fix(physics): motor joint updates with paramB

feat(physics): motor joint
feat(physics): hinges 1
2025-09-02 00:07:04 +02:00 · 2025-09-02 00:06:56 +02:00 · 2025-09-01 20:31:49 +02:00 · 2025-09-01 20:14:57 +02:00 · 2025-09-01 20:00:54 +02:00 · 2025-08-30 02:14:16 +02:00
19 changed files with 598 additions and 158 deletions
--- a/core/src/enum/part.h
+++ b/core/src/enum/part.h
@ -7,6 +7,7 @@
 enum class DEF_ENUM PartType {
    Ball = 0,
    Block = 1,
+    Cylinder = 2,
 };

 namespace EnumType {
--- a/core/src/objects/joint/jointinstance.cpp
+++ b/core/src/objects/joint/jointinstance.cpp
@ -17,6 +17,9 @@ void JointInstance::OnAncestryChanged(nullable std::shared_ptr<Instance>, nullab
    Update();
 }

+void JointInstance::OnPartParamsUpdated() {
+}
+
 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
--- a/core/src/objects/joint/jointinstance.h
+++ b/core/src/objects/joint/jointinstance.h
@ -3,7 +3,6 @@
 #include "objects/base/instance.h"
 #include "../annotation.h"
 #include <memory>
-#include <optional>
 #include "datatypes/cframe.h"
 #include "physics/world.h"

@ -12,6 +11,8 @@
 #include "objects/part/part.h"
 #endif

+#define DEF_PROP_PHYS DEF_PROP_(on_update=onUpdated)
+
 class BasePart;
 class Workspace;

@ -33,12 +34,15 @@ protected:
    virtual void buildJoint() = 0;
 public:
    void Update();
+    virtual void OnPartParamsUpdated();

-    DEF_PROP_(on_update=onUpdated) std::weak_ptr<BasePart> part0;
-    DEF_PROP_(on_update=onUpdated) std::weak_ptr<BasePart> 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
--- a/core/src/objects/joint/rotate.cpp
+++ b/core/src/objects/joint/rotate.cpp
@ -20,7 +20,7 @@ void Rotate::buildJoint() {
    part1.lock()->cframe = newFrame;

    // Do NOT use Abs() in this scenario. For some reason that breaks it
-    PhysJointHingeInfo jointInfo((part0.lock()->cframe * c0).Position(), -(part0.lock()->cframe * c0).LookVector().Unit());
+    PhysRotatingJointInfo jointInfo(c0, c1);
    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
    jointWorkspace = workspace;
 }
--- a/core/src/objects/joint/rotatev.cpp
+++ b/core/src/objects/joint/rotatev.cpp
@ -21,8 +21,14 @@ void RotateV::buildJoint() {
    CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
    part1.lock()->cframe = newFrame;
    // Do NOT use Abs() in this scenario. For some reason that breaks it
-    PhysJointMotorInfo jointInfo((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);
    
    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
    jointWorkspace = workspace;
+}
+
+void RotateV::OnPartParamsUpdated() {
+    float vel = part0.lock()->GetSurfaceParamB(-c0.LookVector().Unit()) * 6.28;
+    this->joint.setAngularVelocity(vel);
 }
--- a/core/src/objects/joint/rotatev.h
+++ b/core/src/objects/joint/rotatev.h
@ -13,6 +13,8 @@ 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>(); };
 };
--- a/core/src/objects/joint/snap.cpp
+++ b/core/src/objects/joint/snap.cpp
@ -23,7 +23,7 @@ void Snap::buildJoint() {
    CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
    part1.lock()->cframe = newFrame;

-    PhysJointSnapInfo jointInfo((c0.Inverse() * c1).Position());
+    PhysFixedJointInfo jointInfo(c0, c1);
    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
    jointWorkspace = workspace;
 }
--- a/core/src/objects/joint/weld.cpp
+++ b/core/src/objects/joint/weld.cpp
@ -23,7 +23,7 @@ void Weld::buildJoint() {
    CFrame newFrame = part0.lock()->cframe * (c0 * c1.Inverse());
    part1.lock()->cframe = newFrame;

-    PhysJointWeldInfo jointInfo((c0.Inverse() * c1).Position());
+    PhysFixedJointInfo jointInfo(c0, c1);
    this->joint = workspace->CreateJoint(jointInfo, part0.lock(), part1.lock());
    jointWorkspace = workspace;
 }
--- a/core/src/objects/part/basepart.cpp
+++ b/core/src/objects/part/basepart.cpp
@ -26,7 +26,6 @@ BasePart::BasePart(const InstanceType* type, PartConstructParams params): PVInst
 }

 BasePart::~BasePart() {
-    // This relies on physicsCommon still existing. Be very careful.
    if (workspace() != nullptr) {
        workspace()->RemoveBody(shared<BasePart>());
    }
@ -71,6 +70,15 @@ void BasePart::onUpdated(std::string property) {
        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()));
@ -286,6 +294,10 @@ void BasePart::MakeJoints() {
                joint->part1 = otherPart->shared<BasePart>();
                joint->c0 = contact0;
                joint->c1 = contact1;
+                // // 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");
            }
--- a/core/src/objects/part/basepart.h
+++ b/core/src/objects/part/basepart.h
@ -14,6 +14,10 @@
 #include "objects/pvinstance.h"
 #include "physics/world.h"

+// 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 {
    Vector3 position;
@ -51,19 +55,20 @@ protected:
    virtual void OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace) 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;
@ -71,8 +76,8 @@ public:
    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)
@ -84,19 +89,19 @@ 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;
@ -117,4 +122,7 @@ public:

    // Calculate size of axis-aligned bounding box
    Vector3 GetAABB();
-};
+};
+
+#undef DEF_PROP_PHYS
+#undef DEF_PROP_PHYSPARAM
--- a/core/src/objects/part/part.cpp
+++ b/core/src/objects/part/part.cpp
@ -9,5 +9,14 @@ Part::Part(PartConstructParams params): BasePart(&TYPE, params) {
 }

 Vector3 Part::GetEffectiveSize() {
-    return shape == PartType::Ball ? (Vector3)glm::vec3(glm::min(size.X(), size.Y(), size.Z())) : size;
+    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;
+    }
 }
--- a/core/src/objects/part/wedgepart.cpp
+++ b/core/src/objects/part/wedgepart.cpp
@ -1,91 +1,6 @@
 #include "wedgepart.h"
-// #include <reactphysics3d/collision/ConvexMesh.h>
-// #include <reactphysics3d/collision/shapes/ConvexMeshShape.h>
-
-// rp::ConvexMesh* wedgePhysMesh;

 WedgePart::WedgePart(): BasePart(&TYPE) {
 }

-WedgePart::WedgePart(PartConstructParams params): BasePart(&TYPE, params) {                      
-    
-}
-
-// void WedgePart::updateCollider(rp::PhysicsCommon* common) {
-//     Logger::fatalError("Wedges are currently disabled! Please do not use them or your editor may crash\n");
-//     rp::ConvexMeshShape* shape = common->createConvexMeshShape(wedgePhysMesh, glmToRp(size * glm::vec3(0.5f)));
-
-//     // Recreate the rigidbody if the shape changes
-//     if (rigidBody->getNbColliders() > 0
-//         && dynamic_cast<rp::ConvexMeshShape*>(rigidBody->getCollider(0)->getCollisionShape())->getScale() != shape->getScale()) {
-//         // TODO: This causes Touched to get called twice. Fix this.
-//         rigidBody->removeCollider(rigidBody->getCollider(0));
-//         rigidBody->addCollider(shape, rp::Transform());
-//     }
-
-//     if (rigidBody->getNbColliders() == 0)
-//         rigidBody->addCollider(shape, rp::Transform());
-// }
-
-// void WedgePart::createWedgeShape(rp::PhysicsCommon* common) {
-//     // https://www.reactphysics3d.com/documentation/index.html#creatingbody
-//     float vertices[] = {
-//         //     X   Y   Z
-//         /*0*/ -1,  1,  1, // 0
-//         /*1*/ -1, -1,  1, // |
-//         /*2*/ -1, -1, -1, // 1---2
-
-//         /*3*/  1,  1,  1,
-//         /*4*/  1, -1,  1,
-//         /*5*/  1, -1, -1,
-//     };
-
-//     //     -x        +x
-//     //  +z 1----------4
-//     //     |  bottom  |
-//     //  -z 2----------5
-
-//     //     -x        +x
-//     //  +y 0----------3
-//     //     |  front   |
-//     //  -y 1----------4
-
-//     //      -x        +x
-//     //  +yz 0----------3
-//     //      |  slope   |
-//     //  -yz 2----------5
-
-//     int indices[] = {
-//         // Base
-//         1, 2, 5, 4,
-
-//         // Back-face
-//         0, 1, 4, 3,
-//         // 4, 1, 0, 3,
-
-//         // Slope
-//         0, 2, 5, 3,
-//         // 3, 5, 2, 0,
-
-//         // Sides
-//         0, 1, 2,
-//         3, 4, 5,
-//     };
-    
-//     // Description of the six faces of the convex mesh
-//     rp::PolygonVertexArray::PolygonFace* polygonFaces = new rp::PolygonVertexArray::PolygonFace[5];
-//     polygonFaces[0] = { 4, 0 }; // Bottom
-//     polygonFaces[1] = { 4, 4 }; // Front
-//     polygonFaces[2] = { 4, 8 }; // Slope
-//     polygonFaces[3] = { 3, 12 }; // Side
-//     polygonFaces[4] = { 3, 15 }; // Side
-    
-//     // Create the polygon vertex array
-//     rp::PolygonVertexArray polygonVertexArray(6, vertices, 3 * sizeof(float), indices, sizeof(int), 5, polygonFaces,
-//     rp::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
-//     rp::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
-    
-//     // Create the convex mesh
-//     std::vector<rp::Message> messages;
-//     // wedgePhysMesh = common->createConvexMesh(polygonVertexArray, messages);
-// }
+WedgePart::WedgePart(PartConstructParams params): BasePart(&TYPE, params) {}
--- a/core/src/objects/part/wedgepart.h
+++ b/core/src/objects/part/wedgepart.h
@ -3,13 +3,9 @@
 #include "basepart.h"
 #include "objects/annotation.h"

-class DEF_INST_(hidden) WedgePart : public BasePart {
+class DEF_INST WedgePart : public BasePart {
    AUTOGEN_PREAMBLE

-protected:
-    // static void createWedgeShape(rp::PhysicsCommon* common);
-
-    friend Workspace;
 public:
    WedgePart();
    WedgePart(PartConstructParams params);
--- a/core/src/physics/world.cpp
+++ b/core/src/physics/world.cpp
@ -4,6 +4,7 @@
 #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"
@ -21,6 +22,10 @@
 #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>
@ -31,26 +36,59 @@
 #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 NUM_LAYERS = 2;
+	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 uint NUM_LAYERS(2);
+	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));
@ -69,7 +107,16 @@ void PhysWorld::addBody(std::shared_ptr<BasePart> part) {
 }

 void PhysWorld::removeBody(std::shared_ptr<BasePart> part) {
-    // TODO:
+    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) {
@ -79,8 +126,11 @@ JPH::Shape* makeShape(std::shared_ptr<BasePart> basePart) {
            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);
-            break;
+        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;
 }
@ -90,7 +140,7 @@ void PhysWorld::syncBodyProperties(std::shared_ptr<BasePart> part) {

    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->anchored ? Layers::ANCHORED : Layers::DYNAMIC;
+    JPH::ObjectLayer objectLayer = !part->canCollide ? Layers::NOCOLLIDE : (part->anchored ? Layers::ANCHORED : Layers::DYNAMIC);

    JPH::Body* body = part->rigidBody.bodyImpl;

@ -98,6 +148,7 @@ void PhysWorld::syncBodyProperties(std::shared_ptr<BasePart> part) {
    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);
@ -123,21 +174,9 @@ void PhysWorld::syncBodyProperties(std::shared_ptr<BasePart> part) {
        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());
    }
-}

-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);
-}
-
-void physicsDeinit() {
-    JPH::UnregisterTypes();
-    delete JPH::Factory::sInstance;
-    JPH::Factory::sInstance = nullptr;
+    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;
@ -168,18 +207,31 @@ PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart>
    ) { Logger::fatalError("Failed to create joint between two parts due to the call being invalid"); panic(); };

    JPH::TwoBodyConstraint* constraint;
-    if (PhysJointGlueInfo* info = dynamic_cast<PhysJointGlueInfo*>(&type)) {
+    if (PhysFixedJointInfo* info = dynamic_cast<PhysFixedJointInfo*>(&type)) {
        JPH::FixedConstraintSettings settings;
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
+        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 (PhysJointWeldInfo* info = dynamic_cast<PhysJointWeldInfo*>(&type)) {
-        JPH::FixedConstraintSettings settings;
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
-        constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
-    } else if (PhysJointSnapInfo* info = dynamic_cast<PhysJointSnapInfo*>(&type)) {
-        JPH::FixedConstraintSettings settings;
-        settings.mAutoDetectPoint = true; // TODO: Replace this with anchor point
+    } 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();
    }
@ -188,6 +240,14 @@ PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart>
    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);
 }
@ -247,6 +307,7 @@ JPH::BroadPhaseLayer BroadPhaseLayerInterface::GetBroadPhaseLayer(JPH::ObjectLay
    switch (inLayer) {
        case Layers::DYNAMIC: return BPLayers::DYNAMIC;
        case Layers::ANCHORED: return BPLayers::ANCHORED;
+        case Layers::NOCOLLIDE: return BPLayers::NOCOLLIDE;
        default: panic();
    }
 }
@ -256,12 +317,19 @@ const char * BroadPhaseLayerInterface::GetBroadPhaseLayerName(JPH::BroadPhaseLay
    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 {
-    return true;
+    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 {
@ -270,6 +338,8 @@ bool ObjectLayerPairFilter::ShouldCollide(JPH::ObjectLayer inLayer1, JPH::Object
        return true;
    case Layers::ANCHORED:
        return inLayer2 == Layers::DYNAMIC;
+    case Layers::NOCOLLIDE:
+        return false;
    default:
        panic();
    }
--- a/core/src/physics/world.h
+++ b/core/src/physics/world.h
@ -1,5 +1,6 @@
 #pragma once

+#include "datatypes/cframe.h"
 #include "datatypes/vector.h"
 #include "enum/part.h"
 #include "utils.h"
@ -16,16 +17,30 @@ class BasePart;
 class PhysWorld;

 struct PhysJointInfo { virtual ~PhysJointInfo() = default; protected: PhysJointInfo() = default; };
-struct PhysJointGlueInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointGlueInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
-struct PhysJointWeldInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointWeldInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
-struct PhysJointSnapInfo : PhysJointInfo { Vector3 anchorPoint; inline PhysJointSnapInfo(Vector3 anchorPoint) : anchorPoint(anchorPoint) {} };
-struct PhysJointHingeInfo : PhysJointInfo { Vector3 anchorPoint; Vector3 rotationAxis; inline PhysJointHingeInfo(Vector3 anchorPoint, Vector3 rotationAxis) : anchorPoint(anchorPoint), rotationAxis(rotationAxis) {} };
-struct PhysJointMotorInfo : PhysJointInfo { Vector3 anchorPoint; Vector3 rotationAxis; inline PhysJointMotorInfo(Vector3 anchorPoint, Vector3 rotationAxis) : anchorPoint(anchorPoint), rotationAxis(rotationAxis) {} };
+
+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;
--- a/core/src/rendering/defaultmeshes.cpp
+++ b/core/src/rendering/defaultmeshes.cpp
@ -2968,7 +2968,7 @@ static float OUTLINE_VERTICES[] = {

 };

-static float CYLINDER_VERTICES[] = {
+static float CYLINDER_CHEAP_VERTICES[] = {
    // positions                     // normals                  // texture coords

        0.0, -0.5, 0.5, 0.2588, -0.9659, -0.0,  1.0, 0.5,
@ -3106,11 +3106,391 @@ static float CYLINDER_VERTICES[] = {

 };

+
+static float CYLINDER_VERTICES[] = {
+    // positions                     // normals                  // texture coords
+
+	0.5, 0.0, -0.5,	-0.0, -0.0, -1.0,	1.0, 0.5,
+	0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 0.5,
+	-0.5, 0.0, -0.5,	-0.0, -0.0, -1.0,	1.0, 1.0,
+	0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 0.5,
+	0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 0.5,
+	-0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 1.0,
+	0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 0.5,
+	0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 0.5,
+	-0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 1.0,
+	0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 0.5,
+	0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 0.5,
+	-0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 1.0,
+	0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 0.5,
+	0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 0.5,
+	-0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 1.0,
+	0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 0.5,
+	0.5, 0.46194, -0.19134150000000005,	-0.0, 0.9239, -0.3827,	0.8125, 0.5,
+	-0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 1.0,
+	0.5, 0.46194, -0.19134150000000005,	-0.0, 0.9239, -0.3827,	0.8125, 0.5,
+	0.5, 0.4903925, -0.09754499999999999,	-0.0, 0.9808, -0.1951,	0.78125, 0.5,
+	-0.5, 0.4619395, -0.19134150000000005,	-0.0, 0.9239, -0.3827,	0.8125, 1.0,
+	0.5, 0.4903925, -0.09754499999999999,	-0.0, 0.9808, -0.1951,	0.78125, 0.5,
+	0.5, 0.5, 0.0,	-0.0, 1.0, -0.0,	0.75, 0.5,
+	-0.5, 0.4903925, -0.09754499999999999,	-0.0, 0.9808, -0.1951,	0.78125, 1.0,
+	0.5, 0.5, 0.0,	-0.0, 1.0, -0.0,	0.75, 0.5,
+	0.5, 0.4903925, 0.09754499999999999,	-0.0, 0.9808, 0.1951,	0.71875, 0.5,
+	-0.5, 0.5, 0.0,	-0.0, 1.0, -0.0,	0.75, 1.0,
+	0.5, 0.4903925, 0.09754499999999999,	-0.0, 0.9808, 0.1951,	0.71875, 0.5,
+	0.5, 0.46194, 0.1913415,	-0.0, 0.9239, 0.3827,	0.6875, 0.5,
+	-0.5, 0.4903925, 0.09754499999999999,	-0.0, 0.9808, 0.1951,	0.71875, 1.0,
+	0.5, 0.46194, 0.1913415,	-0.0, 0.9239, 0.3827,	0.6875, 0.5,
+	0.5, 0.415735, 0.277785,	-0.0, 0.8315, 0.5556,	0.65625, 0.5,
+	-0.5, 0.4619395, 0.1913415,	-0.0, 0.9239, 0.3827,	0.6875, 1.0,
+	0.5, 0.415735, 0.277785,	-0.0, 0.8315, 0.5556,	0.65625, 0.5,
+	0.5, 0.3535535, 0.3535535,	-0.0, 0.7071, 0.7071,	0.625, 0.5,
+	-0.5, 0.415735, 0.277785,	-0.0, 0.8315, 0.5556,	0.65625, 1.0,
+	0.5, 0.3535535, 0.3535535,	-0.0, 0.7071, 0.7071,	0.625, 0.5,
+	0.5, 0.277785, 0.415735,	-0.0, 0.5556, 0.8315,	0.59375, 0.5,
+	-0.5, 0.3535535, 0.3535535,	-0.0, 0.7071, 0.7071,	0.625, 1.0,
+	0.5, 0.277785, 0.415735,	-0.0, 0.5556, 0.8315,	0.59375, 0.5,
+	0.5, 0.1913415, 0.46194,	-0.0, 0.3827, 0.9239,	0.5625, 0.5,
+	-0.5, 0.277785, 0.415735,	-0.0, 0.5556, 0.8315,	0.59375, 1.0,
+	0.5, 0.1913415, 0.46194,	-0.0, 0.3827, 0.9239,	0.5625, 0.5,
+	0.5, 0.09754499999999999, 0.4903925,	-0.0, 0.1951, 0.9808,	0.53125, 0.5,
+	-0.5, 0.1913415, 0.46194,	-0.0, 0.3827, 0.9239,	0.5625, 1.0,
+	0.5, 0.09754499999999999, 0.4903925,	-0.0, 0.1951, 0.9808,	0.53125, 0.5,
+	0.5, 0.0, 0.5,	-0.0, -0.0, 1.0,	0.5, 0.5,
+	-0.5, 0.09754499999999999, 0.4903925,	-0.0, 0.1951, 0.9808,	0.53125, 1.0,
+	0.5, 0.0, 0.5,	-0.0, -0.0, 1.0,	0.5, 0.5,
+	0.5, -0.09754499999999999, 0.4903925,	-0.0, -0.1951, 0.9808,	0.46875, 0.5,
+	-0.5, 0.0, 0.5,	-0.0, -0.0, 1.0,	0.5, 1.0,
+	0.5, -0.09754499999999999, 0.4903925,	-0.0, -0.1951, 0.9808,	0.46875, 0.5,
+	0.5, -0.19134150000000005, 0.46194,	-0.0, -0.3827, 0.9239,	0.4375, 0.5,
+	-0.5, -0.09754499999999999, 0.4903925,	-0.0, -0.1951, 0.9808,	0.46875, 1.0,
+	0.5, -0.19134150000000005, 0.46194,	-0.0, -0.3827, 0.9239,	0.4375, 0.5,
+	0.5, -0.27778499999999995, 0.415735,	-0.0, -0.5556, 0.8315,	0.40625, 0.5,
+	-0.5, -0.19134150000000005, 0.46194,	-0.0, -0.3827, 0.9239,	0.4375, 1.0,
+	0.5, -0.27778499999999995, 0.415735,	-0.0, -0.5556, 0.8315,	0.40625, 0.5,
+	0.5, -0.3535535000000001, 0.3535535,	-0.0, -0.7071, 0.7071,	0.375, 0.5,
+	-0.5, -0.27778499999999995, 0.415735,	-0.0, -0.5556, 0.8315,	0.40625, 1.0,
+	0.5, -0.3535535000000001, 0.3535535,	-0.0, -0.7071, 0.7071,	0.375, 0.5,
+	0.5, -0.41573499999999997, 0.277785,	-0.0, -0.8315, 0.5556,	0.34375, 0.5,
+	-0.5, -0.3535535000000001, 0.3535535,	-0.0, -0.7071, 0.7071,	0.375, 1.0,
+	0.5, -0.41573499999999997, 0.277785,	-0.0, -0.8315, 0.5556,	0.34375, 0.5,
+	0.5, -0.46193949999999995, 0.1913415,	-0.0, -0.9239, 0.3827,	0.3125, 0.5,
+	-0.5, -0.41573499999999997, 0.277785,	-0.0, -0.8315, 0.5556,	0.34375, 1.0,
+	0.5, -0.46193949999999995, 0.1913415,	-0.0, -0.9239, 0.3827,	0.3125, 0.5,
+	0.5, -0.4903925, 0.09754499999999999,	-0.0, -0.9808, 0.1951,	0.28125, 0.5,
+	-0.5, -0.46194, 0.1913415,	-0.0, -0.9239, 0.3827,	0.3125, 1.0,
+	0.5, -0.4903925, 0.09754499999999999,	-0.0, -0.9808, 0.1951,	0.28125, 0.5,
+	0.5, -0.5, 0.0,	-0.0, -1.0, -0.0,	0.25, 0.5,
+	-0.5, -0.4903925, 0.09754499999999999,	-0.0, -0.9808, 0.1951,	0.28125, 1.0,
+	0.5, -0.5, 0.0,	-0.0, -1.0, -0.0,	0.25, 0.5,
+	0.5, -0.4903925, -0.09754499999999999,	-0.0, -0.9808, -0.1951,	0.21875, 0.5,
+	-0.5, -0.5, 0.0,	-0.0, -1.0, -0.0,	0.25, 1.0,
+	0.5, -0.4903925, -0.09754499999999999,	-0.0, -0.9808, -0.1951,	0.21875, 0.5,
+	0.5, -0.46193949999999995, -0.19134150000000005,	-0.0, -0.9239, -0.3827,	0.1875, 0.5,
+	-0.5, -0.4903925, -0.09754499999999999,	-0.0, -0.9808, -0.1951,	0.21875, 1.0,
+	0.5, -0.46193949999999995, -0.19134150000000005,	-0.0, -0.9239, -0.3827,	0.1875, 0.5,
+	0.5, -0.41573499999999997, -0.27778499999999995,	-0.0, -0.8315, -0.5556,	0.15625, 0.5,
+	-0.5, -0.46194, -0.19134150000000005,	-0.0, -0.9239, -0.3827,	0.1875, 1.0,
+	0.5, -0.41573499999999997, -0.27778499999999995,	-0.0, -0.8315, -0.5556,	0.15625, 0.5,
+	0.5, -0.3535535000000001, -0.3535535000000001,	-0.0, -0.7071, -0.7071,	0.125, 0.5,
+	-0.5, -0.41573499999999997, -0.27778499999999995,	-0.0, -0.8315, -0.5556,	0.15625, 1.0,
+	0.5, -0.3535535000000001, -0.3535535000000001,	-0.0, -0.7071, -0.7071,	0.125, 0.5,
+	0.5, -0.27778499999999995, -0.41573499999999997,	-0.0, -0.5556, -0.8315,	0.09375, 0.5,
+	-0.5, -0.3535535000000001, -0.3535535000000001,	-0.0, -0.7071, -0.7071,	0.125, 1.0,
+	0.5, -0.27778499999999995, -0.41573499999999997,	-0.0, -0.5556, -0.8315,	0.09375, 0.5,
+	0.5, -0.19134150000000005, -0.46194,	-0.0, -0.3827, -0.9239,	0.0625, 0.5,
+	-0.5, -0.27778499999999995, -0.41573499999999997,	-0.0, -0.5556, -0.8315,	0.09375, 1.0,
+	-0.5, 0.1913415, -0.46194,	-1.0, -0.0, -0.0,	0.341844, 0.471731,
+	-0.5, 0.4619395, 0.1913415,	-1.0, -0.0, -0.0,	0.471731, 0.158156,
+	-0.5, -0.19134150000000005, 0.46194,	-1.0, -0.0, -0.0,	0.158156, 0.028269,
+	0.5, -0.19134150000000005, -0.46194,	-0.0, -0.3827, -0.9239,	0.0625, 0.5,
+	0.5, -0.09754499999999999, -0.4903925,	-0.0, -0.1951, -0.9808,	0.03125, 0.5,
+	-0.5, -0.19134150000000005, -0.46194,	-0.0, -0.3827, -0.9239,	0.0625, 1.0,
+	0.5, -0.09754499999999999, -0.4903925,	-0.0, -0.1951, -0.9808,	0.03125, 0.5,
+	0.5, 0.0, -0.5,	-0.0, -0.0, -1.0,	0.0, 0.5,
+	-0.5, -0.09754499999999999, -0.4903925,	-0.0, -0.1951, -0.9808,	0.03125, 1.0,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 0.5,
+	-0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 1.0,
+	-0.5, 0.0, -0.5,	-0.0, -0.0, -1.0,	1.0, 1.0,
+	0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 0.5,
+	-0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 1.0,
+	-0.5, 0.09754499999999999, -0.4903925,	-0.0, 0.1951, -0.9808,	0.96875, 1.0,
+	0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 0.5,
+	-0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 1.0,
+	-0.5, 0.1913415, -0.46194,	-0.0, 0.3827, -0.9239,	0.9375, 1.0,
+	0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 0.5,
+	-0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 1.0,
+	-0.5, 0.277785, -0.41573499999999997,	-0.0, 0.5556, -0.8315,	0.90625, 1.0,
+	0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 0.5,
+	-0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 1.0,
+	-0.5, 0.3535535, -0.3535535000000001,	-0.0, 0.7071, -0.7071,	0.875, 1.0,
+	0.5, 0.46194, -0.19134150000000005,	-0.0, 0.9239, -0.3827,	0.8125, 0.5,
+	-0.5, 0.4619395, -0.19134150000000005,	-0.0, 0.9239, -0.3827,	0.8125, 1.0,
+	-0.5, 0.415735, -0.27778499999999995,	-0.0, 0.8315, -0.5556,	0.84375, 1.0,
+	0.5, 0.4903925, -0.09754499999999999,	-0.0, 0.9808, -0.1951,	0.78125, 0.5,
+	-0.5, 0.4903925, -0.09754499999999999,	-0.0, 0.9808, -0.1951,	0.78125, 1.0,
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+	0.5, 0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.485388,
+	0.5, 0.0, -0.5,	1.0, -0.0, -0.0,	0.75, 0.49,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, 0.277785, -0.41573499999999997,	1.0, -0.0, -0.0,	0.883337, 0.449553,
+	0.5, 0.1913415, -0.46194,	1.0, -0.0, -0.0,	0.841844, 0.471731,
+	0.5, 0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.485388,
+	0.5, 0.415735, -0.27778499999999995,	1.0, -0.0, -0.0,	0.949553, 0.383337,
+	0.5, 0.3535535, -0.3535535000000001,	1.0, -0.0, -0.0,	0.919706, 0.419706,
+	0.5, 0.277785, -0.41573499999999997,	1.0, -0.0, -0.0,	0.883337, 0.449553,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.46194, -0.19134150000000005,	1.0, -0.0, -0.0,	0.971731, 0.341844,
+	0.5, 0.415735, -0.27778499999999995,	1.0, -0.0, -0.0,	0.949553, 0.383337,
+	0.5, 0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.203178,
+	0.5, 0.5, 0.0,	1.0, -0.0, -0.0,	0.99, 0.25,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.415735, 0.277785,	1.0, -0.0, -0.0,	0.949553, 0.116663,
+	0.5, 0.46194, 0.1913415,	1.0, -0.0, -0.0,	0.971731, 0.158156,
+	0.5, 0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.203178,
+	0.5, 0.277785, 0.415735,	1.0, -0.0, -0.0,	0.883337, 0.050447,
+	0.5, 0.3535535, 0.3535535,	1.0, -0.0, -0.0,	0.919706, 0.080294,
+	0.5, 0.415735, 0.277785,	1.0, -0.0, -0.0,	0.949553, 0.116663,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.1913415, 0.46194,	1.0, -0.0, -0.0,	0.841844, 0.028269,
+	0.5, 0.277785, 0.415735,	1.0, -0.0, -0.0,	0.883337, 0.050447,
+	0.5, -0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.014612,
+	0.5, 0.0, 0.5,	1.0, -0.0, -0.0,	0.75, 0.01,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, -0.27778499999999995, 0.415735,	1.0, -0.0, -0.0,	0.616663, 0.050447,
+	0.5, -0.19134150000000005, 0.46194,	1.0, -0.0, -0.0,	0.658156, 0.028269,
+	0.5, -0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.014612,
+	0.5, -0.41573499999999997, 0.277785,	1.0, -0.0, -0.0,	0.550447, 0.116663,
+	0.5, -0.3535535000000001, 0.3535535,	1.0, -0.0, -0.0,	0.580294, 0.080294,
+	0.5, -0.27778499999999995, 0.415735,	1.0, -0.0, -0.0,	0.616663, 0.050447,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.46193949999999995, 0.1913415,	1.0, -0.0, -0.0,	0.528269, 0.158156,
+	0.5, -0.41573499999999997, 0.277785,	1.0, -0.0, -0.0,	0.550447, 0.116663,
+	0.5, -0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.296822,
+	0.5, -0.5, 0.0,	1.0, -0.0, -0.0,	0.51, 0.25,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.41573499999999997, -0.27778499999999995,	1.0, -0.0, -0.0,	0.550447, 0.383337,
+	0.5, -0.46193949999999995, -0.19134150000000005,	1.0, -0.0, -0.0,	0.528269, 0.341844,
+	0.5, -0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.296822,
+	0.5, -0.27778499999999995, -0.41573499999999997,	1.0, -0.0, -0.0,	0.616663, 0.449553,
+	0.5, -0.3535535000000001, -0.3535535000000001,	1.0, -0.0, -0.0,	0.580294, 0.419706,
+	0.5, -0.41573499999999997, -0.27778499999999995,	1.0, -0.0, -0.0,	0.550447, 0.383337,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, -0.19134150000000005, -0.46194,	1.0, -0.0, -0.0,	0.658156, 0.471731,
+	0.5, -0.27778499999999995, -0.41573499999999997,	1.0, -0.0, -0.0,	0.616663, 0.449553,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.485388,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.277785, -0.41573499999999997,	1.0, -0.0, -0.0,	0.883337, 0.449553,
+	0.5, 0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.485388,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.415735, -0.27778499999999995,	1.0, -0.0, -0.0,	0.949553, 0.383337,
+	0.5, 0.277785, -0.41573499999999997,	1.0, -0.0, -0.0,	0.883337, 0.449553,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.203178,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.415735, 0.277785,	1.0, -0.0, -0.0,	0.949553, 0.116663,
+	0.5, 0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.203178,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.277785, 0.415735,	1.0, -0.0, -0.0,	0.883337, 0.050447,
+	0.5, 0.415735, 0.277785,	1.0, -0.0, -0.0,	0.949553, 0.116663,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.014612,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.27778499999999995, 0.415735,	1.0, -0.0, -0.0,	0.616663, 0.050447,
+	0.5, -0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.014612,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.41573499999999997, 0.277785,	1.0, -0.0, -0.0,	0.550447, 0.116663,
+	0.5, -0.27778499999999995, 0.415735,	1.0, -0.0, -0.0,	0.616663, 0.050447,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, -0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.296822,
+	0.5, -0.4903925, 0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.203178,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, -0.41573499999999997, -0.27778499999999995,	1.0, -0.0, -0.0,	0.550447, 0.383337,
+	0.5, -0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.514612, 0.296822,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+	0.5, -0.27778499999999995, -0.41573499999999997,	1.0, -0.0, -0.0,	0.616663, 0.449553,
+	0.5, -0.41573499999999997, -0.27778499999999995,	1.0, -0.0, -0.0,	0.550447, 0.383337,
+	0.5, 0.09754499999999999, 0.4903925,	1.0, -0.0, -0.0,	0.796822, 0.014612,
+	0.5, 0.4903925, -0.09754499999999999,	1.0, -0.0, -0.0,	0.985388, 0.296822,
+	0.5, -0.09754499999999999, -0.4903925,	1.0, -0.0, -0.0,	0.703178, 0.485388,
+
+};
+
 Mesh* CUBE_MESH;
 Mesh* WEDGE_MESH;
 Mesh* SPHERE_MESH;
 Mesh* ARROW_MESH;
 Mesh* OUTLINE_MESH;
+Mesh* CYLINDER_CHEAP_MESH;
 Mesh* CYLINDER_MESH;

 void initMeshes() {
@ -3119,6 +3499,7 @@ void initMeshes() {
    SPHERE_MESH = new Mesh(sizeof(SPHERE_VERTICES) / sizeof(float) / 8, SPHERE_VERTICES);
    ARROW_MESH = new Mesh(sizeof(ARROW_VERTICES) / sizeof(float) / 8, ARROW_VERTICES);
    OUTLINE_MESH = new Mesh(sizeof(OUTLINE_VERTICES) / sizeof(float) / 8, OUTLINE_VERTICES);
+    CYLINDER_CHEAP_MESH = new Mesh(sizeof(CYLINDER_CHEAP_VERTICES) / sizeof(float) / 8, CYLINDER_CHEAP_VERTICES);
    CYLINDER_MESH = new Mesh(sizeof(CYLINDER_VERTICES) / sizeof(float) / 8, CYLINDER_VERTICES);
 }

--- a/core/src/rendering/defaultmeshes.h
+++ b/core/src/rendering/defaultmeshes.h
@ -7,5 +7,6 @@ extern Mesh* SPHERE_MESH;
 extern Mesh* ARROW_MESH;
 extern Mesh* OUTLINE_MESH;
 extern Mesh* CYLINDER_MESH;
+extern Mesh* CYLINDER_CHEAP_MESH;

 void initMeshes();
--- a/core/src/rendering/renderer.cpp
+++ b/core/src/rendering/renderer.cpp
@ -5,6 +5,7 @@
 #include <glm/ext/matrix_clip_space.hpp>
 #include <glm/ext/matrix_float4x4.hpp>
 #include <glm/ext/matrix_transform.hpp>
+#include <glm/ext/scalar_constants.hpp>
 #include <glm/ext/vector_float3.hpp>
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
@ -157,6 +158,10 @@ static void renderPart(std::shared_ptr<BasePart> part) {
        glFrontFace(GL_CW);
        CUBE_MESH->bind();
        glDrawArrays(GL_TRIANGLES, 0, CUBE_MESH->vertexCount);
+    } else if (shape == PartType::Cylinder) {
+        glFrontFace(GL_CW);
+        CYLINDER_MESH->bind();
+        glDrawArrays(GL_TRIANGLES, 0, CYLINDER_MESH->vertexCount);
    }
 }

@ -259,8 +264,8 @@ void renderSurfaceExtras() {
            model = glm::scale(model, glm::vec3(0.4,0.4,0.4));
            ghostShader->set("model", model);
    
-            CYLINDER_MESH->bind();
-            glDrawArrays(GL_TRIANGLES, 0, CYLINDER_MESH->vertexCount);
+            CYLINDER_CHEAP_MESH->bind();
+            glDrawArrays(GL_TRIANGLES, 0, CYLINDER_CHEAP_MESH->vertexCount);
        }
    }
 }
--- a/editor/mainwindow.cpp
+++ b/editor/mainwindow.cpp
@ -146,6 +146,18 @@ MainWindow::MainWindow(QWidget *parent)
    });

    setUpCommandBar();
+
+    #ifndef NDEBUG
+    // https://stackoverflow.com/a/17631703/16255372
+    // Add shortcut for reloading most recent file
+    QAction* reloadMostRecent = new QAction();
+    reloadMostRecent->setShortcut(Qt::Key_R | Qt::CTRL);
+    connect(reloadMostRecent, &QAction::triggered, [this, reloadMostRecent]() {
+        recentsMenu->actions()[0]->trigger();
+        removeAction(reloadMostRecent);
+    });
+    addAction(reloadMostRecent);
+    #endif
 }

 void MainWindow::closeEvent(QCloseEvent* evt) {
Author	SHA1	Message	Date
maelstrom	78d2466efd	fix(physics): motor joint updates with paramB	2025-09-02 00:07:04 +02:00
maelstrom	3a6fb2ada2	feat(physics): motor joint	2025-09-02 00:06:56 +02:00
maelstrom	219ca94ded	feat(physics): hinges 1	2025-09-01 20:31:49 +02:00
maelstrom	bea19b21d7	feat(editor): debug shortcut for reloading most recent file	2025-09-01 20:14:57 +02:00
maelstrom	3dfc3abaf8	feat(physics): hinge joints	2025-09-01 20:00:54 +02:00
maelstrom	2f0f507051	feat(physics): nicer cylinder mesh	2025-08-30 02:14:16 +02:00
maelstrom	7f36a84938	feat(physics): cancollide=false	2025-08-29 02:54:56 +02:00
maelstrom	ded96d4e1f	fix(physics): unanchoring initially anchored bodies causes crash	2025-08-29 02:52:04 +02:00
maelstrom	0bd6acb7fa	fix(physics): deleting bodies	2025-08-29 02:11:07 +02:00
maelstrom	cbeaa4d2bb	feat(physics): added wedges and cylinders	2025-08-29 01:59:00 +02:00