refactor(physics): integrated physics world into workspace (likely for bugs to ensue. I'll deal with that later)

BUILD.md

@@ -0,0 +1,49 @@
+# Building on Linux
+
+For pre-requisite packages, check [deps.txt](./deps.txt)
+
+If your distribution does not provide ReactPhysics3D, you will have to build (and install) it yourself prior to this step
+
+Use the following to generate the build files:
+
+    cmake -Bbuild .
+
+Then build the project using:
+
+    cmake --build build
+
+# Building on Windows
+
+The project will be built using VCPKG and MSVC
+
+## Pre-requisites
+
+* Visual Studio 17.13.3 or higher, with MSVC v143/14.42.34438.0 or higher
+* Qt 6.8.3 or higher, with MSVC toolchain
+* CMake
+* Git (for cloning the repo, optional)
+* ReactPhysics3D prebuilt library
+
+You will have to build and install ReactPhysics3D yourself. Check the [build instructions on ReactPhysics3D](https://www.reactphysics3d.com/documentation/index.html#building) for help
+
+To start, clone the repository:
+
+    git clone https://git.maelstrom.dev/maelstrom/openblocks
+
+Then, launch the *x64 Native Tools Command Prompt for VS 2022*, and cd into the directory that you cloned the project into
+
+Once in the directory, add Qt to the `CMAKE_PREFIX_PATH` variable (for instance, if you install Qt to `C:\Qt\6.8.3`):
+
+    set CMAKE_PREFIX_PATH=C:\Qt\6.8.3\msvc2022_64
+
+Now, generate the build files with cmake via the vcpkg preset:
+
+    cmake -Bbuild . --preset vcpkg
+
+Then, finally, build in release mode:
+
+    cmake --build build --config Release
+
+The compiled binaries should then be placed 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.

README.md

@@ -0,0 +1,5 @@
+# Openblocks
+
+[ Docs are work in progress! ]
+
+For build instructions, see [BUILD.md](./BUILD.md)

client/src/main.cpp

@@ -1,20 +1,7 @@
 #include <GL/glew.h>
-#include <GL/gl.h>
 #include <GLFW/glfw3.h>
-#include <glm/ext/matrix_transform.hpp>
-#include <glm/ext/quaternion_trigonometric.hpp>
-#include <glm/ext/vector_float3.hpp>
-#include <glm/gtc/quaternion.hpp>
-#include <memory>
-#include <stdio.h>
-#include <format>
-
-#include "logger.h"
 #include "objects/part.h"
 #include "rendering/renderer.h"
-#include "physics/simulation.h"
-#include "camera.h"
-
 #include "common.h"
 
 void errorCatcher(int id, const char* str);
@@ -46,7 +33,6 @@ int main() {
     glewInit();
 
     gDataModel->Init();
-    simulationInit();
     renderInit(window, 1200, 900);
 
     // Baseplate
@@ -68,7 +54,7 @@ int main() {
     for (InstanceRef inst : gWorkspace()->GetChildren()) {
         if (inst->GetClass()->className != "Part") continue;
         std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(inst);
-        syncPartPhysics(part);
+        gWorkspace()->SyncPartPhysics(part);
     }
 
     float lastTime = glfwGetTime();
@@ -77,7 +63,7 @@ int main() {
         lastTime = glfwGetTime();
         
         processInput(window);
-        physicsStep(deltaTime);
+        gWorkspace()->PhysicsStep(deltaTime);
         render(window);
 
         glfwSwapBuffers(window);
@@ -115,15 +101,15 @@ void processInput(GLFWwindow* window) {
         shiftFactor *= deltaTime;
         if (glfwGetKey(window, GLFW_KEY_X) == GLFW_PRESS) {
             // lastPart->rotation *= glm::angleAxis(shiftFactor, glm::vec3(1, 0, 0));
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (glfwGetKey(window, GLFW_KEY_Y) == GLFW_PRESS) {
             // lastPart->rotation *= glm::angleAxis(shiftFactor, glm::vec3(0, 1, 0));
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (glfwGetKey(window, GLFW_KEY_Z) == GLFW_PRESS) {
             // lastPart->rotation *= glm::angleAxis(shiftFactor, glm::vec3(0, 0, 1));
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
     }
 }
@@ -164,35 +150,35 @@ void keyCallback(GLFWwindow* window, int key, int scancode, int action, int mods
             .size = glm::vec3(1, 1, 1),
             .color = glm::vec3(1.0f, 0.5f, 0.31f),
         }));
-        syncPartPhysics(lastPart);
+        gWorkspace()->SyncPartPhysics(lastPart);
     }
 
     float shiftFactor = (mods & GLFW_MOD_SHIFT) ? -0.2 : 0.2;
     if (mode == 0) {
         if (key == GLFW_KEY_X && action == GLFW_PRESS) {
             // lastPart->position.x += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (key == GLFW_KEY_Y && action == GLFW_PRESS) {
             // lastPart->position.y += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
             // lastPart->position.z += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
     } else if (mode == 1) {
         if (key == GLFW_KEY_X && action == GLFW_PRESS) {
             lastPart->size.x += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (key == GLFW_KEY_Y && action == GLFW_PRESS) {
             lastPart->size.y += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
         if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
             lastPart->size.z += shiftFactor;
-            syncPartPhysics(lastPart);
+            gWorkspace()->SyncPartPhysics(lastPart);
         }
     }
     

core/src/datatypes/base.cpp

@@ -6,7 +6,7 @@ Data::CLASS_NAME::~CLASS_NAME() = default; \
 Data::CLASS_NAME::operator const WRAPPED_TYPE() const { return value; } \
 const Data::TypeInfo Data::CLASS_NAME::TYPE = { .name = TYPE_NAME, .deserializer = &Data::CLASS_NAME::Deserialize, .fromString = &Data::CLASS_NAME::FromString }; \
 const Data::TypeInfo& Data::CLASS_NAME::GetType() const { return Data::CLASS_NAME::TYPE; }; \
-void Data::CLASS_NAME::Serialize(pugi::xml_node* node) const { node->text().set(std::string(this->ToString())); }
+void Data::CLASS_NAME::Serialize(pugi::xml_node node) const { node.text().set(std::string(this->ToString())); }
 
 Data::Base::~Base() {};
 
@@ -22,11 +22,11 @@ const Data::String Data::Null::ToString() const {
     return Data::String("null");
 }
 
-void Data::Null::Serialize(pugi::xml_node* node) const {
+void Data::Null::Serialize(pugi::xml_node node) const {
-    node->text().set("null");
+    node.text().set("null");
 }
 
-Data::Variant Data::Null::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Null::Deserialize(pugi::xml_node node) {
     return Data::Null();
 }
 
@@ -41,8 +41,8 @@ const Data::String Data::Bool::ToString() const {
     return Data::String(value ? "true" : "false");
 }
 
-Data::Variant Data::Bool::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Bool::Deserialize(pugi::xml_node node) {
-    return Data::Bool(node->text().as_bool());
+    return Data::Bool(node.text().as_bool());
 }
 
 Data::Variant Data::Bool::FromString(std::string string) {
@@ -54,8 +54,8 @@ const Data::String Data::Int::ToString() const {
     return Data::String(std::to_string(value));
 }
 
-Data::Variant Data::Int::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Int::Deserialize(pugi::xml_node node) {
-    return Data::Int(node->text().as_int());
+    return Data::Int(node.text().as_int());
 }
 
 Data::Variant Data::Int::FromString(std::string string) {
@@ -67,8 +67,8 @@ const Data::String Data::Float::ToString() const {
     return Data::String(std::to_string(value));
 }
 
-Data::Variant Data::Float::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Float::Deserialize(pugi::xml_node node) {
-    return Data::Float(node->text().as_float());
+    return Data::Float(node.text().as_float());
 }
 
 Data::Variant Data::Float::FromString(std::string string) {
@@ -80,8 +80,8 @@ const Data::String Data::String::ToString() const {
     return *this;
 }
 
-Data::Variant Data::String::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::String::Deserialize(pugi::xml_node node) {
-    return Data::String(node->text().as_string());
+    return Data::String(node.text().as_string());
 }
 
 Data::Variant Data::String::FromString(std::string string) {

core/src/datatypes/base.h

@@ -14,14 +14,14 @@ public: \
     static const TypeInfo TYPE; \
     \
     virtual const Data::String ToString() const override; \
-    virtual void Serialize(pugi::xml_node* node) const override; \
+    virtual void Serialize(pugi::xml_node node) const override; \
-    static Data::Variant Deserialize(pugi::xml_node* node); \
+    static Data::Variant Deserialize(pugi::xml_node node); \
     static Data::Variant FromString(std::string); \
 };
 
 namespace Data {
     class Variant;
-    typedef std::function<Data::Variant(pugi::xml_node*)> Deserializer;
+    typedef std::function<Data::Variant(pugi::xml_node)> Deserializer;
     typedef std::function<Data::Variant(std::string)> FromString;
 
     struct TypeInfo {
@@ -36,7 +36,7 @@ namespace Data {
         virtual ~Base();
         virtual const TypeInfo& GetType() const = 0;
         virtual const Data::String ToString() const = 0;
-        virtual void Serialize(pugi::xml_node* node) const = 0;
+        virtual void Serialize(pugi::xml_node node) const = 0;
     };
 
     class Null : Base {
@@ -47,8 +47,8 @@ namespace Data {
         static const TypeInfo TYPE;
 
         virtual const Data::String ToString() const override;
-        virtual void Serialize(pugi::xml_node* node) const override;
+        virtual void Serialize(pugi::xml_node node) const override;
-        static Data::Variant Deserialize(pugi::xml_node* node);
+        static Data::Variant Deserialize(pugi::xml_node node);
     };
 
     DEF_WRAPPER_CLASS(Bool, bool)

core/src/datatypes/cframe.cpp

@@ -112,35 +112,35 @@ Data::CFrame Data::CFrame::operator -(Data::Vector3 vector) const {
 
 // Serialization
 
-void Data::CFrame::Serialize(pugi::xml_node* node) const {
+void Data::CFrame::Serialize(pugi::xml_node node) const {
-    node->append_child("X").text().set(std::to_string(this->X()));
+    node.append_child("X").text().set(std::to_string(this->X()));
-    node->append_child("Y").text().set(std::to_string(this->Y()));
+    node.append_child("Y").text().set(std::to_string(this->Y()));
-    node->append_child("Z").text().set(std::to_string(this->Z()));
+    node.append_child("Z").text().set(std::to_string(this->Z()));
-    node->append_child("R00").text().set(std::to_string(this->rotation[0][0]));
+    node.append_child("R00").text().set(std::to_string(this->rotation[0][0]));
-    node->append_child("R01").text().set(std::to_string(this->rotation[1][0]));
+    node.append_child("R01").text().set(std::to_string(this->rotation[1][0]));
-    node->append_child("R02").text().set(std::to_string(this->rotation[2][0]));
+    node.append_child("R02").text().set(std::to_string(this->rotation[2][0]));
-    node->append_child("R10").text().set(std::to_string(this->rotation[0][1]));
+    node.append_child("R10").text().set(std::to_string(this->rotation[0][1]));
-    node->append_child("R11").text().set(std::to_string(this->rotation[1][1]));
+    node.append_child("R11").text().set(std::to_string(this->rotation[1][1]));
-    node->append_child("R12").text().set(std::to_string(this->rotation[2][1]));
+    node.append_child("R12").text().set(std::to_string(this->rotation[2][1]));
-    node->append_child("R20").text().set(std::to_string(this->rotation[0][2]));
+    node.append_child("R20").text().set(std::to_string(this->rotation[0][2]));
-    node->append_child("R21").text().set(std::to_string(this->rotation[1][2]));
+    node.append_child("R21").text().set(std::to_string(this->rotation[1][2]));
-    node->append_child("R22").text().set(std::to_string(this->rotation[2][2]));
+    node.append_child("R22").text().set(std::to_string(this->rotation[2][2]));
 }
 
 
-Data::Variant Data::CFrame::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::CFrame::Deserialize(pugi::xml_node node) {
     return Data::CFrame(
-        node->child("X").text().as_float(),
+        node.child("X").text().as_float(),
-        node->child("Y").text().as_float(),
+        node.child("Y").text().as_float(),
-        node->child("Z").text().as_float(),
+        node.child("Z").text().as_float(),
-        node->child("R00").text().as_float(),
+        node.child("R00").text().as_float(),
-        node->child("R01").text().as_float(),
+        node.child("R01").text().as_float(),
-        node->child("R02").text().as_float(),
+        node.child("R02").text().as_float(),
-        node->child("R10").text().as_float(),
+        node.child("R10").text().as_float(),
-        node->child("R11").text().as_float(),
+        node.child("R11").text().as_float(),
-        node->child("R12").text().as_float(),
+        node.child("R12").text().as_float(),
-        node->child("R20").text().as_float(),
+        node.child("R20").text().as_float(),
-        node->child("R21").text().as_float(),
+        node.child("R21").text().as_float(),
-        node->child("R22").text().as_float()
+        node.child("R22").text().as_float()
     );
 }

core/src/datatypes/cframe.h

@@ -2,12 +2,8 @@
 
 #include "base.h"
 #include "datatypes/vector.h"
-#include <glm/ext/matrix_float3x3.hpp>
+#include <glm/ext/quaternion_float.hpp>
-#include <glm/ext/quaternion_geometric.hpp>
-#include <glm/ext/vector_float3.hpp>
-#include <glm/fwd.hpp>
 #include <glm/gtc/matrix_access.hpp>
-#include <glm/gtc/matrix_inverse.hpp>
 #include <glm/matrix.hpp>
 #include <reactphysics3d/mathematics/Transform.h>
 #include <reactphysics3d/reactphysics3d.h>
@@ -37,8 +33,8 @@ namespace Data {
         static const TypeInfo TYPE;
 
         virtual const Data::String ToString() const override;
-        virtual void Serialize(pugi::xml_node* parent) const override;
+        virtual void Serialize(pugi::xml_node parent) const override;
-        static Data::Variant Deserialize(pugi::xml_node* node);
+        static Data::Variant Deserialize(pugi::xml_node node);
 
         operator glm::mat4() const;
         operator rp::Transform() const;

core/src/datatypes/color3.cpp

@@ -1,9 +1,4 @@
 #include "color3.h"
-#include <algorithm>
-#include <glm/ext/quaternion_geometric.hpp>
-#include <iomanip>
-#include <ios>
-#include <string>
 #include "meta.h" // IWYU pragma: keep
 
 Data::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)) {};
@@ -43,10 +38,10 @@ Data::Color3 Data::Color3::FromHex(std::string hex) {
 
 // Serialization
 
-void Data::Color3::Serialize(pugi::xml_node* node) const {
+void Data::Color3::Serialize(pugi::xml_node node) const {
-    node->text().set(this->ToHex());
+    node.text().set(this->ToHex());
 }
 
-Data::Variant Data::Color3::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Color3::Deserialize(pugi::xml_node node) {
-    return Color3::FromHex(node->text().get());
+    return Color3::FromHex(node.text().get());
 }

core/src/datatypes/color3.h

@@ -25,8 +25,8 @@ namespace Data {
 
         virtual const Data::String ToString() const override;
         std::string ToHex() const;
-        virtual void Serialize(pugi::xml_node* node) const override;
+        virtual void Serialize(pugi::xml_node node) const override;
-        static Data::Variant Deserialize(pugi::xml_node* node);
+        static Data::Variant Deserialize(pugi::xml_node node);
 
         operator glm::vec3() const;
 

core/src/datatypes/meta.cpp

@@ -11,19 +11,19 @@ Data::String Data::Variant::ToString() const {
     }, this->wrapped);
 }
 
-void Data::Variant::Serialize(pugi::xml_node* node) const {
+void Data::Variant::Serialize(pugi::xml_node node) const {
     std::visit([&](auto&& it) {
         it.Serialize(node);
     }, this->wrapped);
 }
 
-Data::Variant Data::Variant::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Variant::Deserialize(pugi::xml_node node) {
-    if (Data::TYPE_MAP.count(node->name()) == 0) {
+    if (Data::TYPE_MAP.count(node.name()) == 0) {
-        Logger::fatalErrorf("Unknown type for instance: '%s'", node->name());
+        Logger::fatalErrorf("Unknown type for instance: '%s'", node.name());
         panic();
     }
 
-    const Data::TypeInfo* type = Data::TYPE_MAP[node->name()];
+    const Data::TypeInfo* type = Data::TYPE_MAP[node.name()];
     return type->deserializer(node);
 }
 

core/src/datatypes/meta.h

@@ -34,8 +34,8 @@ namespace Data {
         template <typename T> T get() { return std::get<T>(wrapped); }
         Data::String ToString() const;
         
-        void Serialize(pugi::xml_node* node) const;
+        void Serialize(pugi::xml_node node) const;
-        static Data::Variant Deserialize(pugi::xml_node* node);
+        static Data::Variant Deserialize(pugi::xml_node node);
     };
 
     // Map of all data types to their type names

core/src/datatypes/vector.cpp

@@ -65,12 +65,12 @@ float Data::Vector3::Dot(Data::Vector3 other) const {
 
 // Serialization
 
-void Data::Vector3::Serialize(pugi::xml_node* node) const {
+void Data::Vector3::Serialize(pugi::xml_node node) const {
-    node->append_child("X").text().set(std::to_string(this->X()));
+    node.append_child("X").text().set(std::to_string(this->X()));
-    node->append_child("Y").text().set(std::to_string(this->Y()));
+    node.append_child("Y").text().set(std::to_string(this->Y()));
-    node->append_child("Z").text().set(std::to_string(this->Z()));
+    node.append_child("Z").text().set(std::to_string(this->Z()));
 }
 
-Data::Variant Data::Vector3::Deserialize(pugi::xml_node* node) {
+Data::Variant Data::Vector3::Deserialize(pugi::xml_node node) {
-    return Data::Vector3(node->child("X").text().as_float(), node->child("Y").text().as_float(), node->child("Z").text().as_float());
+    return Data::Vector3(node.child("X").text().as_float(), node.child("Y").text().as_float(), node.child("Z").text().as_float());
 }

core/src/datatypes/vector.h

@@ -24,8 +24,8 @@ namespace Data {
         static Data::Vector3 ONE;
 
         virtual const Data::String ToString() const override;
-        virtual void Serialize(pugi::xml_node* node) const override;
+        virtual void Serialize(pugi::xml_node node) const override;
-        static Data::Variant Deserialize(pugi::xml_node* node);
+        static Data::Variant Deserialize(pugi::xml_node node);
 
         operator glm::vec3() const;
         operator rp::Vector3() const;

core/src/error/error.cpp

@@ -0,0 +1,17 @@
+#include "error.h"
+#include "logger.h"
+
+Error::Error(std::string message) : message(message) {
+}
+
+std::string Error::getMessage() {
+    return this->message;
+}
+
+void Error::logMessage(Logger::LogLevel logLevel) {
+    Logger::log(this->message, logLevel);
+}
+
+void Error::logMessageFatal() {
+    Logger::fatalError(this->message);
+}

core/src/error/error.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include "logger.h"
+#include <string>
+
+// Base class for all errors
+class Error {
+    std::string message;
+
+protected:
+    Error(std::string message);
+
+public:
+    std::string getMessage();
+    void logMessage(Logger::LogLevel logLevel = Logger::LogLevel::ERROR);
+    void logMessageFatal();
+};

core/src/error/result.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#include "error.h"
+#include "logger.h"
+#include "panic.h"
+#include <optional>
+#include <string>
+#include <variant>
+
+struct DUMMY_VALUE {};
+
+template <typename Result, typename ...E>
+class [[nodiscard]] result {
+    struct ErrorContainer {
+        std::variant<E...> error;
+    };
+
+    struct SuccessContainer {
+        Result success;
+    };
+
+    std::variant<SuccessContainer, ErrorContainer> value;
+public:
+    result(Result success) : value(SuccessContainer { success }) {}
+    result(std::variant<E...> error) : value(ErrorContainer { error }) {}
+
+    // Expects the result to be successful, otherwise panic with error message
+    Result expect(std::string errMsg = "Unwrapped a result with failure value") {
+        if (is_success())
+            return std::get<SuccessContainer>(value).success;
+        Logger::fatalError(errMsg);
+        panic();
+    }
+
+    bool is_success() { return std::holds_alternative<SuccessContainer>(value); }
+    bool is_error() { return std::holds_alternative<ErrorContainer>(value); }
+
+    std::optional<Result> success() { return is_success() ? std::get<SuccessContainer>(value).success : std::nullopt; }
+    std::optional<std::variant<E...>> error() { return is_error() ? std::make_optional(std::get<ErrorContainer>(value).error) : std::nullopt; }
+
+    void logError(Logger::LogLevel logLevel = Logger::LogLevel::ERROR) {
+        if (is_success()) return;
+        std::visit([&](auto&& it) {
+            it.logMessage(logLevel);
+        }, error().value());
+    }
+
+    // Equivalent to .success
+    operator std::optional<Result>() { return success(); }
+    operator bool() { return is_success(); }
+    bool operator !() { return is_error(); }
+};
+
+template <typename ...E>
+class fallible : public result<DUMMY_VALUE, E...> {
+public:
+    fallible() : result<DUMMY_VALUE, E...>(DUMMY_VALUE {}) {}
+    fallible(std::variant<E...> error) : result<DUMMY_VALUE, E...>(error) {}
+};

core/src/objects/base/instance.cpp

@@ -39,6 +39,12 @@ Instance::Instance(const InstanceType* type) {
 Instance::~Instance () {
 }
 
+template <typename T>
+bool operator ==(std::optional<std::weak_ptr<T>> a, std::optional<std::weak_ptr<T>> b) {
+    return (!a.has_value() || a.value().expired()) && (!b.has_value() || b.value().expired())
+    || (a.has_value() && !a.value().expired()) && (b.has_value() && !b.value().expired()) && a.value().lock() == b.value().lock();
+}
+
 // 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()) {
@@ -69,37 +75,47 @@ bool Instance::SetParent(std::optional<std::shared_ptr<Instance>> newParent) {
     if (hierarchyPostUpdateHandler.has_value()) hierarchyPostUpdateHandler.value()(this->shared_from_this(), lastParent, newParent);
 
     this->OnParentUpdated(lastParent, newParent);
+
+    auto oldDataModel = _dataModel;
+    auto oldWorkspace = _workspace;
+
+    // Update parent data model and workspace, if applicable
+    if (newParent) {
+        this->_dataModel = newParent->get()->GetClass() == &DataModel::TYPE ? std::make_optional(std::dynamic_pointer_cast<DataModel>(newParent.value())) : newParent.value()->dataModel();
+        this->_workspace = newParent->get()->GetClass() == &Workspace::TYPE ? std::make_optional(std::dynamic_pointer_cast<Workspace>(newParent.value())) : newParent.value()->workspace();
+    } else {
+        this->_dataModel = std::nullopt;
+        this->_workspace = std::nullopt;
+    }
+
+    updateAncestry(this->shared<Instance>(), newParent);
+
     return true;
 }
 
-std::optional<std::shared_ptr<DataModel>> Instance::dataModel() {
+void Instance::updateAncestry(std::optional<std::shared_ptr<Instance>> updatedChild, std::optional<std::shared_ptr<Instance>> newParent) {
-    // TODO: This algorithm will defer calculations to every time the root data model
+    if (GetParent()) {
-    // is accessed from any instance. This is inefficient as this can happen many times
+        this->_dataModel = GetParent().value()->GetClass() == &DataModel::TYPE ? std::make_optional(std::dynamic_pointer_cast<DataModel>(GetParent().value())) : GetParent().value()->dataModel();
-    // a tick. A better option is to cache these values and only update them if the ancestry
+        this->_workspace = GetParent().value()->GetClass() == &Workspace::TYPE ? std::make_optional(std::dynamic_pointer_cast<Workspace>(GetParent().value())) : GetParent().value()->workspace();
-    // changes, as that happens way less often.
+    } else {
-
+        this->_dataModel = std::nullopt;
-    std::optional<std::shared_ptr<Instance>> currentParent = GetParent();
+        this->_workspace = std::nullopt;
-    while (currentParent) {
-        if (currentParent.value()->GetClass() == &DataModel::TYPE)
-            return std::dynamic_pointer_cast<DataModel>(currentParent.value());
-
-        currentParent = currentParent.value()->GetParent();
     }
 
-    return std::nullopt;
+    OnAncestryChanged(updatedChild, newParent);
+
+    // Update ancestry in descendants
+    for (InstanceRef child : children) {
+        child->updateAncestry(updatedChild, newParent);
+    }
+}
+
+std::optional<std::shared_ptr<DataModel>> Instance::dataModel() {
+    return (!_dataModel || _dataModel->expired()) ? std::nullopt : std::make_optional(_dataModel.value().lock());
 }
 
 std::optional<std::shared_ptr<Workspace>> Instance::workspace() {
-    // See comment in above function
+    return (!_workspace || _workspace->expired()) ? std::nullopt : std::make_optional(_workspace.value().lock());
-    std::optional<std::shared_ptr<Instance>> currentParent = GetParent();
-    while (currentParent) {
-        if (currentParent.value()->GetClass() == &DataModel::TYPE)
-            return std::dynamic_pointer_cast<Workspace>(currentParent.value());
-
-        currentParent = currentParent.value()->GetParent();
-    }
-
-    return std::nullopt;
 }
 
 std::optional<std::shared_ptr<Instance>> Instance::GetParent() {
@@ -125,6 +141,10 @@ void Instance::OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParen
     // Empty stub
 }
 
+void Instance::OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) {
+    // Empty stub
+}
+
 // Properties
 
 tl::expected<Data::Variant, MemberNotFound> Instance::GetPropertyValue(std::string name) {
@@ -186,8 +206,8 @@ std::vector<std::string> Instance::GetProperties() {
 
 // Serialization
 
-void Instance::Serialize(pugi::xml_node* parent) {
+void Instance::Serialize(pugi::xml_node parent) {
-    pugi::xml_node node = parent->append_child("Item");
+    pugi::xml_node node = parent.append_child("Item");
     node.append_attribute("class").set_value(this->GetClass()->className);
 
     // Add properties
@@ -198,20 +218,19 @@ void Instance::Serialize(pugi::xml_node* parent) {
 
         pugi::xml_node propertyNode = propertiesNode.append_child(meta.type->name);
         propertyNode.append_attribute("name").set_value(name);
-        GetPropertyValue(name)->Serialize(&propertyNode);
+        GetPropertyValue(name)->Serialize(propertyNode);
     }
 
     // Add children
     for (InstanceRef child : this->children) {
-        child->Serialize(&node);
+        child->Serialize(node);
     }
 }
 
-InstanceRef Instance::Deserialize(pugi::xml_node* node) {
+result<InstanceRef, NoSuchInstance> Instance::Deserialize(pugi::xml_node node) {
-    std::string className = node->attribute("class").value();
+    std::string className = node.attribute("class").value();
     if (INSTANCE_MAP.count(className) == 0) {
-        Logger::fatalErrorf("Unknown type for instance: '%s'", className.c_str());
+        return std::variant<NoSuchInstance>(NoSuchInstance(className));
-        panic();
     }
     // This will error if an abstract instance is used in the file. Oh well, not my prob rn.
     // printf("What are you? A %s sandwich\n", className.c_str());
@@ -221,7 +240,7 @@ InstanceRef Instance::Deserialize(pugi::xml_node* node) {
     // const InstanceType* type = INSTANCE_MAP.at(className);
 
     // Read properties
-    pugi::xml_node propertiesNode = node->child("Properties");
+    pugi::xml_node propertiesNode = node.child("Properties");
     for (pugi::xml_node propertyNode : propertiesNode) {
         std::string propertyName = propertyNode.attribute("name").value();
         auto meta_ = object->GetPropertyMeta(propertyName);
@@ -229,14 +248,18 @@ InstanceRef Instance::Deserialize(pugi::xml_node* node) {
             Logger::fatalErrorf("Attempt to set unknown property '%s' of %s", propertyName.c_str(), object->GetClass()->className.c_str());
             continue;
         }
-        Data::Variant value = Data::Variant::Deserialize(&propertyNode);
+        Data::Variant value = Data::Variant::Deserialize(propertyNode);
         object->SetPropertyValue(propertyName, value);
     }
 
     // Read children
-    for (pugi::xml_node childNode : node->children("Item")) {
+    for (pugi::xml_node childNode : node.children("Item")) {
-        InstanceRef child = Instance::Deserialize(&childNode);
+        result<InstanceRef, NoSuchInstance> child = Instance::Deserialize(childNode);
-        object->AddChild(child);
+        if (child.is_error()) {
+            std::get<NoSuchInstance>(child.error().value()).logMessage();
+            continue;
+        }
+        object->AddChild(child.expect());
     }
 
     return object;

core/src/objects/base/instance.h

@@ -8,13 +8,13 @@
 #include <memory>
 #include <optional>
 #include <string>
-#include <variant>
-#include <map>
 #include <vector>
 // #include <../../include/expected.hpp>
 #include <expected.hpp>
 #include <pugixml.hpp>
 
+#include "error/error.h"
+#include "error/result.h"
 #include "member.h"
 
 class Instance;
@@ -23,12 +23,25 @@ typedef std::shared_ptr<Instance>(*InstanceConstructor)();
 class DataModel;
 class Workspace;
 
+typedef int InstanceFlags;
+// This instance should only be instantiated in special circumstances (i.e. by DataModel) and should be creatable directly via any API 
+const InstanceFlags INSTANCE_NOTCREATABLE = (InstanceFlags)0x1;
+// This instance is a service
+const InstanceFlags INSTANCE_SERVICE = (InstanceFlags)0x2;
+
 // Struct describing information about an instance
 struct InstanceType {
     const InstanceType* super; // May be null
     std::string className;
     InstanceConstructor constructor;
     std::string explorerIcon = "";
+    InstanceFlags flags;
+};
+
+// Errors
+class NoSuchInstance : public Error {
+    public:
+    inline NoSuchInstance(std::string className) : Error("Cannot create instance of unknown type " + className) {}
 };
 
 class DescendantsIterator;
@@ -44,7 +57,11 @@ private:
 
     std::optional<std::vector<std::string>> cachedMemberList;
 
+    std::optional<std::weak_ptr<DataModel>> _dataModel;
+    std::optional<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);
 protected:
     bool parentLocked = false;
     std::unique_ptr<MemberMap> memberMap;
@@ -53,6 +70,7 @@ protected:
     virtual ~Instance();
 
     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);
 
     // The root data model this object is a descendant of
     std::optional<std::shared_ptr<DataModel>> dataModel();
@@ -87,8 +105,8 @@ public:
     std::vector<std::string> GetProperties();
 
     // Serialization
-    void Serialize(pugi::xml_node* parent);
+    void Serialize(pugi::xml_node parent);
-    static std::shared_ptr<Instance> Deserialize(pugi::xml_node* node);
+    static result<std::shared_ptr<Instance>, NoSuchInstance> Deserialize(pugi::xml_node node);
 };
 
 typedef std::shared_ptr<Instance> InstanceRef;

core/src/objects/base/service.cpp

@@ -1,9 +1,20 @@
 #include "service.h"
+#include "logger.h"
+#include "panic.h"
 #include <memory>
 
-Service::Service(const InstanceType* type, std::weak_ptr<DataModel> root) : Instance(type), dataModel(root) {}
+Service::Service(const InstanceType* type) : Instance(type){}
 
-void Service::InitService() {
+// Fail if parented to non-datamodel, otherwise lock parent
-    SetParent(dataModel.lock());
+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, newParent ? newParent.value()->GetClass()->className : "NULL");
+        panic();
+    }
+
+    // Prevent parent from being updated
     parentLocked = true;
 }
+
+void Service::InitService() {
+}

core/src/objects/base/service.h

@@ -6,10 +6,10 @@
 #include <memory>
 class Service : public Instance {
 protected:
-    std::weak_ptr<DataModel> dataModel;
+    Service(const InstanceType* type);
-
-    Service(const InstanceType* type, std::weak_ptr<DataModel> root);
     virtual void InitService();
 
+    void OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) override;
+
     friend class DataModel;
 };

core/src/objects/datamodel.cpp

@@ -2,19 +2,13 @@
 #include "base/service.h"
 #include "objects/base/instance.h"
 #include "objects/base/service.h"
+#include "objects/meta.h"
 #include "workspace.h"
 #include "logger.h"
 #include "panic.h"
 #include <cstdio>
 #include <fstream>
 #include <memory>
-#include <functional>
-
-// TODO: Move this to a different file
-// ONLY add services here, all types are expected to inherit from Service, or errors WILL occur
-std::map<std::string, std::function<std::shared_ptr<Service>(std::weak_ptr<DataModel>)>> SERVICE_CONSTRUCTORS = {
-    { "Workspace", &Workspace::Create },
-};
 
 const InstanceType DataModel::TYPE = {
     .super = &Instance::TYPE,
@@ -33,8 +27,10 @@ DataModel::DataModel()
 
 void DataModel::Init() {
     // Create the workspace if it doesn't exist
-    if (this->services.count("Workspace") == 0)
+    if (this->services.count("Workspace") == 0) {
-        this->services["Workspace"] = std::make_shared<Workspace>(shared<DataModel>());
+        this->services["Workspace"] = std::make_shared<Workspace>();
+        AddChild(this->services["Workspace"]);
+    }
     
     // Init all services
     for (auto [_, service] : this->services) {
@@ -56,7 +52,7 @@ void DataModel::SaveToFile(std::optional<std::string> path) {
     pugi::xml_node root = doc.append_child("openblocks");
 
     for (InstanceRef child : this->GetChildren()) {
-        child->Serialize(&root);
+        child->Serialize(root);
     }
 
     doc.save(outStream);
@@ -65,11 +61,11 @@ void DataModel::SaveToFile(std::optional<std::string> path) {
     Logger::info("Place saved successfully");
 }
 
-void DataModel::DeserializeService(pugi::xml_node* node) {
+void DataModel::DeserializeService(pugi::xml_node node) {
-    std::string className = node->attribute("class").value();
+    std::string className = node.attribute("class").value();
-    if (SERVICE_CONSTRUCTORS.count(className) == 0) {
+    if (INSTANCE_MAP.count(className) == 0) {
         Logger::fatalErrorf("Unknown service: '%s'", className.c_str());
-        panic();
+        return;
     }
 
     if (services.count(className) != 0) {
@@ -78,10 +74,11 @@ void DataModel::DeserializeService(pugi::xml_node* node) {
     }
 
     // This will error if an abstract instance is used in the file. Oh well, not my prob rn.
-    InstanceRef object = SERVICE_CONSTRUCTORS[className](shared<DataModel>());
+    InstanceRef object = INSTANCE_MAP[className]->constructor();
+    AddChild(object);
 
     // Read properties
-    pugi::xml_node propertiesNode = node->child("Properties");
+    pugi::xml_node propertiesNode = node.child("Properties");
     for (pugi::xml_node propertyNode : propertiesNode) {
         std::string propertyName = propertyNode.attribute("name").value();
         auto meta_ = object->GetPropertyMeta(propertyName);
@@ -89,14 +86,18 @@ void DataModel::DeserializeService(pugi::xml_node* node) {
             Logger::fatalErrorf("Attempt to set unknown property '%s' of %s", propertyName.c_str(), object->GetClass()->className.c_str());
             continue;
         }
-        Data::Variant value = Data::Variant::Deserialize(&propertyNode);
+        Data::Variant value = Data::Variant::Deserialize(propertyNode);
         object->SetPropertyValue(propertyName, value);
     }
 
     // Add children
-    for (pugi::xml_node childNode : node->children("Item")) {
+    for (pugi::xml_node childNode : node.children("Item")) {
-        InstanceRef child = Instance::Deserialize(&childNode);
+        result<InstanceRef, NoSuchInstance> child = Instance::Deserialize(childNode);
-        object->AddChild(child);
+        if (child.is_error()) {
+            std::get<NoSuchInstance>(child.error().value()).logMessage();
+            continue;
+        }
+        object->AddChild(child.expect());
     }
 
     // We add the service to the list
@@ -113,7 +114,7 @@ std::shared_ptr<DataModel> DataModel::LoadFromFile(std::string path) {
     std::shared_ptr<DataModel> newModel = std::make_shared<DataModel>();
 
     for (pugi::xml_node childNode : rootNode.children("Item")) {
-        newModel->DeserializeService(&childNode);
+        newModel->DeserializeService(childNode);
     }
 
     newModel->Init();

core/src/objects/datamodel.h

@@ -1,18 +1,33 @@
 #pragma once
 
 #include "base.h"
+#include "error/result.h"
+#include "logger.h"
+#include "objects/base/instance.h"
+#include "objects/meta.h"
+#include "panic.h"
 #include <memory>
+#include <variant>
 
 class Workspace;
 
 class DataModel;
 class Service;
-extern std::map<std::string, std::function<std::shared_ptr<Service>(std::weak_ptr<DataModel>)>> SERVICE_CONSTRUCTORS;
+
+class NoSuchService : public Error {
+    public:
+    inline NoSuchService(std::string className) : Error("Cannot insert service of unknown type " + className) {}
+};
+
+class ServiceAlreadyExists : public Error {
+    public:
+    inline ServiceAlreadyExists(std::string className) : Error("Service " + className + " is already inserted") {}
+};
 
 // The root instance to all objects in the hierarchy
 class DataModel : public Instance {
 private:
-    void DeserializeService(pugi::xml_node* node);
+    void DeserializeService(pugi::xml_node node);
 public:
     const static InstanceType TYPE;
 
@@ -26,12 +41,36 @@ public:
     static inline std::shared_ptr<DataModel> New() { return std::make_shared<DataModel>(); };
     virtual const InstanceType* GetClass() override;
 
+    // Inserts a service if it doesn't already exist
+    fallible<ServiceAlreadyExists, NoSuchService> InsertService(std::string name) {
+        if (services.count(name) != 0)
+            return fallible<ServiceAlreadyExists, NoSuchService>(ServiceAlreadyExists(name));
+
+        if (!INSTANCE_MAP[name] || (INSTANCE_MAP[name]->flags ^ (INSTANCE_NOTCREATABLE | INSTANCE_SERVICE)) != 0) {
+            Logger::fatalErrorf("Attempt to create instance of unknown type %s", name);
+            panic();
+        }
+
+        services[name] = std::dynamic_pointer_cast<Service>(INSTANCE_MAP[name]->constructor());
+        AddChild(std::dynamic_pointer_cast<Instance>(services[name]));
+
+        return {};
+    }
+
     template <typename T>
-    std::shared_ptr<T> GetService(std::string name) {
+    result<std::shared_ptr<T>, NoSuchService> GetService(std::string name) {
         if (services.count(name) != 0)
             return services[name];
-        // TODO: Validate name
+        
-        services[name] = SERVICE_CONSTRUCTORS[name](shared<DataModel>());
+        // TODO: Replace this with a result return type
+        if (!INSTANCE_MAP[name] || (INSTANCE_MAP[name]->flags ^ (INSTANCE_NOTCREATABLE | INSTANCE_SERVICE)) != 0) {
+            return NoSuchService(name);
+        }
+
+        services[name] = std::dynamic_pointer_cast<Service>(INSTANCE_MAP[name]->constructor());
+        AddChild(std::dynamic_pointer_cast<Instance>(services[name]));
+
+        return services[name];
     }
 
     template <typename T>

core/src/objects/part.cpp

@@ -1,5 +1,6 @@
 #include "part.h"
 #include "base/instance.h"
+#include "common.h"
 #include "datatypes/base.h"
 #include "datatypes/cframe.h"
 #include "datatypes/color3.h"
@@ -7,7 +8,6 @@
 #include "objects/base/member.h"
 #include <memory>
 #include <optional>
-#include "physics/simulation.h"
 
 using Data::Vector3;
 
@@ -106,24 +106,26 @@ Part::Part(PartConstructParams params): Instance(&TYPE), cframe(Data::CFrame(par
     });
 }
 
-// This feels wrong. Get access to PhysicsWorld somehow else? Part will need access to this often though, most likely...
-extern rp::PhysicsWorld* world;
 Part::~Part() {
     // This relies on physicsCommon still existing. Be very careful.
-    if (this->rigidBody)
+    if (this->rigidBody && workspace())
-        world->destroyRigidBody(rigidBody);
+        workspace().value()->DestroyRigidBody(rigidBody);
 }
 
 
-void Part::OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) {
+void Part::OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) {
     if (this->rigidBody)
-        this->rigidBody->setIsActive(newParent.has_value());
+        this->rigidBody->setIsActive(workspace().has_value());
+
+    if (workspace())
+        workspace().value()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(this->shared_from_this()));
 
     // TODO: Sleeping bodies that touch this one also need to be updated
 }
 
 void Part::onUpdated(std::string property) {
-    syncPartPhysics(std::dynamic_pointer_cast<Part>(this->shared_from_this()));
+    if (workspace())
+        workspace().value()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(this->shared_from_this()));
 }
 
 // Expands provided extents to fit point

core/src/objects/part.h

@@ -1,13 +1,12 @@
 #pragma once
 
-#include "base.h"
 #include <memory>
 #include <glm/glm.hpp>
 #include <glm/ext.hpp>
-#include "../rendering/material.h"
 #include "datatypes/cframe.h"
 #include "datatypes/color3.h"
 #include "datatypes/vector.h"
+#include "objects/base/instance.h"
 #include "rendering/surface.h"
 #include <reactphysics3d/reactphysics3d.h>
 
@@ -25,7 +24,7 @@ struct PartConstructParams {
 
 class Part : public Instance {
 protected:
-    void OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) override;
+    void OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<std::shared_ptr<Instance>> newParent) override;
     void onUpdated(std::string);
 public:
     const static InstanceType TYPE;

core/src/objects/workspace.cpp

@@ -1,15 +1,147 @@
 #include "workspace.h"
+#include "objects/base/instance.h"
+#include "physics/util.h"
 
 const InstanceType Workspace::TYPE = {
     .super = &Instance::TYPE,
     .className = "Workspace",
-    // .constructor = &Workspace::Create,
+    .constructor = &Workspace::Create,
     .explorerIcon = "workspace",
+    .flags = INSTANCE_NOTCREATABLE | INSTANCE_SERVICE,
 };
 
 const InstanceType* Workspace::GetClass() {
     return &TYPE;
 }
 
-Workspace::Workspace(std::weak_ptr<DataModel> dataModel): Service(&TYPE, dataModel) {
+static rp::PhysicsCommon physicsCommon;
+
+Workspace::Workspace(): Service(&TYPE) {
+}
+
+Workspace::~Workspace() {
+    if (physicsWorld)
+        physicsCommon.destroyPhysicsWorld(physicsWorld);
+}
+
+void Workspace::InitService() {
+    if (initialized) return;
+    initialized = true;
+
+    physicsWorld = physicsCommon.createPhysicsWorld();
+
+    physicsWorld->setGravity(rp::Vector3(0, -196.2, 0));
+    // world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS);
+    physicsWorld->setNbIterationsPositionSolver(2000);
+    physicsWorld->setNbIterationsVelocitySolver(2000);
+
+    // physicsWorld->setEventListener(&eventListener);
+
+    // Sync all parts
+    for (auto it = this->GetDescendantsStart(); it != this->GetDescendantsEnd(); it++) {
+        InstanceRef obj = *it;
+        if (obj->GetClass()->className != "Part") continue; // TODO: Replace this with a .IsA call instead of comparing the class name directly
+        std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(obj);
+        this->SyncPartPhysics(part);
+    }
+}
+
+void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
+    if (!physicsWorld) return;
+
+    glm::mat4 rotMat = glm::mat4(1.0f);
+
+    rp::Transform transform = part->cframe;
+    if (!part->rigidBody) {
+        part->rigidBody = physicsWorld->createRigidBody(transform);
+    } else {
+        part->rigidBody->setTransform(transform);
+    }
+
+    rp::BoxShape* shape = physicsCommon.createBoxShape(glmToRp(part->size * glm::vec3(0.5f)));
+
+    if (part->rigidBody->getNbColliders() > 0) {
+        part->rigidBody->removeCollider(part->rigidBody->getCollider(0));
+    }
+
+    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->setUserData(&*part);
+}
+
+void Workspace::PhysicsStep(float deltaTime) {
+    // Step the simulation a few steps
+    physicsWorld->update(std::min(deltaTime / 2, (1/60.f)));
+
+    // Naive implementation. Parts are only considered so if they are just under Workspace
+    // TODO: Add list of tracked parts in workspace based on their ancestry using inWorkspace property of Instance
+    for (auto it = this->GetDescendantsStart(); it != this->GetDescendantsEnd(); it++) {
+        InstanceRef obj = *it;
+        if (obj->GetClass()->className != "Part") continue; // TODO: Replace this with a .IsA call instead of comparing the class name directly
+        std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(obj);
+        const rp::Transform& transform = part->rigidBody->getTransform();
+        part->cframe = Data::CFrame(transform);
+    }
+}
+
+
+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) {
+    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) {
+    physicsWorld->destroyRigidBody(rigidBody);
 }

core/src/objects/workspace.h

@@ -1,17 +1,52 @@
 #pragma once
 
-#include "base.h"
 #include "objects/base/service.h"
 #include <memory>
+#include <reactphysics3d/body/RigidBody.h>
+#include <reactphysics3d/engine/PhysicsCommon.h>
+#include <reactphysics3d/engine/PhysicsWorld.h>
+
+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;
+typedef std::function<FilterResult(std::shared_ptr<Part>)> RaycastFilter;
 
 class Workspace : public Service {
-//private:
+    rp::PhysicsWorld *physicsWorld = nullptr;
+
+protected:
+    void InitService() override;
+    bool initialized = false;
+
 public:
     const static InstanceType TYPE;
 
-    Workspace(std::weak_ptr<DataModel> dataModel);
+    Workspace();
+    ~Workspace();
 
     // static inline std::shared_ptr<Workspace> New() { return std::make_shared<Workspace>(); };
-    static inline std::shared_ptr<Service> Create(std::weak_ptr<DataModel> parent) { return std::make_shared<Workspace>(parent); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Workspace>(); };
     virtual const InstanceType* GetClass() override;
+
+    void SyncPartPhysics(std::shared_ptr<Part> part);
+    void DestroyRigidBody(rp::RigidBody* rigidBody);
+
+    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);
+
 };

core/src/panic.h

@@ -5,4 +5,4 @@
 // before shutting down.
 
 // If this process fails, or the panic function is called within itself, it will hard-abort
-void panic();
+[[noreturn]] void panic();

core/src/physics/simulation.cpp

@@ -1,141 +0,0 @@
-#include <cstdio>
-#include <glm/ext/matrix_float3x3.hpp>
-#include <glm/gtc/quaternion.hpp>
-#include <memory>
-#include <reactphysics3d/collision/RaycastInfo.h>
-#include <reactphysics3d/collision/shapes/BoxShape.h>
-#include <reactphysics3d/collision/shapes/CollisionShape.h>
-#include <reactphysics3d/components/RigidBodyComponents.h>
-#include <reactphysics3d/configuration.h>
-#include <reactphysics3d/engine/EventListener.h>
-#include <reactphysics3d/engine/PhysicsCommon.h>
-#include <reactphysics3d/mathematics/Quaternion.h>
-#include <reactphysics3d/mathematics/Ray.h>
-#include <reactphysics3d/mathematics/Transform.h>
-#include <reactphysics3d/mathematics/Vector3.h>
-#include <reactphysics3d/memory/DefaultAllocator.h>
-#include <reactphysics3d/memory/MemoryAllocator.h>
-#include <reactphysics3d/reactphysics3d.h>
-#include "../common.h"
-#include "../objects/part.h"
-#include "datatypes/cframe.h"
-#include "util.h"
-
-#include "simulation.h"
-
-namespace rp = reactphysics3d;
-
-class PhysicsListener : public rp::EventListener {
-    void onContact(const CollisionCallback::CallbackData& /*callbackData*/) override {
-        // printf("Collision occurred!\n");
-    }
-};
-
-rp::PhysicsCommon* physicsCommon;
-rp::PhysicsWorld* world;
-PhysicsListener eventListener;
-
-void simulationInit() {
-    physicsCommon = new rp::PhysicsCommon; // I allocate this on the heap to ensure it exists while Parts are getting destructed. This is probably not great
-    world = physicsCommon->createPhysicsWorld();
-
-    world->setGravity(rp::Vector3(0, -196.2, 0));
-    // world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS);
-    world->setNbIterationsPositionSolver(2000);
-    world->setNbIterationsVelocitySolver(2000);
-
-    world->setEventListener(&eventListener);
-}
-
-void syncPartPhysics(std::shared_ptr<Part> part) {
-    glm::mat4 rotMat = glm::mat4(1.0f);
-
-    rp::Transform transform = part->cframe;
-    if (!part->rigidBody) {
-        part->rigidBody = world->createRigidBody(transform);
-    } else {
-        part->rigidBody->setTransform(transform);
-    }
-
-    rp::BoxShape* shape = physicsCommon->createBoxShape(glmToRp(part->size * glm::vec3(0.5f)));
-
-    if (part->rigidBody->getNbColliders() > 0) {
-        part->rigidBody->removeCollider(part->rigidBody->getCollider(0));
-    }
-
-    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->setUserData(&*part);
-}
-
-void physicsStep(float deltaTime) {
-    // Step the simulation a few steps
-    world->update(std::min(deltaTime / 2, (1/60.f)));
-
-    // Naive implementation. Parts are only considered so if they are just under Workspace
-    // TODO: Add list of tracked parts in workspace based on their ancestry using inWorkspace property of Instance
-    for (auto it = gWorkspace()->GetDescendantsStart(); it != gWorkspace()->GetDescendantsEnd(); it++) {
-        InstanceRef obj = *it;
-        if (obj->GetClass()->className != "Part") continue; // TODO: Replace this with a .IsA call instead of comparing the class name directly
-        std::shared_ptr<Part> part = std::dynamic_pointer_cast<Part>(obj);
-        const rp::Transform& transform = part->rigidBody->getTransform();
-        part->cframe = Data::CFrame(transform);
-    }
-}
-
-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> castRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits) {
-    rp::Ray ray(glmToRp(point), glmToRp(glm::normalize(rotation)) * maxLength);
-    NearestRayHit rayHit(glmToRp(point), filter);
-    world->raycast(ray, &rayHit, categoryMaskBits);
-    return rayHit.getNearestHit();
-}

core/src/physics/simulation.h

@@ -1,30 +0,0 @@
-#pragma once
-
-#include "../objects/part.h"
-#include <glm/ext/vector_float3.hpp>
-#include <memory>
-#include <reactphysics3d/collision/RaycastInfo.h>
-
-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
-};
-
-typedef std::function<FilterResult(std::shared_ptr<Part>)> RaycastFilter;
-
-void simulationInit();
-void syncPartPhysics(std::shared_ptr<Part> part);
-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);

core/src/rendering/renderer.cpp

@@ -9,10 +9,8 @@
 #include <glm/glm.hpp>
 #include <glm/trigonometric.hpp>
 #include <memory>
-#include <vector>
 
 #include "datatypes/cframe.h"
-#include "physics/util.h"
 #include "shader.h"
 #include "mesh.h"
 #include "defaultmeshes.h"

editor/mainglwidget.cpp

@@ -1,45 +1,11 @@
 #include <GL/glew.h>
-#include <chrono>
-
-#include <QMouseEvent>
-#include <glm/common.hpp>
-#include <glm/ext/matrix_projection.hpp>
-#include <glm/ext/matrix_transform.hpp>
-#include <glm/ext/scalar_constants.hpp>
-#include <glm/ext/vector_float3.hpp>
-#include <glm/geometric.hpp>
-#include <glm/gtc/round.hpp>
-#include <glm/matrix.hpp>
-#include <glm/trigonometric.hpp>
-#include <memory>
-#include <numbers>
-#include <optional>
 #include <qsoundeffect.h>
-#include <reactphysics3d/collision/RaycastInfo.h>
-#include <vector>
-#include <QSoundEffect>
-
-#include "datatypes/cframe.h"
-#include "datatypes/vector.h"
-#include "editorcommon.h"
-#include "logger.h"
-#include "mainwindow.h"
-#include "objects/handles.h"
-#include "physics/util.h"
-#include "qcursor.h"
-#include "qevent.h"
-#include "qnamespace.h"
-#include "qwindowdefs.h"
-#include "rendering/renderer.h"
-#include "physics/simulation.h"
-#include "camera.h"
-
-#include "common.h"
-#include "rendering/shader.h"
-
 #include "mainglwidget.h"
+#include "common.h"
 #include "math_helper.h"
-#include "rendering/surface.h"
+#include "physics/util.h"
+#include "rendering/renderer.h"
+#include "rendering/shader.h"
 
 static Data::CFrame XYZToZXY(glm::vec3(0, 0, 0), -glm::vec3(1, 0, 0), glm::vec3(0, 0, 1));
 
@@ -145,7 +111,7 @@ void MainGLWidget::handleObjectDrag(QMouseEvent* evt) {
     QPoint position = evt->pos();
 
     glm::vec3 pointDir = camera.getScreenDirection(glm::vec2(position.x(), position.y()), glm::vec2(width(), height()));
-    std::optional<const RaycastResult> rayHit = castRayNearest(camera.cameraPos, pointDir, 50000, [](std::shared_ptr<Part> part) {
+    std::optional<const RaycastResult> rayHit = gWorkspace()->CastRayNearest(camera.cameraPos, pointDir, 50000, [](std::shared_ptr<Part> part) {
         return (part == draggingObject->lock()) ? FilterResult::PASS : FilterResult::TARGET;
     });
     
@@ -178,7 +144,7 @@ void MainGLWidget::handleObjectDrag(QMouseEvent* evt) {
 
     draggingObject->lock()->cframe = newFrame + unsinkOffset;
 
-    syncPartPhysics(draggingObject->lock());
+    gWorkspace()->SyncPartPhysics(draggingObject->lock());
 }
 
 inline glm::vec3 vec3fy(glm::vec4 vec) {
@@ -255,7 +221,7 @@ void MainGLWidget::handleLinearTransform(QMouseEvent* evt) {
     if (mainWindow()->editSoundEffects && (oldSize != part->size) && QFile::exists("./assets/excluded/switch.wav"))
         playSound("./assets/excluded/switch.wav");
 
-    syncPartPhysics(std::dynamic_pointer_cast<Part>(editorToolHandles->adornee->lock()));
+    gWorkspace()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(editorToolHandles->adornee->lock()));
 }
 
 // Also implemented based on Godot: [c7ea8614](godot/editor/plugins/canvas_item_editor_plugin.cpp#L1490)
@@ -297,7 +263,7 @@ void MainGLWidget::handleRotationalTransform(QMouseEvent* evt) {
 
     part->cframe = initialFrame * Data::CFrame::FromEulerAnglesXYZ(-angles);
 
-    syncPartPhysics(std::dynamic_pointer_cast<Part>(editorToolHandles->adornee->lock()));
+    gWorkspace()->SyncPartPhysics(std::dynamic_pointer_cast<Part>(editorToolHandles->adornee->lock()));
 }
 
 std::optional<HandleFace> MainGLWidget::raycastHandle(glm::vec3 pointDir) {
@@ -315,7 +281,7 @@ void MainGLWidget::handleCursorChange(QMouseEvent* evt) {
         return;
     };
 
-    std::optional<const RaycastResult> rayHit = castRayNearest(camera.cameraPos, pointDir, 50000);
+    std::optional<const RaycastResult> rayHit = gWorkspace()->CastRayNearest(camera.cameraPos, pointDir, 50000);
     if (rayHit && partFromBody(rayHit->body)->name != "Baseplate") {
         setCursor(Qt::OpenHandCursor);
         return;
@@ -372,7 +338,7 @@ void MainGLWidget::mousePressEvent(QMouseEvent* evt) {
         }
 
         // raycast part
-        std::optional<const RaycastResult> rayHit = castRayNearest(camera.cameraPos, pointDir, 50000);
+        std::optional<const RaycastResult> rayHit = gWorkspace()->CastRayNearest(camera.cameraPos, pointDir, 50000);
         if (!rayHit || !partFromBody(rayHit->body)) return;
         std::shared_ptr<Part> part = partFromBody(rayHit->body);
         if (part->name == "Baseplate") return;
@@ -449,7 +415,7 @@ void MainGLWidget::keyPressEvent(QKeyEvent* evt) {
             .size = glm::vec3(1, 1, 1),
             .color = glm::vec3(1.0f, 0.5f, 0.31f),
         }));
-        syncPartPhysics(lastPart);
+        gWorkspace()->SyncPartPhysics(lastPart);
     }
 
     if (evt->key() == Qt::Key_U)

editor/mainwindow.cpp

@@ -1,43 +1,10 @@
 #include "mainwindow.h"
 #include "./ui_mainwindow.h"
-
-#include <QFileDialog>
-#include <QMessageBox>
-#include <QProcess>
-#include <QThread>
-#include <QTimerEvent>
-#include <QMouseEvent>
-#include <QWidget>
-#include <QTreeView>
-#include <QAbstractItemView>
-#include <functional>
-#include <memory>
-#include <optional>
-#include <qcoreapplication.h>
-#include <qglobal.h>
-#include <qguiapplication.h>
-#include <qicon.h>
-#include <qmessagebox.h>
-#include <qnamespace.h>
-#include <qwindowdefs.h>
-#include <reactphysics3d/engine/PhysicsCommon.h>
-#include <reactphysics3d/engine/PhysicsWorld.h>
-#include <sstream>
-#include <QStyleHints>
-
 #include "common.h"
-#include "editorcommon.h"
+#include <qclipboard.h>
-#include "logger.h"
+#include <qmessagebox.h>
-#include "objects/base/instance.h"
+#include <qmimedata.h>
-#include "objects/datamodel.h"
+#include <qstylehints.h>
-#include "objects/handles.h"
-#include "physics/simulation.h"
-#include "objects/part.h"
-#include "qfiledialog.h"
-#include "qclipboard.h"
-#include "qmimedata.h"
-#include "qobject.h"
-#include "qsysinfo.h"
 
 #ifdef _NDEBUG
 #define NDEBUG
@@ -192,9 +159,6 @@ MainWindow::MainWindow(QWidget *parent)
         gDataModel->Init();
         ui->explorerView->updateRoot(gDataModel);
 
-        // TODO: Remove this and use a proper fix. This *WILL* cause a leak and memory issues in the future
-        simulationInit();
-
         // Baseplate
         gWorkspace()->AddChild(ui->mainWidget->lastPart = Part::New({
             .position = glm::vec3(0, -5, 0),
@@ -204,14 +168,14 @@ MainWindow::MainWindow(QWidget *parent)
             .anchored = true,
         }));
         ui->mainWidget->lastPart->name = "Baseplate";
-        syncPartPhysics(ui->mainWidget->lastPart);
+        gWorkspace()->SyncPartPhysics(ui->mainWidget->lastPart);
     });
 
     connect(ui->actionSave, &QAction::triggered, this, [&]() {
         std::optional<std::string> path;
         if (!gDataModel->HasFile())
             path = openFileDialog("Openblocks Level (*.obl)", ".obl", QFileDialog::AcceptSave, QString::fromStdString("Save " + gDataModel->name));
-        if (!path || path == "") return;
+        if (!gDataModel->HasFile() && (!path || path == "")) return;
 
         gDataModel->SaveToFile(path);
     });
@@ -233,6 +197,7 @@ MainWindow::MainWindow(QWidget *parent)
         // simulationInit();
         std::shared_ptr<DataModel> newModel = DataModel::LoadFromFile(path.value());
         gDataModel = newModel;
+        newModel->Init();
         ui->explorerView->updateRoot(newModel);
     });
 
@@ -248,7 +213,7 @@ MainWindow::MainWindow(QWidget *parent)
         pugi::xml_document rootDoc;
         for (InstanceRefWeak inst : getSelection()) {
             if (inst.expired()) continue;
-            inst.lock()->Serialize(&rootDoc);
+            inst.lock()->Serialize(rootDoc);
         }
 
         std::ostringstream encoded;
@@ -262,7 +227,7 @@ MainWindow::MainWindow(QWidget *parent)
         pugi::xml_document rootDoc;
         for (InstanceRefWeak inst : getSelection()) {
             if (inst.expired()) continue;
-            inst.lock()->Serialize(&rootDoc);
+            inst.lock()->Serialize(rootDoc);
             inst.lock()->SetParent(std::nullopt);
         }
 
@@ -284,8 +249,9 @@ MainWindow::MainWindow(QWidget *parent)
         rootDoc.load_string(encoded.c_str());
 
         for (pugi::xml_node instNode : rootDoc.children()) {
-            InstanceRef inst = Instance::Deserialize(&instNode);
+            result<InstanceRef, NoSuchInstance> inst = Instance::Deserialize(instNode);
-            gWorkspace()->AddChild(inst);
+            if (!inst) { inst.logError(); continue; }
+            gWorkspace()->AddChild(inst.expect());
         }
     });
 
@@ -303,8 +269,9 @@ MainWindow::MainWindow(QWidget *parent)
         rootDoc.load_string(encoded.c_str());
 
         for (pugi::xml_node instNode : rootDoc.children()) {
-            InstanceRef inst = Instance::Deserialize(&instNode);
+            result<InstanceRef, NoSuchInstance> inst = Instance::Deserialize(instNode);
-            selectedParent->AddChild(inst);
+            if (!inst) { inst.logError(); continue; }
+            selectedParent->AddChild(inst.expect());
         }
     });
 
@@ -319,7 +286,7 @@ MainWindow::MainWindow(QWidget *parent)
 
         for (InstanceRefWeak inst : getSelection()) {
             if (inst.expired()) continue;
-            inst.lock()->Serialize(&modelRoot);
+            inst.lock()->Serialize(modelRoot);
         }
 
         modelDoc.save(outStream);
@@ -337,8 +304,9 @@ MainWindow::MainWindow(QWidget *parent)
         modelDoc.load(inStream);
 
         for (pugi::xml_node instNode : modelDoc.child("openblocks").children("Item")) {
-            InstanceRef inst = Instance::Deserialize(&instNode);
+            result<InstanceRef, NoSuchInstance> inst = Instance::Deserialize(instNode);
-            selectedParent->AddChild(inst);
+            if (!inst) { inst.logError(); continue; }
+            selectedParent->AddChild(inst.expect());
         }
     });
     
@@ -362,8 +330,6 @@ MainWindow::MainWindow(QWidget *parent)
 
     // ui->explorerView->Init(ui);
 
-    simulationInit();
-
     // Baseplate
     gWorkspace()->AddChild(ui->mainWidget->lastPart = Part::New({
         .position = glm::vec3(0, -5, 0),
@@ -373,7 +339,7 @@ MainWindow::MainWindow(QWidget *parent)
         .anchored = true,
     }));
     ui->mainWidget->lastPart->name = "Baseplate";
-    syncPartPhysics(ui->mainWidget->lastPart);
+    gWorkspace()->SyncPartPhysics(ui->mainWidget->lastPart);
 
     gWorkspace()->AddChild(ui->mainWidget->lastPart = Part::New({
         .position = glm::vec3(0),
@@ -381,7 +347,7 @@ MainWindow::MainWindow(QWidget *parent)
         .size = glm::vec3(4, 1.2, 2),
         .color = glm::vec3(0.639216f, 0.635294f, 0.647059f),
     }));
-    syncPartPhysics(ui->mainWidget->lastPart);
+    gWorkspace()->SyncPartPhysics(ui->mainWidget->lastPart);
 }
 
 void MainWindow::closeEvent(QCloseEvent* evt) {
@@ -428,7 +394,7 @@ void MainWindow::timerEvent(QTimerEvent* evt) {
     lastTime = std::chrono::steady_clock::now();
 
     if (simulationPlaying)
-        physicsStep(deltaTime);
+        gWorkspace()->PhysicsStep(deltaTime);
     ui->mainWidget->update();
     ui->mainWidget->updateCycle();
 }

editor/mainwindow.h

@@ -2,10 +2,8 @@
 #define MAINWINDOW_H
 
 #include "logger.h"
-#include "panes/explorerview.h"
 #include "qbasictimer.h"
 #include "qcoreevent.h"
-#include "qmenu.h"
 #include <QMainWindow>
 #include <QLineEdit>
 #include <qfiledialog.h>

editor/panes/explorermodel.cpp

@@ -1,20 +1,7 @@
 #include "explorermodel.h"
-#include "objects/base/instance.h"
-#include "qabstractitemmodel.h"
-#include "qcontainerfwd.h"
-#include "qimage.h"
-#include "qnamespace.h"
-#include "qobject.h"
-#include "qstringview.h"
-#include "qwidget.h"
-#include "qmimedata.h"
 #include "common.h"
-#include "logger.h"
+#include <qmimedata.h>
-#include <algorithm>
+#include <QWidget>
-#include <cstdio>
-#include <optional>
-#include <vector>
-#include "objects/base/instance.h"
 
 // https://doc.qt.io/qt-6/qtwidgets-itemviews-simpletreemodel-example.html#testing-the-model
 

editor/panes/explorermodel.h

@@ -2,11 +2,6 @@
 
 #include "objects/base/instance.h"
 #include "qabstractitemmodel.h"
-#include "qevent.h"
-#include "qnamespace.h"
-#include <QOpenGLWidget>
-#include <QWidget>
-
 
 class ExplorerModel : public QAbstractItemModel {
     Q_OBJECT

editor/panes/explorerview.cpp

@@ -1,13 +1,6 @@
 #include "explorerview.h"
-#include "explorermodel.h"
-#include "mainwindow.h"
-#include "../ui_mainwindow.h"
 #include "common.h"
-#include "objects/base/instance.h"
+#include "../ui_mainwindow.h"
-#include "qabstractitemmodel.h"
-#include <qaction.h>
-#include <qnamespace.h>
-#include <qitemselectionmodel.h>
 
 #define M_mainWindow dynamic_cast<MainWindow*>(window())
 

editor/panes/explorerview.h

@@ -1,15 +1,8 @@
 #pragma once
 
-#include "objects/base/instance.h"
+#include "panes/explorermodel.h"
-#include "objects/part.h"
+#include <qmenu.h>
-#include "qevent.h"
+#include <qtreeview.h>
-#include "qmenu.h"
-#include "qnamespace.h"
-#include "qtreeview.h"
-#include <QOpenGLWidget>
-#include <QWidget>
-#include <memory>
-#include "explorermodel.h"
 
 class Ui_MainWindow;
 

editor/panes/propertiesmodel.h

@@ -1,15 +1,10 @@
 #pragma once
 
 #include "objects/base/instance.h"
-#include "objects/part.h"
 #include "qabstractitemmodel.h"
-#include "qevent.h"
-#include "qmenu.h"
 #include "qnamespace.h"
-#include "qtreeview.h"
 #include <QOpenGLWidget>
 #include <QWidget>
-#include <memory>
 
 class PropertiesModel : public QAbstractItemModel {
     Q_OBJECT

editor/panes/propertiesview.h

@@ -1,15 +1,7 @@
 #pragma once
 
 #include "objects/base/instance.h"
-#include "objects/part.h"
-#include "qevent.h"
-#include "qmenu.h"
-#include "qnamespace.h"
 #include "qtreeview.h"
-#include <QOpenGLWidget>
-#include <QWidget>
-#include <memory>
-#include "explorermodel.h"
 
 class Ui_MainWindow;