.clangd

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

.vscode/launch.json

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

BUILD.md

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

CMakeLists.txt

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

CMakePresets.json

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

CMakeUserPresets.json

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

asset-srcs/models/NOTE.txt

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

asset-srcs/models/arc.obj

@@ -1,565 +0,0 @@
-# Blender 4.4.0
-# www.blender.org
-mtllib arc.mtl
-o Torus.001
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asset-srcs/models/arrow.obj

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asset-srcs/models/cube.obj

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asset-srcs/models/cylinder.obj

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asset-srcs/models/outline.obj

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-v -1.000000 -1.000000 -0.500000
-v -1.000000 1.000000 -0.500000
-v 1.000000 -1.000000 -0.500000
-v 1.000000 1.000000 -0.500000
-v -0.500000 1.000000 -0.500000
-v -0.500000 -1.000000 -0.500000
-v 0.500000 1.000000 -0.500000
-v 0.500000 -1.000000 -0.500000
-v -1.000000 -1.000000 0.500000
-v 1.000000 1.000000 0.500000
-v -0.500000 1.000000 0.500000
-v -0.500000 -1.000000 0.500000
-v 0.500000 1.000000 0.500000
-v 0.500000 -1.000000 0.500000
-v -1.000000 1.000000 0.500000
-v 1.000000 -1.000000 0.500000
-v -1.000000 0.500000 1.000000
-v -1.000000 0.500000 -1.000000
-v 1.000000 0.500000 -1.000000
-v 1.000000 0.500000 1.000000
-v -0.500000 0.500000 1.000000
-v -0.500000 0.500000 -1.000000
-v 0.500000 0.500000 1.000000
-v 0.500000 0.500000 -1.000000
-v 1.000000 0.500000 -0.500000
-v -1.000000 0.500000 -0.500000
-v -1.000000 0.500000 0.500000
-v 1.000000 0.500000 0.500000
-v -1.000000 -0.500000 -1.000000
-v 1.000000 -0.500000 -1.000000
-v 1.000000 -0.500000 1.000000
-v -0.500000 -0.500000 1.000000
-v -0.500000 -0.500000 -1.000000
-v 0.500000 -0.500000 1.000000
-v 0.500000 -0.500000 -1.000000
-v 1.000000 -0.500000 -0.500000
-v -1.000000 -0.500000 -0.500000
-v -1.000000 -0.500000 0.500000
-v 1.000000 -0.500000 0.500000
-v -1.000000 -0.500000 1.000000
-v 0.500000 0.500000 0.500000
-v -0.500000 -0.500000 0.500000
-v 0.500000 0.500000 -0.500000
-v 0.500000 -0.500000 -0.500000
-v -0.500000 -0.500000 -0.500000
-v 0.500000 -0.500000 0.500000
-v -0.500000 0.500000 0.500000
-v -0.500000 0.500000 -0.500000
-vn -1.0000 -0.0000 -0.0000
-vn -0.0000 -0.0000 -1.0000
-vn 1.0000 -0.0000 -0.0000
-vn -0.0000 -0.0000 1.0000
-vn -0.0000 -1.0000 -0.0000
-vn -0.0000 1.0000 -0.0000
-vt 0.625000 0.187500
-vt 0.562500 0.250000
-vt 0.562500 0.187500
-vt 0.625000 0.437500
-vt 0.562500 0.500000
-vt 0.562500 0.437500
-vt 0.625000 0.687500
-vt 0.562500 0.750000
-vt 0.562500 0.687500
-vt 0.625000 0.937500
-vt 0.562500 1.000000
-vt 0.562500 0.937500
-vt 0.375000 0.687500
-vt 0.312500 0.750000
-vt 0.312500 0.687500
-vt 0.875000 0.687500
-vt 0.812500 0.750000
-vt 0.812500 0.687500
-vt 0.687500 0.750000
-vt 0.687500 0.687500
-vt 0.187500 0.687500
-vt 0.125000 0.750000
-vt 0.125000 0.687500
-vt 0.625000 0.812500
-vt 0.562500 0.812500
-vt 0.625000 0.250000
-vt 0.562500 0.312500
-vt 0.625000 0.750000
-vt 0.187500 0.750000
-vt 0.625000 0.312500
-vt 0.312500 0.500000
-vt 0.187500 0.562500
-vt 0.187500 0.500000
-vt 0.687500 0.500000
-vt 0.625000 0.562500
-vt 0.625000 0.500000
-vt 0.125000 0.562500
-vt 0.125000 0.500000
-vt 0.812500 0.500000
-vt 0.687500 0.562500
-vt 0.875000 0.500000
-vt 0.812500 0.562500
-vt 0.375000 0.500000
-vt 0.312500 0.562500
-vt 0.562500 0.562500
-vt 0.625000 0.062500
-vt 0.562500 0.062500
-vt 0.625000 0.000000
-vt 0.562500 0.000000
-vt 0.875000 0.562500
-vt 0.375000 0.562500
-vt 0.437500 0.562500
-vt 0.437500 0.062500
-vt 0.437500 0.000000
-vt 0.437500 0.500000
-vt 0.437500 0.437500
-vt 0.437500 0.812500
-vt 0.437500 0.750000
-vt 0.437500 0.312500
-vt 0.437500 0.250000
-vt 0.437500 1.000000
-vt 0.437500 0.937500
-vt 0.437500 0.687500
-vt 0.437500 0.187500
-vt 0.375000 0.250000
-vt 0.375000 0.187500
-vt 0.375000 0.437500
-vt 0.375000 0.750000
-vt 0.375000 1.000000
-vt 0.375000 0.937500
-vt 0.375000 0.812500
-vt 0.375000 0.312500
-vt 0.375000 0.062500
-vt 0.375000 0.000000
-vt 0.625000 1.000000
-vt 0.875000 0.750000
-s 0
-f 18/1/1 34/2/1 42/3/1
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-f 26/7/3 36/8/3 44/9/3
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asset-srcs/models/wedge.obj

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

assets/shaders/generic2d.fs

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

assets/shaders/phong.fs

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

assets/shaders/phong.vs

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

autogen/src/main.cpp

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

client/CMakeLists.txt

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

client/deps.cmake

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

client/src/main.cpp

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

cmake/CPM.cmake

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

cmake/FindQScintilla6.cmake

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

cmake/FindStb.cmake

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

cmake/gitversion.cmake

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

core/CMakeLists.txt

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

core/deps.cmake

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

core/src/common.h

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

core/src/datatypes/cframe.cpp

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

core/src/datatypes/cframe.h

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

core/src/datatypes/color3.cpp

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

core/src/datatypes/color3.h

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

core/src/datatypes/primitives.cpp

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

core/src/datatypes/ref.cpp

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

core/src/datatypes/signal.cpp

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

core/src/datatypes/vector.cpp

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

core/src/datatypes/vector.h

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

core/src/enum/part.h

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

core/src/glad.cpp

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

core/src/handles.cpp

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

core/src/handles.h

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

core/src/logger.cpp

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

core/src/logger.h

@@ -1,12 +1,9 @@
 #pragma once
 
+#include <format>
 #include <functional>
-#include <memory>
-#include <ostream>
 #include <string>
 
-class Script;
-
 namespace Logger {
     enum class LogLevel {
         INFO,
@@ -17,41 +14,34 @@ namespace Logger {
         FATAL_ERROR,
     };
 
-    struct ScriptSource {
+    typedef std::function<void(LogLevel logLevel, std::string message)> LogListener;
-        std::shared_ptr<Script> script;
+    typedef std::function<void(std::string message, std::string source, int line, void* userData)> TraceLogListener;
-        int line;
-    };
-
-    typedef std::function<void(LogLevel logLevel, std::string message, ScriptSource source)> LogListener;
 
     extern std::string currentLogDir;
 
     void init();
-    void initTest(std::stringstream* out); // Testing only!
     void finish();
     void addLogListener(LogListener);
-    void resetLogListeners(); // Testing only!
+    void addLogListener(TraceLogListener);
 
-    void log(std::string message, LogLevel logLevel, ScriptSource source = {});
+    void log(std::string message, LogLevel logLevel);
     inline void info(std::string message) { log(message, LogLevel::INFO); }
     inline void debug(std::string message) { log(message, LogLevel::DEBUG); }
     inline void warning(std::string message) { log(message, LogLevel::WARNING); }
     inline void error(std::string message) { log(message, LogLevel::ERROR); }
     inline void fatalError(std::string message) { log(message, LogLevel::FATAL_ERROR); }
-    inline void trace(std::string message) { log(message, LogLevel::TRACE); };
 
-    template <typename ...Args>
+    inline void traceStart() { log("Stack start", LogLevel::TRACE); }
-    void scriptLogf(std::string format, LogLevel logLevel, ScriptSource source, Args&&... args) {
+    inline void traceEnd() { log("Stack end", LogLevel::TRACE); }
-        char message[200];
+    void trace(std::string source, int line, void* userData = nullptr);
-        sprintf(message, format.c_str(), args...);
-        log(message, logLevel, source);
-    }
 
     template <typename ...Args>
     void logf(std::string format, LogLevel logLevel, Args&&... args) {
-        scriptLogf(format, logLevel, {}, args...);
+        char message[200];
+        sprintf(message, format.c_str(), args...);
+        log(message, logLevel);
     }
-
+    
     template <typename ...Args> inline void infof(std::string format, Args&&... args) { logf(format, LogLevel::INFO, args...); }
     template <typename ...Args> inline void debugf(std::string format, Args&&... args) { logf(format, LogLevel::DEBUG, args...); }
     template <typename ...Args> inline void warningf(std::string format, Args&&... args) { logf(format, LogLevel::WARNING, args...); }

core/src/luaapis.h

@@ -6,8 +6,6 @@ extern "C" {
     #include <lua.h>
 }
 
-LUALIB_API void *(luaL_testudata) (lua_State *L, int ud, const char *tname);
-
 inline const char* x_luaL_udatatname (lua_State *L, int ud) {
   void *p = lua_touserdata(L, ud);
   if (p != NULL) {
@@ -18,6 +16,4 @@ inline const char* x_luaL_udatatname (lua_State *L, int ud) {
     return str;
   }
   return NULL;
-}
+}
-
-#define LUA_OK 0

core/src/math_helper.cpp

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

core/src/math_helper.h

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

core/src/objects/base/instance.cpp

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

core/src/objects/base/instance.h

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

core/src/objects/base/service.cpp

@@ -4,12 +4,12 @@
 #include "panic.h"
 #include <memory>
 
-Service::Service(const InstanceType* type) : Instance(type) {}
+Service::Service(const InstanceType* type) : Instance(type){}
 
 // Fail if parented to non-datamodel, otherwise lock parent
-void Service::OnParentUpdated(nullable std::shared_ptr<Instance> oldParent, nullable std::shared_ptr<Instance> newParent) {
+void Service::OnParentUpdated(std::optional<std::shared_ptr<Instance>> oldParent, std::optional<std::shared_ptr<Instance>> newParent) {
-    if (!newParent || newParent->GetClass() != &DataModel::TYPE) {
+    if (!newParent || newParent.value()->GetClass() != &DataModel::TYPE) {
-        Logger::fatalErrorf("Service %s was parented to object of type %s", GetClass()->className.c_str(), newParent ? newParent->GetClass()->className.c_str() : "NULL");
+        Logger::fatalErrorf("Service %s was parented to object of type %s", GetClass()->className.c_str(), newParent ? newParent.value()->GetClass()->className.c_str() : "NULL");
         panic();
     }
 

core/src/objects/base/service.h

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

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

core/src/objects/datamodel.h

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

core/src/objects/hint.cpp

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

core/src/objects/hint.h

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

core/src/objects/joint/jointinstance.cpp

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

core/src/objects/joint/jointinstance.h

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

core/src/objects/joint/rotate.cpp

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

core/src/objects/joint/rotate.h

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

core/src/objects/joint/rotatev.cpp

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

core/src/objects/joint/rotatev.h

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

core/src/objects/joint/snap.cpp

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

core/src/objects/joint/snap.h

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

core/src/objects/joint/weld.cpp

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

core/src/objects/joint/weld.h

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

core/src/objects/message.cpp

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

core/src/objects/message.h

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

core/src/objects/meta.cpp

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

core/src/objects/part.cpp

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

core/src/objects/part.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <list>
 #include <memory>
 #include <glm/glm.hpp>
 #include <glm/ext.hpp>
@@ -9,14 +10,14 @@
 #include "datatypes/vector.h"
 #include "objects/base/instance.h"
 #include "enum/surface.h"
+#include <mutex>
+#include <optional>
+#include <reactphysics3d/reactphysics3d.h>
 #include <vector>
-#include "objects/annotation.h"
+#include "annotation.h"
 #include "objects/pvinstance.h"
-#include "physics/world.h"
 
-// Common macro for part properties
+namespace rp = reactphysics3d;
-#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 {
@@ -29,9 +30,15 @@ struct PartConstructParams {
     bool locked = false;
 };
 
-class PhysWorld;
+class Workspace;
 
-class DEF_INST_ABSTRACT_(explorer_icon="part") BasePart : public PVInstance {
+#ifndef __SIMULATION_TICKET
+#define __SIMULATION_TICKET
+class Part;
+typedef std::list<std::shared_ptr<Part>>::iterator SimulationTicket;
+#endif
+
+class DEF_INST_(explorer_icon="part") Part : public PVInstance {
     AUTOGEN_PREAMBLE
 protected:
     // Joints where this part is Part0
@@ -43,41 +50,36 @@ protected:
     void untrackJoint(std::shared_ptr<JointInstance>);
 
     SurfaceType surfaceFromFace(NormalId);
-    bool checkJointContinuity(std::shared_ptr<BasePart>);
+    bool checkJointContinuity(std::shared_ptr<Part>);
-    bool checkJointContinuityUp(std::shared_ptr<BasePart>);
+    bool checkJointContinuityUp(std::shared_ptr<Part>);
-    bool checkJointContinuityDown(std::shared_ptr<BasePart>);
+    bool checkJointContinuityDown(std::shared_ptr<Part>);
-    bool checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<BasePart> otherPart); 
+    bool checkSurfacesTouching(CFrame surfaceFrame, Vector3 size, Vector3 myFace, Vector3 otherFace, std::shared_ptr<Part> otherPart); 
 
     friend JointInstance;
-    friend PhysWorld;
+    friend Workspace;
 
-    virtual void OnWorkspaceAdded(nullable std::shared_ptr<Workspace> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) override;
+    virtual void OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWorkspace, std::shared_ptr<Workspace> newWorkspace) override;
     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 OnAncestryChanged(std::optional<std::shared_ptr<Instance>> child, std::optional<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_PHYS Vector3 velocity;
+    DEF_PROP_(on_update=onUpdated) 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_PHYS Vector3 size;
+    DEF_PROP_(on_update=onUpdated) Vector3 size;
 
     DEF_PROP_CATEGORY(APPEARANCE)
     DEF_PROP Color3 color;
     DEF_PROP float transparency = 0.f;
-    DEF_PROP float reflectance = 0.f;
     
     DEF_PROP_CATEGORY(BEHAVIOR)
-    DEF_PROP_PHYS bool anchored = false;
+    DEF_PROP_(on_update=onUpdated) bool anchored = false;
-    DEF_PROP_PHYS bool canCollide = true;
+    DEF_PROP_(on_update=onUpdated) bool canCollide = true;
     DEF_PROP bool locked = false;
 
     DEF_PROP_CATEGORY(SURFACE)
@@ -89,31 +91,38 @@ public:
     DEF_PROP SurfaceType backSurface = SurfaceType::Smooth;
 
     DEF_PROP_CATEGORY(SURFACE_INPUT)
-    DEF_PROP_PHYSPARAM float topParamA = -0.5;
+    DEF_PROP float topParamA = -0.5;
-    DEF_PROP_PHYSPARAM float bottomParamA = -0.5;
+    DEF_PROP float bottomParamA = -0.5;
-    DEF_PROP_PHYSPARAM float leftParamA = -0.5;
+    DEF_PROP float leftParamA = -0.5;
-    DEF_PROP_PHYSPARAM float rightParamA = -0.5;
+    DEF_PROP float rightParamA = -0.5;
-    DEF_PROP_PHYSPARAM float frontParamA = -0.5;
+    DEF_PROP float frontParamA = -0.5;
-    DEF_PROP_PHYSPARAM float backParamA = -0.5;
+    DEF_PROP float backParamA = -0.5;
 
-    DEF_PROP_PHYSPARAM float topParamB = 0.5;
+    DEF_PROP float topParamB = 0.5;
-    DEF_PROP_PHYSPARAM float bottomParamB = 0.5;
+    DEF_PROP float bottomParamB = 0.5;
-    DEF_PROP_PHYSPARAM float leftParamB = 0.5;
+    DEF_PROP float leftParamB = 0.5;
-    DEF_PROP_PHYSPARAM float rightParamB = 0.5;
+    DEF_PROP float rightParamB = 0.5;
-    DEF_PROP_PHYSPARAM float frontParamB = 0.5;
+    DEF_PROP float frontParamB = 0.5;
-    DEF_PROP_PHYSPARAM float backParamB = 0.5;
+    DEF_PROP float backParamB = 0.5;
 
     DEF_SIGNAL SignalSource Touched;
     DEF_SIGNAL SignalSource TouchEnded;
 
-    PhysRigidBody rigidBody;
+    rp::RigidBody* rigidBody = nullptr;
+    std::optional<SimulationTicket> simulationTicket;
+    bool rigidBodyDirty = true;
     
     inline SurfaceType GetSurfaceFromFace(NormalId face) { return surfaceFromFace(face); }
     float GetSurfaceParamA(Vector3 face);
     float GetSurfaceParamB(Vector3 face);
-    virtual Vector3 GetEffectiveSize();
 
-    ~BasePart() override;
+    Part();
+    Part(PartConstructParams params);
+    ~Part() override;
+
+    static inline std::shared_ptr<Part> New() { return std::make_shared<Part>(); };
+    static inline std::shared_ptr<Part> New(PartConstructParams params) { return std::make_shared<Part>(params); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Part>(); };
 
     inline Vector3 position() { return cframe.Position(); }
 
@@ -122,7 +131,4 @@ public:
 
     // Calculate size of axis-aligned bounding box
     Vector3 GetAABB();
-};
+};
-
-#undef DEF_PROP_PHYS
-#undef DEF_PROP_PHYSPARAM

core/src/objects/part/part.cpp

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

core/src/objects/part/part.h

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

core/src/objects/part/wedgepart.cpp

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

core/src/objects/part/wedgepart.h

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

core/src/objects/script.cpp

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

core/src/objects/service/jointsservice.cpp

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

core/src/objects/service/jointsservice.h

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

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

@@ -1,32 +1,22 @@
 #include "scriptcontext.h"
 #include "datatypes/cframe.h"
 #include "datatypes/color3.h"
-#include "datatypes/ref.h"
 #include "datatypes/vector.h"
 #include "logger.h"
-#include "objects/datamodel.h"
-#include "objects/service/workspace.h"
 #include "timeutil.h"
-#include <chrono>
 #include <ctime>
 #include <string>
 #include "luaapis.h" // IWYU pragma: keep
 
-const char* WRAPPER_SRC = "local func, errhandler = ... return function(...) local args = {...} xpcall(function() func(unpack(args)) end, errhandler) end";
-
-int g_wait(lua_State*);
-int g_delay(lua_State*);
-int g_tick(lua_State*);
 static int g_print(lua_State*);
 static int g_require(lua_State*);
-static const luaL_Reg luaglobals [] = {
+static const struct luaL_Reg luaglobals [] = {
     {"print", g_print},
     {"require", g_require},
     {NULL, NULL} /* end of array */
 };
 
 std::string unsafe_globals[] = {
-    // Todo implement our own "safe" setfenv/getfenv
     "loadfile", "loadstring", "load", "dofile", "getfenv", "setfenv"
 };
 
@@ -58,32 +48,6 @@ void ScriptContext::InitService() {
     Color3::PushLuaLibrary(state);
     Instance::PushLuaLibrary(state);
 
-    // Add other globals
-    lua_getglobal(state, "_G");
-
-    InstanceRef(dataModel()).PushLuaValue(state);
-    lua_setfield(state, -2, "game");
-
-    InstanceRef(dataModel()->GetService<Workspace>()).PushLuaValue(state);
-    lua_setfield(state, -2, "workspace");
-
-    lua_pushlightuserdata(state, this);
-    lua_pushcclosure(state, g_wait, 1);
-    lua_setfield(state, -2, "wait");
-
-    lua_pushlightuserdata(state, this);
-    lua_pushcclosure(state, g_delay, 1);
-    lua_setfield(state, -2, "delay");
-
-    lua_pushcclosure(state, g_tick, 0);
-    lua_setfield(state, -2, "tick");
-
-    lua_pop(state, 1); // _G
-
-    // Add wrapper function
-    luaL_loadbuffer(state, WRAPPER_SRC, strlen(WRAPPER_SRC), "=PCALL_WRAPPER");
-    lua_setfield(state, LUA_REGISTRYINDEX, "LuaPCallWrapper");
-
     // TODO: custom os library
 
     // Override print
@@ -167,27 +131,6 @@ void ScriptContext::RunSleepingThreads() {
         schedTime = tu_clock_micros() - startTime;
 }
 
-void ScriptContext::NewEnvironment(lua_State* L) {
-    lua_newtable(L); // Env table
-    lua_newtable(L); // Metatable
-
-    // Push __index
-    lua_pushvalue(L, LUA_GLOBALSINDEX);
-    lua_setfield(L, -2, "__index");
-
-    // Push __metatable
-    lua_pushstring(L, "metatable is locked");
-    lua_setfield(L, -2, "__metatable");
-
-    // Copy metatable and set the env table's metatable
-    lua_pushvalue(L, -1);
-    lua_setmetatable(L, -3);
-
-    // Remainder on stack:
-    // 1. Env table
-    // 2. Metatable
-}
-
 // https://www.lua.org/source/5.1/lbaselib.c.html
 static int g_print(lua_State* L) {
     std::string buf;
@@ -218,43 +161,4 @@ static int g_require(lua_State* L) {
     if (nargs < 1) return luaL_error(L, "expected argument module");
 
     return luaL_error(L, "require is not yet implemented");
-}
-
-int g_wait(lua_State* L) {
-    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
-    float secs = lua_gettop(L) == 0 ? 0.03 : std::max(luaL_checknumber(L, 1), 0.03);
-    if (lua_gettop(L) > 0) lua_pop(L, 1); // pop secs
-
-    scriptContext->PushThreadSleep(L, secs);
-
-    // Yield
-    return lua_yield(L, 0);
-}
-
-int g_delay(lua_State* L) {
-    ScriptContext* scriptContext = (ScriptContext*)lua_touserdata(L, lua_upvalueindex(1));
-    float secs = std::max(luaL_checknumber(L, 1), 0.03);
-    luaL_checktype(L, 2, LUA_TFUNCTION);
-
-    lua_State* Lt = lua_newthread(L); // Create a new thread
-    // I think this is memory abuse??
-    // Wouldn't popping the thread in this case make it eligible for garbage collection?
-    lua_pop(L, 1); // pop the newly created thread so that xmove moves func instead of it into itself
-    lua_xmove(L, Lt, 1); // move func
-    lua_pop(L, 1); // pop secs
-
-    // Schedule next run
-    scriptContext->PushThreadSleep(Lt, secs);
-
-    return 0;
-}
-
-int g_tick(lua_State* L) {
-    std::chrono::time_point now_local = std::chrono::current_zone()->to_local(std::chrono::system_clock::now());
-    std::chrono::microseconds us = std::chrono::duration_cast<std::chrono::microseconds>(now_local.time_since_epoch());
-    uint64_t _10millis = us.count() / 100;
-    double secs = (double)_10millis / 10000;
-
-    lua_pushnumber(L, secs);
-    return 1;
 }

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

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

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

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

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

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

core/src/objects/service/selection.h

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

core/src/objects/service/workspace.cpp

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

core/src/objects/service/workspace.h

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

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

core/src/partassembly.cpp

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

core/src/partassembly.h

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

core/src/physics/convert.h

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

core/src/physics/util.h

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

core/src/physics/world.cpp

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

core/src/physics/world.h

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

core/src/rendering/debug/debugrenderer.cpp

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