.c.html
 static int g_print(lua_State* L) {
     std::string buf;
@@ -162,3 +219,42 @@ static int g_require(lua_State* L) {
 
     return luaL_error(L, "require is not yet implemented");
 }
+
+int g_wait(lua_State* L) {
+    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
+    float secs = lua_gettop(L) == 0 ? 0.03 : std::max(luaL_checknumber(L, 1), 0.03);
+    if (lua_gettop(L) > 0) lua_pop(L, 1); // pop secs
+
+    scriptContext->PushThreadSleep(L, secs);
+
+    // Yield
+    return lua_yield(L, 0);
+}
+
+int g_delay(lua_State* L) {
+    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
+    float secs = std::max(luaL_checknumber(L, 1), 0.03);
+    luaL_checktype(L, 2, LUA_TFUNCTION);
+
+    lua_State* Lt = lua_newthread(L); // Create a new thread
+    // I think this is memory abuse??
+    // Wouldn't popping the thread in this case make it eligible for garbage collection?
+    lua_pop(L, 1); // pop the newly created thread so that xmove moves func instead of it into itself
+    lua_xmove(L, Lt, 1); // move func
+    lua_pop(L, 1); // pop secs
+
+    // Schedule next run
+    scriptContext->PushThreadSleep(Lt, secs);
+
+    return 0;
+}
+
+int g_tick(lua_State* L) {
+    std::chrono::time_point now_local = std::chrono::current_zone()->to_local(std::chrono::system_clock::now());
+    std::chrono::microseconds us = std::chrono::duration_cast<std::chrono::microseconds>(now_local.time_since_epoch());
+    uint64_t _10millis = us.count() / 100;
+    double secs = (double)_10millis / 10000;
+
+    lua_pushnumber(L, secs);
+    return 1;
+}

core/src/objects/service/script/scriptcontext.h

@@ -15,7 +15,7 @@ struct SleepingThread {
 
 class Script;
 
-class DEF_INST_SERVICE ScriptContext : public Service {
+class DEF_INST_SERVICE_(hidden) ScriptContext : public Service {
     AUTOGEN_PREAMBLE
 
     std::vector<SleepingThread> sleepingThreads;
@@ -32,5 +32,8 @@ public:
     void PushThreadSleep(lua_State* thread, float delay);
     void RunSleepingThreads();
 
+    // Generates an environment with a metatable and pushes it both the env table and metatable in order onto the stack
+    void NewEnvironment(lua_State* state);
+
     static inline std::shared_ptr<Instance> Create() { return std::make_shared<ScriptContext>(); };
 };

core/src/objects/service/script/serverscriptservice.cpp

@@ -14,7 +14,7 @@ void ServerScriptService::InitService() {
 }
 
 void ServerScriptService::OnRun() {
-    auto workspace = dataModel().value()->GetService<Workspace>();
+    auto workspace = dataModel()->GetService<Workspace>();
     for (auto it = workspace->GetDescendantsStart(); it != workspace->GetDescendantsEnd(); it++) {
         if (!it->IsA<Script>()) continue;
         it->CastTo<Script>().expect()->Run();

core/src/objects/service/script/serverscriptservice.h

@@ -5,7 +5,7 @@
 
 // Container class for server scripts
 // Also handles/manages running server scripts on run
-class DEF_INST_SERVICE_(explorer_icon="server-scripts") ServerScriptService : public Service {
+class DEF_INST_SERVICE_(explorer_icon="server-scripts", hidden) ServerScriptService : public Service {
     AUTOGEN_PREAMBLE
 protected:
     void InitService() override;

core/src/objects/service/selection.h

@@ -6,7 +6,7 @@
 #include <memory>
 #include <vector>
 
-class DEF_INST_SERVICE Selection : public Service {
+class DEF_INST_SERVICE_(hidden) Selection : public Service {
     AUTOGEN_PREAMBLE
 private:
     std::vector<std::shared_ptr<Instance>> selection;

core/src/objects/service/workspace.cpp

@@ -4,86 +4,32 @@
 #include "datatypes/vector.h"
 #include "logger.h"
 #include "objects/base/instance.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
+#include "objects/part/wedgepart.h"
 #include "objects/service/jointsservice.h"
 #include "objects/joint/jointinstance.h"
 #include "objects/datamodel.h"
-#include "physics/util.h"
 #include "timeutil.h"
 #include <memory>
-#include <reactphysics3d/collision/CollisionCallback.h>
-#include <reactphysics3d/collision/OverlapCallback.h>
-#include <reactphysics3d/engine/PhysicsCommon.h>
 
-rp::PhysicsCommon* Workspace::physicsCommon = new rp::PhysicsCommon;
-
-Workspace::Workspace(): Service(&TYPE), physicsEventListener(this) {
-    physicsWorld = physicsCommon->createPhysicsWorld();
+Workspace::Workspace(): Service(&TYPE), physicsWorld(std::make_shared<PhysWorld>()) {
 }
 
-Workspace::~Workspace() {
-    if (physicsCommon)
-        physicsCommon->destroyPhysicsWorld(physicsWorld);
-}
-
-PhysicsEventListener::PhysicsEventListener(Workspace* parent) : workspace(parent) {}
-
-void PhysicsEventListener::onContact(const rp::CollisionCallback::CallbackData& data) {
-    for (size_t i = 0; i < data.getNbContactPairs(); i++) {
-        auto pair = data.getContactPair(i);
-        auto type = pair.getEventType();
-        if (type == rp::CollisionCallback::ContactPair::EventType::ContactStay) continue;
-
-        auto part0 = reinterpret_cast<Part*>(pair.getBody1()->getUserData())->shared<Part>();
-        auto part1 = reinterpret_cast<Part*>(pair.getBody2()->getUserData())->shared<Part>();
-
-        if (type == reactphysics3d::CollisionCallback::ContactPair::EventType::ContactStart) {
-            part0->Touched->Fire({ (Variant)InstanceRef(part1) });
-            part1->Touched->Fire({ (Variant)InstanceRef(part0) });
-        } else if (type == reactphysics3d::CollisionCallback::ContactPair::EventType::ContactExit) {
-            part0->TouchEnded->Fire({ (Variant)InstanceRef(part1) });
-            part1->TouchEnded->Fire({ (Variant)InstanceRef(part0) });
-        }
-    }
-}
-
-void PhysicsEventListener::onTrigger(const rp::OverlapCallback::CallbackData& data) {
-for (size_t i = 0; i < data.getNbOverlappingPairs(); i++) {
-        auto pair = data.getOverlappingPair(i);
-        auto type = pair.getEventType();
-        if (type == rp::OverlapCallback::OverlapPair::EventType::OverlapStay) continue;
-
-        auto part0 = reinterpret_cast<Part*>(pair.getBody1()->getUserData())->shared<Part>();
-        auto part1 = reinterpret_cast<Part*>(pair.getBody2()->getUserData())->shared<Part>();
-
-        if (type == reactphysics3d::OverlapCallback::OverlapPair::EventType::OverlapStart) {
-            part0->Touched->Fire({ (Variant)InstanceRef(part1) });
-            part1->Touched->Fire({ (Variant)InstanceRef(part0) });
-        } else if (type == reactphysics3d::OverlapCallback::OverlapPair::EventType::OverlapExit) {
-            part0->TouchEnded->Fire({ (Variant)InstanceRef(part1) });
-            part1->TouchEnded->Fire({ (Variant)InstanceRef(part0) });
-        }
-    }
-}
+Workspace::~Workspace() =  default;
 
 void Workspace::InitService() {
     if (initialized) return;
     initialized = true;
 
-    physicsWorld->setGravity(rp::Vector3(0, -196.2, 0));
-    // world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS);
-    physicsWorld->setNbIterationsPositionSolver(2000);
-    physicsWorld->setNbIterationsVelocitySolver(2000);
-    // physicsWorld->setSleepLinearVelocity(10);
-    // physicsWorld->setSleepAngularVelocity(5);
+    // Create meshes
+    // WedgePart::createWedgeShape(physicsCommon);
+}
 
-    physicsWorld->setEventListener(&physicsEventListener);
-
-    // Sync all parts
+void Workspace::OnRun() {
+    // Make joints
     for (auto it = this->GetDescendantsStart(); it != this->GetDescendantsEnd(); it++) {
-        std::shared_ptr<Instance> obj = *it;
-        if (!obj->IsA<Part>()) continue;
-        std::shared_ptr<Part> part = obj->CastTo<Part>().expect();
+        if (!it->IsA<BasePart>()) continue;
+        std::shared_ptr<BasePart> part = it->CastTo<BasePart>().expect();
         part->MakeJoints();
     }
 
@@ -95,206 +41,29 @@ void Workspace::InitService() {
         joint->UpdateProperty("Part0");
     }
 
-    for (auto obj : dataModel().value()->GetService<JointsService>()->GetChildren()) {
+    for (auto obj : dataModel()->GetService<JointsService>()->GetChildren()) {
         if (!obj->IsA<JointInstance>()) continue;
         std::shared_ptr<JointInstance> joint = obj->CastTo<JointInstance>().expect();
         joint->UpdateProperty("Part0");
     }
 }
 
-void Workspace::updatePartPhysics(std::shared_ptr<Part> part) {
-    rp::Transform transform = part->cframe;
-    if (!part->rigidBody) {
-        part->rigidBody = physicsWorld->createRigidBody(transform);
-    } else {
-        part->rigidBody->setTransform(transform);
+void Workspace::SyncPartPhysics(std::shared_ptr<BasePart> part) {
+    physicsWorld->syncBodyProperties(part);
 }
 
-    rp::BoxShape* shape = physicsCommon->createBoxShape(glmToRp(part->size * glm::vec3(0.5f)));
-
-    // Recreate the rigidbody if the shape changes
-    if (part->rigidBody->getNbColliders() > 0
-        && dynamic_cast<rp::BoxShape*>(part->rigidBody->getCollider(0)->getCollisionShape())->getHalfExtents() != shape->getHalfExtents()) {
-        // TODO: This causes Touched to get called twice. Fix this.
-        part->rigidBody->removeCollider(part->rigidBody->getCollider(0));
-        part->rigidBody->addCollider(shape, rp::Transform());
-    }
-
-    if (part->rigidBody->getNbColliders() == 0)
-        part->rigidBody->addCollider(shape, rp::Transform());
-
-    part->rigidBody->setType(part->anchored ? rp::BodyType::STATIC : rp::BodyType::DYNAMIC);
-    part->rigidBody->getCollider(0)->setCollisionCategoryBits(0b11);
-
-    part->rigidBody->getCollider(0)->setIsSimulationCollider(part->canCollide);
-    part->rigidBody->getCollider(0)->setIsTrigger(!part->canCollide);
-
-    rp::Material& material = part->rigidBody->getCollider(0)->getMaterial();
-    material.setFrictionCoefficient(0.35);
-    material.setMassDensity(1.f);
-
-    //https://github.com/DanielChappuis/reactphysics3d/issues/170#issuecomment-691514860
-    part->rigidBody->updateMassFromColliders();
-    part->rigidBody->updateLocalInertiaTensorFromColliders();
-
-    part->rigidBody->setLinearVelocity(part->velocity);
-    // part->rigidBody->setMass(density * part->size.x * part->size.y * part->size.z);
-
-    part->rigidBody->setUserData(&*part);
-}
-
-void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
-    if (globalPhysicsLock.try_lock()) {
-        updatePartPhysics(part);
-        globalPhysicsLock.unlock();
-    } else {
-        part->rigidBodyDirty = true;
-    }
-}
-
-tu_time_t physTime;
 void Workspace::PhysicsStep(float deltaTime) {
-    tu_time_t startTime = tu_clock_micros();
-
-    std::scoped_lock lock(globalPhysicsLock);
-    physicsWorld->update(std::min(deltaTime / 2, (1/60.f)));
-
-    // Update queued objects
-    queueLock.lock();
-    for (QueueItem item : bodyQueue) {
-        if (item.action == QueueItem::QUEUEITEM_ADD) {
-            simulatedBodies.push_back(item.part);
-            item.part->simulationTicket = --simulatedBodies.end();
-        } else if (item.part->simulationTicket.has_value()) {
-            simulatedBodies.erase(item.part->simulationTicket.value());
-            item.part->simulationTicket = std::nullopt;
-        }
-    }
-    queueLock.unlock();
-
-    // TODO: Add list of tracked parts in workspace based on their ancestry using inWorkspace property of Instance
-    for (std::shared_ptr<Part> part : simulatedBodies) {
-        // If the part's body is dirty, update it now instead
-        if (part->rigidBodyDirty) {
-            updatePartPhysics(part);
-            part->rigidBodyDirty = false;
-            continue;
-        }
-
-        if (!part->rigidBody) continue;
-
-        // Sync properties
-        const rp::Transform& transform = part->rigidBody->getTransform();
-        part->cframe = CFrame(transform);
-        part->velocity = part->rigidBody->getLinearVelocity();
-
-        // part->rigidBody->enableGravity(true);
-        // RotateV/Motor joint
-        for (auto& joint : part->secondaryJoints) {
-            if (joint.expired() || !joint.lock()->IsA("RotateV")) continue;
-                        
-            std::shared_ptr<JointInstance> motor = joint.lock()->CastTo<JointInstance>().expect();
-            float rate = motor->part0.lock()->GetSurfaceParamB(-motor->c0.LookVector().Unit()) * 30;
-            // part->rigidBody->enableGravity(false);
-            part->rigidBody->setAngularVelocity(-(motor->part0.lock()->cframe * motor->c0).LookVector() * rate);
-        }
+    physicsWorld->step(deltaTime);
 
+    for (std::shared_ptr<BasePart> part : physicsWorld->getSimulatedBodies()) {
         // Destroy fallen parts
         if (part->cframe.Position().Y() < this->fallenPartsDestroyHeight) {
             auto parent = part->GetParent();
             part->Destroy();
 
             // If the parent of the part is a Model, destroy it too
-            if (parent.has_value() && parent.value()->IsA("Model"))
-                parent.value()->Destroy();
+            if (parent != nullptr && parent->IsA("Model"))
+                parent->Destroy();
         }
     }
-
-    physTime = tu_clock_micros() - startTime;
-}
-
-
-RaycastResult::RaycastResult(const rp::RaycastInfo& raycastInfo)
-    : worldPoint(raycastInfo.worldPoint)
-    , worldNormal(raycastInfo.worldNormal)
-    , hitFraction(raycastInfo.hitFraction)
-    , triangleIndex(raycastInfo.triangleIndex)
-    , body(raycastInfo.body)
-    , collider(raycastInfo.collider) {}
-
-class NearestRayHit : public rp::RaycastCallback {
-    rp::Vector3 startPos;
-    std::optional<RaycastFilter> filter;
-
-    std::optional<RaycastResult> nearestHit;
-    float nearestHitDistance = -1;
-
-    // Order is not guaranteed, so we have to figure out the nearest object using a more sophisticated algorith,
-    rp::decimal notifyRaycastHit(const rp::RaycastInfo& raycastInfo) override {
-        // If the detected object is further away than the nearest object, continue.
-        int distance = (raycastInfo.worldPoint - startPos).length();
-        if (nearestHitDistance != -1 && distance >= nearestHitDistance)
-            return 1;
-
-        if (!filter) {
-            nearestHit = raycastInfo;
-            nearestHitDistance = distance;
-            return 1;
-        }
-
-        std::shared_ptr<Part> part = partFromBody(raycastInfo.body);
-        FilterResult result = filter.value()(part);
-        if (result == FilterResult::BLOCK) {
-            nearestHit = std::nullopt;
-            nearestHitDistance = distance;
-            return 1;
-        } else if (result == FilterResult::TARGET) {
-            nearestHit = raycastInfo;
-            nearestHitDistance = distance;
-            return 1;
-        }
-        return 1;
-    };
-
-public:
-    NearestRayHit(rp::Vector3 startPos, std::optional<RaycastFilter> filter = std::nullopt) : startPos(startPos), filter(filter) {}
-    std::optional<const RaycastResult> getNearestHit() { return nearestHit; };
-};
-
-std::optional<const RaycastResult> Workspace::CastRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits) {
-    // std::scoped_lock lock(globalPhysicsLock);
-    rp::Ray ray(glmToRp(point), glmToRp(glm::normalize(rotation)) * maxLength);
-    NearestRayHit rayHit(glmToRp(point), filter);
-    physicsWorld->raycast(ray, &rayHit, categoryMaskBits);
-    return rayHit.getNearestHit();
-}
-
-void Workspace::DestroyRigidBody(rp::RigidBody* rigidBody) {
-    std::scoped_lock lock(globalPhysicsLock);
-    physicsWorld->destroyRigidBody(rigidBody);
-}
-
-void Workspace::DestroyJoint(rp::Joint* joint) {
-    std::scoped_lock lock(globalPhysicsLock);
-    physicsWorld->destroyJoint(joint);
-}
-
-rp::Joint* Workspace::CreateJoint(const rp::JointInfo& jointInfo) {
-    std::scoped_lock lock(globalPhysicsLock);
-    rp::Joint* joint = physicsWorld->createJoint(jointInfo);
-
-    return joint;
-}
-
-void Workspace::AddBody(std::shared_ptr<Part> part) {
-    queueLock.lock();
-    bodyQueue.push_back({part, QueueItem::QUEUEITEM_ADD});
-    part->rigidBodyDirty = true;
-    queueLock.unlock();
-}
-
-void Workspace::RemoveBody(std::shared_ptr<Part> part) {
-    queueLock.lock();
-    bodyQueue.push_back({part, QueueItem::QUEUEITEM_REMOVE});
-    queueLock.unlock();
 }

core/src/objects/service/workspace.h

@@ -2,86 +2,46 @@
 
 #include "objects/annotation.h"
 #include "objects/base/service.h"
+#include "physics/world.h"
 #include "utils.h"
 #include <glm/ext/vector_float3.hpp>
 #include <list>
 #include <memory>
 #include <mutex>
-#include <reactphysics3d/body/RigidBody.h>
-#include <reactphysics3d/engine/EventListener.h>
-#include <reactphysics3d/engine/PhysicsCommon.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
+#include <queue>
 
-namespace rp = reactphysics3d;
-
-struct RaycastResult {
-    rp::Vector3 worldPoint;
-    rp::Vector3 worldNormal;
-    rp::decimal hitFraction;
-    int triangleIndex;
-    rp::Body* body;
-    rp::Collider* collider;
-
-    RaycastResult(const rp::RaycastInfo& raycastInfo);
-};
-
-enum FilterResult {
-    TARGET, // The object is captured
-    BLOCK, // The object blocks any objects behind it, but is not captured
-    PASS, // The object is transparent, ignore it
-};
-
-class Part;
+class BasePart;
 class Snap;
 class Weld;
 class Rotate;
 class RotateV;
 
-#ifndef __SIMULATION_TICKET
-#define __SIMULATION_TICKET
-typedef std::list<std::shared_ptr<Part>>::iterator SimulationTicket;
-#endif
-
-typedef std::function<FilterResult(std::shared_ptr<Part>)> RaycastFilter;
-
-struct QueueItem {
-    std::shared_ptr<Part> part;
+struct ContactItem {
+    std::shared_ptr<BasePart> part0;
+    std::shared_ptr<BasePart> part1;
     enum {
-        QUEUEITEM_ADD,
-        QUEUEITEM_REMOVE,
+        CONTACTITEM_TOUCHED,
+        CONTACTITEM_TOUCHENDED,
     } action;
 };
 
-class Workspace;
-class PhysicsEventListener : public rp::EventListener {
-    friend Workspace;
-    Workspace* workspace;
-
-    PhysicsEventListener(Workspace*);
-
-    void onContact(const rp::CollisionCallback::CallbackData&) override;
-    void onTrigger(const rp::OverlapCallback::CallbackData&) override;
-};
-
 class DEF_INST_SERVICE_(explorer_icon="workspace") Workspace : public Service {
     AUTOGEN_PREAMBLE
     
-    std::list<std::shared_ptr<Part>> simulatedBodies;
-    std::list<QueueItem> bodyQueue;
-    rp::PhysicsWorld* physicsWorld;
-    static rp::PhysicsCommon* physicsCommon;
-    PhysicsEventListener physicsEventListener;
+    std::queue<ContactItem> contactQueue;
+    std::mutex contactQueueLock;
 
-    void updatePartPhysics(std::shared_ptr<Part> part);
+    std::shared_ptr<PhysWorld> physicsWorld;
+    friend PhysWorld;
 protected:
     void InitService() override;
+    void OnRun() override;
     bool initialized = false;
 
 public:
     Workspace();
     ~Workspace();
 
-    std::mutex globalPhysicsLock;
     std::recursive_mutex queueLock;
 
     DEF_PROP float fallenPartsDestroyHeight = -500;
@@ -89,14 +49,13 @@ public:
     // static inline std::shared_ptr<Workspace> New() { return std::make_shared<Workspace>(); };
     static inline std::shared_ptr<Instance> Create() { return std::make_shared<Workspace>(); };
 
-    void AddBody(std::shared_ptr<Part> part);
-    void RemoveBody(std::shared_ptr<Part> part);
-    void DestroyRigidBody(rp::RigidBody* rigidBody);
-    void SyncPartPhysics(std::shared_ptr<Part> part);
+    inline void AddBody(std::shared_ptr<BasePart> part) { physicsWorld->addBody(part); }
+    inline void RemoveBody(std::shared_ptr<BasePart> part) { physicsWorld->removeBody(part); }
+    void SyncPartPhysics(std::shared_ptr<BasePart> part);
 
-    rp::Joint* CreateJoint(const rp::JointInfo& jointInfo);
-    void DestroyJoint(rp::Joint* joint);
+    inline PhysJoint CreateJoint(PhysJointInfo& info, std::shared_ptr<BasePart> part0, std::shared_ptr<BasePart> part1) { return physicsWorld->createJoint(info, part0, part1); }
+    inline void DestroyJoint(PhysJoint joint) { physicsWorld->destroyJoint(joint); }
 
     void PhysicsStep(float deltaTime);
-    std::optional<const RaycastResult> CastRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter = std::nullopt, unsigned short categoryMaskBits = 0xFFFF);
+    inline std::optional<const RaycastResult> CastRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter = std::nullopt, unsigned short categoryMaskBits = 0xFFFF) { return physicsWorld->castRay(point, rotation, maxLength, filter, categoryMaskBits); }
 };

core/src/panic.cpp

@@ -1,13 +1,8 @@
 #include "panic.h"
 
-#include <cstdlib>
 #include "logger.h"
 #include "platform.h"
 
-#ifdef _NDEBUG
-#define NDEBUG
-#endif
-
 bool trySafeAbort = false;
 void panic() {
     // We've already been here, safe aborting has failed.

core/src/partassembly.cpp

@@ -5,13 +5,13 @@
 #include "datatypes/vector.h"
 #include "math_helper.h"
 #include "objects/base/instance.h"
-#include "objects/part.h"
+#include "objects/part/part.h"
 #include "objects/service/selection.h"
 #include <glm/common.hpp>
 #include <memory>
 #include <vector>
 
-PartAssembly::PartAssembly(std::vector<std::shared_ptr<Part>> parts, bool worldMode) : parts(parts) {
+PartAssembly::PartAssembly(std::vector<std::shared_ptr<BasePart>> parts, bool worldMode) : parts(parts) {
     if (parts.size() == 0) return;
     if (parts.size() == 1 && !worldMode) {
         _assemblyOrigin = parts[0]->cframe;
@@ -36,19 +36,19 @@ PartAssembly::PartAssembly(std::vector<std::shared_ptr<Part>> parts, bool worldM
 }
 
 PartAssembly PartAssembly::FromSelection(std::vector<std::shared_ptr<Instance>> newSelection) {
-    std::vector<std::shared_ptr<Part>> selection;
+    std::vector<std::shared_ptr<BasePart>> selection;
 
     for (std::shared_ptr<Instance> obj : newSelection) {
         if (!obj->IsA<PVInstance>()) continue;
 
-        if (obj->IsA<Part>())
-            selection.push_back(obj->CastTo<Part>().expect());
+        if (obj->IsA<BasePart>())
+            selection.push_back(obj->CastTo<BasePart>().expect());
 
         // Add object descendants
         for (DescendantsIterator it = obj->GetDescendantsStart(); it != obj->GetDescendantsEnd(); it++) {
-            if (!(*it)->IsA<Part>()) continue;
+            if (!(*it)->IsA<BasePart>()) continue;
 
-            selection.push_back((*it)->CastTo<Part>().expect());
+            selection.push_back((*it)->CastTo<BasePart>().expect());
         }
     }
 
@@ -61,14 +61,16 @@ PartAssembly PartAssembly::FromSelection(std::shared_ptr<Selection> selection) {
 
 void PartAssembly::SetCollisionsEnabled(bool enabled) {
     for (auto part : parts) {
-        part->rigidBody->getCollider(0)->setIsWorldQueryCollider(enabled);
+        part->rigidBody.setCollisionsEnabled(enabled);
     }
 }
 
 void PartAssembly::SetOrigin(CFrame newOrigin) {
     for (auto part : parts) {
         part->cframe = newOrigin * (_assemblyOrigin.Inverse() * part->cframe);
+        part->velocity = 0; // Reset velocity
         part->UpdateProperty("CFrame");
+        part->UpdateProperty("Velocity");
         // sendPropertyUpdatedSignal(part, "CFrame", Variant(part->cframe));
     }
 
@@ -78,19 +80,22 @@ void PartAssembly::SetOrigin(CFrame newOrigin) {
 void PartAssembly::TransformBy(CFrame transform) {
     for (auto part : parts) {
         part->cframe = transform * part->cframe;
+        part->velocity = 0; // Reset velocity
         part->UpdateProperty("CFrame");
         part->UpdateProperty("Position");
         part->UpdateProperty("Rotation");
+        part->UpdateProperty("Velocity");
         sendPropertyUpdatedSignal(part, "CFrame", Variant(part->cframe));
         sendPropertyUpdatedSignal(part, "Position", Variant(part->cframe));
         sendPropertyUpdatedSignal(part, "Rotation", Variant(part->cframe));
+        sendPropertyUpdatedSignal(part, "Velocity", Variant(part->cframe));
     }
 
     _assemblyOrigin = transform * _assemblyOrigin;
 }
 
 void PartAssembly::Scale(Vector3 newSize, bool scaleUp) {
-    if (parts.size() == 1) {
+    if (parts.size() == 1 && (!parts[0]->IsA<Part>() || parts[0]->CastTo<Part>().expect()->shape != PartType::Ball)) {
         parts[0]->size = newSize;
         parts[0]->UpdateProperty("Size");
         sendPropertyUpdatedSignal(parts[0], "Size", Variant(parts[0]->size));
@@ -127,6 +132,7 @@ std::vector<PartTransformState> PartAssembly::GetCurrentTransforms() {
         t.part = part;
         t.cframe = part->cframe;
         t.size = part->size;
+        t.velocity = part->velocity;
         transforms.push_back(t);
     }
 

core/src/partassembly.h

@@ -4,13 +4,14 @@
 #include <memory>
 #include <vector>
 
-class Part;
+class BasePart;
 class Instance;
 class Selection;
 
 struct PartTransformState {
-    std::shared_ptr<Part> part;
+    std::shared_ptr<BasePart> part;
     Vector3 size;
+    Vector3 velocity;
     CFrame cframe;
 };
 
@@ -19,9 +20,9 @@ class PartAssembly {
     Vector3 _bounds;
     Vector3 _size;
 
-    std::vector<std::shared_ptr<Part>> parts;
+    std::vector<std::shared_ptr<BasePart>> parts;
 public:
-    PartAssembly(std::vector<std::shared_ptr<Part>>, bool worldMode = false);
+    PartAssembly(std::vector<std::shared_ptr<BasePart>>, bool worldMode = false);
 
     static PartAssembly FromSelection(std::vector<std::shared_ptr<Instance>> selection);
     static PartAssembly FromSelection(std::shared_ptr<Selection> selection);

core/src/physics/convert.h

@@ -0,0 +1,44 @@
+#pragma once
+#include "datatypes/cframe.h"
+#include "datatypes/vector.h"
+#include <glm/ext/vector_float3.hpp>
+#include <glm/ext.hpp>
+
+#include <Jolt/Jolt.h>
+
+template <typename T, typename F>
+T convert(F vec) = delete;
+
+// Vector3
+
+template <>
+inline Vector3 convert<Vector3>(JPH::Vec3 vec) {
+    return Vector3(vec.GetX(), vec.GetY(), vec.GetZ());
+}
+
+template <>
+inline JPH::Vec3 convert<JPH::Vec3>(Vector3 vec) {
+    return JPH::Vec3(vec.X(), vec.Y(), vec.Z());
+}
+
+template <>
+inline glm::vec3 convert<glm::vec3>(JPH::Vec3 vec) {
+    return glm::vec3(vec.GetX(), vec.GetY(), vec.GetZ());
+}
+
+template <>
+inline JPH::Vec3 convert<JPH::Vec3>(glm::vec3 vec) {
+    return JPH::Vec3(vec.x, vec.y, vec.z);
+}
+
+// Quaternion
+
+template <>
+inline glm::quat convert<glm::quat>(JPH::Quat quat) {
+    return glm::quat(quat.GetW(), quat.GetX(), quat.GetY(), quat.GetZ());
+}
+
+template <>
+inline JPH::Quat convert<JPH::Quat>(glm::quat quat) {
+    return JPH::Quat(quat.x, quat.y, quat.z, quat.w);
+}

core/src/physics/util.h

@@ -1,39 +0,0 @@
-#pragma once
-#include <glm/ext/vector_float3.hpp>
-#include <memory>
-#include <reactphysics3d/body/Body.h>
-#include <reactphysics3d/mathematics/Matrix3x3.h>
-#include <reactphysics3d/mathematics/Quaternion.h>
-#include <reactphysics3d/mathematics/Vector3.h>
-#include <reactphysics3d/mathematics/mathematics.h>
-#include <glm/ext.hpp>
-#include "objects/part.h"
-
-namespace rp = reactphysics3d;
-
-inline rp::Vector3 glmToRp(glm::vec3 vec) {
-    return rp::Vector3(vec.x, vec.y, vec.z);
-}
-
-inline rp::Quaternion glmToRp(glm::quat quat) {
-    return rp::Quaternion(quat.w, rp::Vector3(quat.x, quat.y, quat.z));
-}
-
-// inline rp::Matrix3x3 glmToRp(glm::mat3 mat) {
-//     return (rp::Quaternion)glmToRp((glm::quat)mat);
-// }
-
-inline glm::vec3 rpToGlm(rp::Vector3 vec) {
-    return glm::vec3(vec.x, vec.y, vec.z);
-}
-
-inline glm::quat rpToGlm(rp::Quaternion quat) {
-    return glm::quat(quat.w, quat.x, quat.y, quat.z);
-}
-
-// Make this std::optional
-inline std::shared_ptr<Part> partFromBody(rp::Body* body) {
-    Part* raw = reinterpret_cast<Part*>(body->getUserData());
-    std::shared_ptr<Part> shared = std::dynamic_pointer_cast<Part>(raw->shared_from_this());    
-    return shared;
-}

core/src/physics/world.cpp

@@ -0,0 +1,346 @@
+#include "world.h"
+#include "datatypes/vector.h"
+#include "enum/part.h"
+#include "logger.h"
+#include "objects/part/basepart.h"
+#include "objects/part/part.h"
+#include "objects/part/wedgepart.h"
+#include "objects/service/workspace.h"
+#include "physics/convert.h"
+#include "timeutil.h"
+
+#include <Jolt/Jolt.h>
+#include <Jolt/Core/JobSystemThreadPool.h>
+#include <Jolt/Core/TempAllocator.h>
+#include <Jolt/Physics/Collision/BroadPhase/BroadPhaseLayer.h>
+#include <Jolt/Physics/Collision/ObjectLayer.h>
+#include <Jolt/Core/Factory.h>
+#include <Jolt/Core/Memory.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Jolt/Physics/Body/BodyInterface.h>
+#include <Jolt/Physics/Body/MotionType.h>
+#include <Jolt/Physics/Collision/RayCast.h>
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
+#include <Jolt/Physics/Collision/Shape/SphereShape.h>
+#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
+#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
+#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
+#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/EActivation.h>
+#include <Jolt/Physics/PhysicsSettings.h>
+#include <Jolt/RegisterTypes.h>
+#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
+#include <Jolt/Physics/Collision/CastResult.h>
+#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
+#include <Jolt/Physics/Body/BodyFilter.h>
+#include <Jolt/Physics/Body/BodyLockInterface.h>
+#include <Jolt/Physics/Collision/NarrowPhaseQuery.h>
+#include <Jolt/Physics/Constraints/FixedConstraint.h>
+#include <Jolt/Physics/Constraints/HingeConstraint.h>
+#include <memory>
+
+static JPH::TempAllocator* allocator;
+static JPH::JobSystem* jobSystem;
+
+namespace Layers
+{
+	static constexpr JPH::ObjectLayer DYNAMIC = 0;
+	static constexpr JPH::ObjectLayer ANCHORED = 1;
+	static constexpr JPH::ObjectLayer NOCOLLIDE = 2;
+	// static constexpr JPH::ObjectLayer NUM_LAYERS = 3;
+};
+
+namespace BPLayers
+{
+	static constexpr JPH::BroadPhaseLayer ANCHORED(0);
+	static constexpr JPH::BroadPhaseLayer DYNAMIC(1);
+	static constexpr JPH::BroadPhaseLayer NOCOLLIDE(2);
+	static constexpr uint NUM_LAYERS(3);
+};
+
+static JPH::Ref<JPH::Shape> wedgeShape;
+
+void physicsInit() {
+    JPH::RegisterDefaultAllocator();
+    JPH::Factory::sInstance = new JPH::Factory();
+    JPH::RegisterTypes();
+
+    allocator = new JPH::TempAllocatorImpl(10 * 1024 * 1024);
+    jobSystem = new JPH::JobSystemThreadPool(JPH::cMaxPhysicsJobs, JPH::cMaxPhysicsBarriers, std::thread::hardware_concurrency() - 1);
+
+    // Create special shapes
+    JPH::Array<JPH::Vec3> wedgeVerts;
+    wedgeVerts.push_back({-1, -1, -1});
+    wedgeVerts.push_back({ 1, -1, -1});
+    wedgeVerts.push_back({-1, -1,  1});
+    wedgeVerts.push_back({ 1, -1,  1});
+    wedgeVerts.push_back({ 1,  1,  1});
+    wedgeVerts.push_back({-1,  1,  1});
+    // // Invisible bevel to avoid phasing
+    // wedgeVerts.push_back({1, 1, 0.9});
+    // wedgeVerts.push_back({0, 1, 0.9});
+
+    wedgeShape = JPH::ConvexHullShapeSettings(wedgeVerts).Create().Get();	
+}
+
+void physicsDeinit() {
+    JPH::UnregisterTypes();
+    delete JPH::Factory::sInstance;
+    JPH::Factory::sInstance = nullptr;
+}
+
+PhysWorld::PhysWorld() {
+    worldImpl.Init(4096, 0, 4096, 4096, broadPhaseLayerInterface, objectBroadPhasefilter, objectLayerPairFilter);
+    worldImpl.SetGravity(JPH::Vec3(0, -196, 0));
+	JPH::PhysicsSettings settings = worldImpl.GetPhysicsSettings();
+	// settings.mPointVelocitySleepThreshold = 0.04f; // Fix parts not sleeping
+    // settings.mNumVelocitySteps *= 20;
+    // settings.mNumPositionSteps *= 20;
+	worldImpl.SetPhysicsSettings(settings);
+}
+
+PhysWorld::~PhysWorld() {
+}
+
+void PhysWorld::addBody(std::shared_ptr<BasePart> part) {
+    syncBodyProperties(part);
+}
+
+void PhysWorld::removeBody(std::shared_ptr<BasePart> part) {
+    JPH::BodyInterface& interface = worldImpl.GetBodyInterface();
+
+    // https://jrouwe.github.io/JoltPhysics/index.html#sleeping-bodies
+    // Wake sleeping bodies in its area before removing it
+    Vector3 aabbSize = part->GetAABB();
+    interface.ActivateBodiesInAABox(JPH::AABox(convert<JPH::Vec3>(part->position() - aabbSize), convert<JPH::Vec3>(part->position() + aabbSize)), {}, {});
+
+    interface.RemoveBody(part->rigidBody.bodyImpl->GetID());
+    interface.DestroyBody(part->rigidBody.bodyImpl->GetID());
+    part->rigidBody.bodyImpl = nullptr;
+}
+
+JPH::Shape* makeShape(std::shared_ptr<BasePart> basePart) {
+    if (std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(basePart)) {
+        switch (part->shape) {
+        case PartType::Block:
+            return new JPH::BoxShape(convert<JPH::Vec3>(part->size / 2.f), JPH::cDefaultConvexRadius);
+        case PartType::Ball:
+            return new JPH::SphereShape(glm::min(part->size.X(), part->size.Y(), part->size.Z()) / 2.f);
+        case PartType::Cylinder:
+            return new JPH::RotatedTranslatedShape(JPH::Vec3(), JPH::Quat::sEulerAngles(JPH::Vec3(0, 0, JPH::JPH_PI * 0.5)), new JPH::CylinderShape(part->size.X() / 2.f, glm::min(part->size.Z(), part->size.Y()) / 2.f));
+        }
+    } else if (std::shared_ptr<WedgePart> part = std::dynamic_pointer_cast<WedgePart>(basePart)) {
+        return new JPH::ScaledShape(wedgeShape, convert<JPH::Vec3>(part->size / 2.f));
+    }
+    return nullptr;
+}
+
+void PhysWorld::syncBodyProperties(std::shared_ptr<BasePart> part) {
+    JPH::BodyInterface& interface = worldImpl.GetBodyInterface();
+
+    JPH::EMotionType motionType = part->anchored ? JPH::EMotionType::Static : JPH::EMotionType::Dynamic;
+    JPH::EActivation activationMode = part->anchored ? JPH::EActivation::DontActivate : JPH::EActivation::Activate;
+    JPH::ObjectLayer objectLayer = !part->canCollide ? Layers::NOCOLLIDE : (part->anchored ? Layers::ANCHORED : Layers::DYNAMIC);
+
+    JPH::Body* body = part->rigidBody.bodyImpl;
+
+    // Generate a new rigidBody
+    if (body == nullptr) {
+        JPH::Shape* shape = makeShape(part);
+        JPH::BodyCreationSettings settings(shape, convert<JPH::Vec3>(part->position()), convert<JPH::Quat>((glm::quat)part->cframe.RotMatrix()), motionType, objectLayer);
+        settings.mAllowDynamicOrKinematic = true;
+        settings.mRestitution = 0.5;
+
+        body = interface.CreateBody(settings);
+        body->SetUserData((JPH::uint64)part.get());
+        part->rigidBody.bodyImpl = body;
+
+        interface.AddBody(body->GetID(), activationMode);
+        interface.SetLinearVelocity(body->GetID(), convert<JPH::Vec3>(part->velocity));
+    } else {
+        std::shared_ptr<Part> part2 = std::dynamic_pointer_cast<Part>(part);
+        bool shouldUpdateShape = (part2 != nullptr && part->rigidBody._lastShape != part2->shape) || part->rigidBody._lastSize == part->size;
+
+        if (shouldUpdateShape) {
+            // const JPH::Shape* oldShape = body->GetShape();
+            JPH::Shape* newShape = makeShape(part);
+
+            interface.SetShape(body->GetID(), newShape, true, activationMode);
+            // Seems like Jolt manages its memory for us, so we don't need the below
+            // delete oldShape;
+        }
+
+        interface.SetObjectLayer(body->GetID(), objectLayer);        
+        interface.SetMotionType(body->GetID(), motionType, activationMode);
+        interface.SetPositionRotationAndVelocity(body->GetID(), convert<JPH::Vec3>(part->position()), convert<JPH::Quat>((glm::quat)part->cframe.RotMatrix()), convert<JPH::Vec3>(part->velocity), /* Angular velocity is NYI: */ body->GetAngularVelocity());
+    }
+
+    part->rigidBody._lastSize = part->size;
+    if (std::shared_ptr<Part> part2 = std::dynamic_pointer_cast<Part>(part)) part->rigidBody._lastShape = part2->shape;
+}
+
+tu_time_t physTime;
+void PhysWorld::step(float deltaTime) {
+    tu_time_t startTime = tu_clock_micros();
+    // Depending on the load, it may be necessary to call this with a differing collision step count
+    // 5 seems to be a good number supporting the high gravity
+    worldImpl.Update(deltaTime, 5, allocator, jobSystem);
+
+    JPH::BodyInterface& interface = worldImpl.GetBodyInterface();
+    JPH::BodyIDVector bodyIDs;
+    worldImpl.GetBodies(bodyIDs);
+    for (JPH::BodyID bodyID : bodyIDs) {
+        std::shared_ptr<BasePart> part = ((Instance*)interface.GetUserData(bodyID))->shared<BasePart>();
+        part->cframe = CFrame(convert<Vector3>(interface.GetPosition(bodyID)), convert<glm::quat>(interface.GetRotation(bodyID)));
+    }
+
+    physTime = tu_clock_micros() - startTime;
+}
+
+PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart> part0, std::shared_ptr<BasePart> part1) {
+    if (part0->rigidBody.bodyImpl == nullptr
+        || part1->rigidBody.bodyImpl == nullptr
+        || !part0->workspace()
+        || !part1->workspace()
+        || part0->workspace()->physicsWorld != shared_from_this()
+        || part1->workspace()->physicsWorld != shared_from_this()
+    ) { Logger::fatalError("Failed to create joint between two parts due to the call being invalid"); panic(); };
+
+    JPH::TwoBodyConstraint* constraint;
+    if (PhysFixedJointInfo* info = dynamic_cast<PhysFixedJointInfo*>(&type)) {
+        JPH::FixedConstraintSettings settings;
+        settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
+        settings.mPoint1 = convert<JPH::Vec3>(info->c0.Position());
+        settings.mAxisX1 = convert<JPH::Vec3>(info->c0.RightVector());
+        settings.mAxisY1 = convert<JPH::Vec3>(info->c0.UpVector());
+        settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
+        settings.mAxisX2 = convert<JPH::Vec3>(info->c1.RightVector());
+        settings.mAxisY2 = convert<JPH::Vec3>(info->c1.UpVector());
+        constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
+    } else if (PhysRotatingJointInfo* info = dynamic_cast<PhysRotatingJointInfo*>(&type)) {
+        JPH::HingeConstraintSettings settings;
+        settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
+        settings.mPoint1 = convert<JPH::Vec3>(info->c0.Position());
+        settings.mNormalAxis1 = convert<JPH::Vec3>(info->c0.RightVector());
+        settings.mHingeAxis1 = convert<JPH::Vec3>(info->c0.LookVector());
+        settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
+        settings.mNormalAxis2 = convert<JPH::Vec3>(info->c1.RightVector());
+        settings.mHingeAxis2 = convert<JPH::Vec3>(info->c1.LookVector());
+        // settings.mMotorSettings = JPH::MotorSettings(1.0f, 1.0f);
+        constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
+        if (info->motorized) {
+            static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Velocity);
+            static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngularVelocity(-info->initialVelocity);
+        }
+    } else {
+        panic();
+    }
+
+    worldImpl.AddConstraint(constraint);
+    return { constraint };
+}
+
+// WATCH OUT! This should only be called for HingeConstraints.
+// Can't use dynamic_cast because TwoBodyConstraint is not virtual
+void PhysJoint::setAngularVelocity(float velocity) {
+    JPH::HingeConstraint* constraint = static_cast<JPH::HingeConstraint*>(jointImpl);
+    if (!constraint) return;
+    constraint->SetTargetAngularVelocity(-velocity);
+}
+
+void PhysWorld::destroyJoint(PhysJoint joint) {
+    worldImpl.RemoveConstraint(joint.jointImpl);
+}
+
+class PhysRayCastBodyFilter : public JPH::BodyFilter {
+    bool ShouldCollideLocked(const JPH::Body &inBody) const override {
+        std::shared_ptr<BasePart> part = ((Instance*)inBody.GetUserData())->shared<BasePart>();
+
+        // Ignore specifically "hidden" parts from raycast
+        // TODO: Replace this with a better system... Please.
+        if (!part->rigidBody.isCollisionsEnabled()) return false;
+
+        return true;
+    }
+};
+
+std::optional<const RaycastResult> PhysWorld::castRay(Vector3 point, Vector3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits) {
+    if (filter != std::nullopt) { Logger::fatalError("The filter property of PhysWorld::castRay is not yet implemented"); panic(); };
+
+    const JPH::BodyLockInterface& lockInterface = worldImpl.GetBodyLockInterfaceNoLock();
+    const JPH::BodyInterface& interface = worldImpl.GetBodyInterface();
+    const JPH::NarrowPhaseQuery& query = worldImpl.GetNarrowPhaseQuery();
+
+    // First we cast a ray to find a matching part
+    Vector3 end = point + rotation.Unit() * maxLength;
+    JPH::RRayCast ray { convert<JPH::Vec3>(point), convert<JPH::Vec3>(end) };
+    JPH::RayCastResult result;
+    PhysRayCastBodyFilter bodyFilter;
+    bool hitFound = query.CastRay(ray, result, {}, {}, bodyFilter);
+    
+    // No matches found, return empty
+    if (!hitFound) return std::nullopt;
+
+    // Next we cast a ray to find the hit surface and its world position and normal
+    JPH::BodyID hitBodyId = result.mBodyID;
+    std::shared_ptr<BasePart> part = ((Instance*)interface.GetUserData(hitBodyId))->shared<BasePart>();
+    const JPH::Shape* shape = interface.GetShape(hitBodyId);
+
+    // Find the hit position and hence the surface normal of the shape at that specific point
+    Vector3 hitPosition = point + rotation.Unit() * (maxLength * result.mFraction);
+    JPH::Vec3 surfaceNormal = shape->GetSurfaceNormal(result.mSubShapeID2, convert<JPH::Vec3>(part->cframe.Inverse() * hitPosition));
+    Vector3 worldNormal = part->cframe.Rotation() * convert<Vector3>(surfaceNormal);
+
+    return RaycastResult {
+        .worldPoint = hitPosition,
+        .worldNormal = worldNormal,
+        .body = lockInterface.TryGetBody(hitBodyId),
+        .hitPart = part,
+    };
+}
+
+uint BroadPhaseLayerInterface::GetNumBroadPhaseLayers() const {
+    return BPLayers::NUM_LAYERS;
+}
+
+JPH::BroadPhaseLayer BroadPhaseLayerInterface::GetBroadPhaseLayer(JPH::ObjectLayer inLayer) const {
+    switch (inLayer) {
+        case Layers::DYNAMIC: return BPLayers::DYNAMIC;
+        case Layers::ANCHORED: return BPLayers::ANCHORED;
+        case Layers::NOCOLLIDE: return BPLayers::NOCOLLIDE;
+        default: panic();
+    }
+}
+
+const char * BroadPhaseLayerInterface::GetBroadPhaseLayerName(JPH::BroadPhaseLayer inLayer) const {
+    using T = JPH::BroadPhaseLayer::Type;
+    switch ((T)inLayer) {
+        case (T)BPLayers::DYNAMIC: return "DYNAMIC";
+        case (T)BPLayers::ANCHORED: return "ANCHORED";
+        case (T)BPLayers::NOCOLLIDE: return "NOCOLLIDE";
+        default: panic();
+    }
+}
+
+bool ObjectBroadPhaseFilter::ShouldCollide(JPH::ObjectLayer inLayer1, JPH::BroadPhaseLayer inLayer2) const {
+    using T = JPH::BroadPhaseLayer::Type;
+    switch ((T)inLayer2) {
+    case (T)BPLayers::DYNAMIC: return true;
+    case (T)BPLayers::ANCHORED: return true;
+    case (T)BPLayers::NOCOLLIDE: return false;
+    default: panic();
+    }
+}
+
+bool ObjectLayerPairFilter::ShouldCollide(JPH::ObjectLayer inLayer1, JPH::ObjectLayer inLayer2) const {
+    switch (inLayer1) {
+    case Layers::DYNAMIC:
+        return true;
+    case Layers::ANCHORED:
+        return inLayer2 == Layers::DYNAMIC;
+    case Layers::NOCOLLIDE:
+        return false;
+    default:
+        panic();
+    }
+}

core/src/physics/world.h

@@ -0,0 +1,126 @@
+#pragma once
+
+#include "datatypes/cframe.h"
+#include "datatypes/vector.h"
+#include "enum/part.h"
+#include "utils.h"
+#include <functional>
+#include <list>
+#include <memory>
+
+#include <Jolt/Jolt.h>
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/PhysicsSystem.h>
+#include <Jolt/Physics/Constraints/TwoBodyConstraint.h>
+
+class BasePart;
+class PhysWorld;
+
+struct PhysJointInfo { virtual ~PhysJointInfo() = default; protected: PhysJointInfo() = default; };
+
+struct PhysFixedJointInfo : PhysJointInfo {
+    CFrame c0;
+    CFrame c1;
+    
+    inline PhysFixedJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1) {}
+};
+
+struct PhysRotatingJointInfo : PhysJointInfo {
+    CFrame c0;
+    CFrame c1;
+    bool motorized;
+    float initialVelocity;
+    
+    inline PhysRotatingJointInfo(CFrame c0, CFrame c1) : c0(c0), c1(c1), motorized(false), initialVelocity(0.f){}
+    inline PhysRotatingJointInfo(CFrame c0, CFrame c1, float initialVelocity) : c0(c0), c1(c1), motorized(true), initialVelocity(initialVelocity) {}
+};
+
+class PhysWorld;
+struct PhysJoint {
+public:
+    JPH::TwoBodyConstraint* jointImpl;
+
+    void setAngularVelocity(float velocity);
+};
+
+struct RaycastResult;
+class PhysRigidBody {
+    JPH::Body* bodyImpl = nullptr;
+    inline PhysRigidBody(JPH::Body* rigidBody) : bodyImpl(rigidBody) {}
+    Vector3 _lastSize;
+    PartType _lastShape;
+    bool collisionsEnabled = true;
+
+    friend PhysWorld;
+    friend RaycastResult;
+public:
+    inline PhysRigidBody() {}
+
+    inline void setActive(bool active) { if (!bodyImpl) return; }
+    inline void setCollisionsEnabled(bool enabled) { collisionsEnabled = enabled; }
+    inline bool isCollisionsEnabled() { return collisionsEnabled; }
+    void updateCollider(std::shared_ptr<BasePart>);
+};
+
+// // Provides internal implementation-specific values from the raycast result
+// struct RaycastResultInternal {
+//     rp::decimal hitFraction;
+//     rp::Collider* collider;
+// };
+
+struct RaycastResult {
+    Vector3 worldPoint;
+    Vector3 worldNormal;
+    PhysRigidBody body;
+    nullable std::shared_ptr<BasePart> hitPart;
+};
+
+enum FilterResult {
+    TARGET, // The object is captured
+    BLOCK, // The object blocks any objects behind it, but is not captured
+    PASS, // The object is transparent, ignore it
+};
+
+class BasePart;
+typedef std::function<FilterResult(std::shared_ptr<BasePart>)> RaycastFilter;
+
+class BroadPhaseLayerInterface : public JPH::BroadPhaseLayerInterface {
+    uint GetNumBroadPhaseLayers() const override;
+    JPH::BroadPhaseLayer GetBroadPhaseLayer(JPH::ObjectLayer inLayer) const override;
+    const char * GetBroadPhaseLayerName(JPH::BroadPhaseLayer inLayer) const override;
+};
+
+class ObjectBroadPhaseFilter : public JPH::ObjectVsBroadPhaseLayerFilter {
+    bool ShouldCollide(JPH::ObjectLayer inLayer1, JPH::BroadPhaseLayer inLayer2) const override;
+};
+
+class ObjectLayerPairFilter : public JPH::ObjectLayerPairFilter {
+    bool ShouldCollide(JPH::ObjectLayer inLayer1, JPH::ObjectLayer inLayer2) const override;
+};
+
+class PhysWorld : public std::enable_shared_from_this<PhysWorld> {
+    BroadPhaseLayerInterface broadPhaseLayerInterface;
+    ObjectBroadPhaseFilter objectBroadPhasefilter;
+    ObjectLayerPairFilter objectLayerPairFilter;
+    JPH::PhysicsSystem worldImpl;
+    std::list<std::shared_ptr<BasePart>> simulatedBodies;
+
+public:
+    PhysWorld();
+    ~PhysWorld();
+
+    void step(float deltaTime);
+    
+    void addBody(std::shared_ptr<BasePart>);
+    void removeBody(std::shared_ptr<BasePart>);
+
+    PhysJoint createJoint(PhysJointInfo& type, std::shared_ptr<BasePart> part0, std::shared_ptr<BasePart> part1);
+    void destroyJoint(PhysJoint joint);
+
+    inline const std::list<std::shared_ptr<BasePart>>& getSimulatedBodies() { return simulatedBodies; }
+    void syncBodyProperties(std::shared_ptr<BasePart>);
+    std::optional<const RaycastResult> castRay(Vector3 point, Vector3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits);
+};
+
+void physicsInit();
+void physicsDeinit();

core/src/rendering/debug/debugrenderer.cpp

@@ -1,8 +1,7 @@
 #include "rendering/shader.h"
 #include "rendering/texture.h"
 #include "timeutil.h"
-#include <GL/glew.h>
-#include <GL/gl.h>
+#include <glad/gl.h>
 #include <glm/ext/vector_float4.hpp>
 #include <string>
 
@@ -11,6 +10,8 @@ extern Texture* debugFontTexture;
 extern Shader* debugFontShader;
 extern Shader* identityShader;
 
+void drawRect(int x, int y, int width, int height, glm::vec4 color);
+
 void drawChar(char c, int x, int y, float scale=1.f) {
     debugFontShader->use();
     debugFontTexture->activate(1);
@@ -41,22 +42,6 @@ void drawString(std::string str, int x, int y, float scale=1.f) {
     }
 }
 
-void drawRect(int x, int y, int w, int h, glm::vec4 color) {
-    identityShader->use();
-    identityShader->set("aColor", color);
-
-    float x0 = 2*float(x)/viewportWidth-1, y0 = 2*float(y)/viewportHeight-1, x1 = 2*float(x + w)/viewportWidth-1, y1 = 2*float(y + h)/viewportHeight-1;
-    float tmp;
-    tmp = -y0, y0 = -y1, y1 = tmp;
-
-    glBegin(GL_QUADS);
-        glVertex3f(x0, y0, 0);
-        glVertex3f(x1, y0, 0);
-        glVertex3f(x1, y1, 0);
-        glVertex3f(x0, y1, 0);
-    glEnd();
-}
-
 static tu_time_t lastTime;
 extern tu_time_t renderTime;
 extern tu_time_t physTime;