From cd54f4624f7e76bbe0cdc96c077b490590636ed8 Mon Sep 17 00:00:00 2001
From: Hunter Barclay <hunter.barclay18@gmail.com>
Date: Sat, 16 Mar 2024 19:21:07 -0600
Subject: [PATCH 01/21] Adding world and physics

---
 fission/src/systems/World.ts                 | 45 ++++++++++++++++++++
 fission/src/systems/WorldSystem.ts           |  5 +++
 fission/src/systems/physics/PhysicsSystem.ts | 35 +++++++++++----
 fission/src/systems/scene/SceneRenderer.ts   | 27 +++++-------
 fission/src/systems/world/WorldSystem.ts     |  0
 5 files changed, 86 insertions(+), 26 deletions(-)
 create mode 100644 fission/src/systems/World.ts
 create mode 100644 fission/src/systems/WorldSystem.ts
 delete mode 100644 fission/src/systems/world/WorldSystem.ts

diff --git a/fission/src/systems/World.ts b/fission/src/systems/World.ts
new file mode 100644
index 0000000000..c2de797dc4
--- /dev/null
+++ b/fission/src/systems/World.ts
@@ -0,0 +1,45 @@
+import * as THREE from "three";
+
+import PhysicsSystem from "./physics/PhysicsSystem";
+import SceneRenderer from "./scene/SceneRenderer";
+
+class World {
+
+    private static _isAlive: boolean = false;
+    private static _clock: THREE.Clock;
+    
+    private static _sceneRenderer: SceneRenderer;
+    private static _physicsSystem: PhysicsSystem;
+
+    public static get SceneRenderer() { return World._sceneRenderer; }
+    public static get PhysicsSystem() { return World._physicsSystem; }
+    
+    public static InitWorld() {
+        if (World._isAlive)
+            return;
+
+        World._clock = new THREE.Clock();
+        World._isAlive = true;
+
+        World._sceneRenderer = new SceneRenderer();
+        World._physicsSystem = new PhysicsSystem();
+    }
+
+    public static DestroyWorld() {
+        if (!World._isAlive)
+            return;
+
+        World._isAlive = false;
+
+        World._physicsSystem.Destroy();
+        World._sceneRenderer.Destroy();
+    }
+
+    public static UpdateWorld() {
+        const deltaT = World._clock.getDelta();
+        this._physicsSystem.Update(deltaT);
+        this._sceneRenderer.Update(deltaT);
+    }
+}
+
+export default World;
\ No newline at end of file
diff --git a/fission/src/systems/WorldSystem.ts b/fission/src/systems/WorldSystem.ts
new file mode 100644
index 0000000000..f45891980c
--- /dev/null
+++ b/fission/src/systems/WorldSystem.ts
@@ -0,0 +1,5 @@
+abstract class WorldSystem {
+    public abstract Update(deltaT: number): void;
+    public abstract Destroy(): void;
+}
+export default WorldSystem;
\ No newline at end of file
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index fcfc8a8cf8..7d6022e69e 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1,9 +1,10 @@
-import { MirabufVector3_JoltVec3, MirabufVector3_ThreeVector3, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
+import { ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
 import JOLT from "../../util/loading/JoltSyncLoader";
 import Jolt from "@barclah/jolt-physics";
 import * as THREE from 'three';
 import { mirabuf } from '../../proto/mirabuf';
 import MirabufParser from "../../mirabuf/MirabufParser";
+import WorldSystem from "../WorldSystem";
 
 const LAYER_NOT_MOVING = 0;
 const LAYER_MOVING = 1;
@@ -17,7 +18,7 @@ const STANDARD_SUB_STEPS = 1;
  * This system can create physical representations of objects such as Robots,
  * Fields, and Game pieces, and simulate them.
  */
-export class PhysicsSystem {
+class PhysicsSystem extends WorldSystem {
     
     private _joltInterface: Jolt.JoltInterface;
     private _joltPhysSystem: Jolt.PhysicsSystem;
@@ -28,6 +29,8 @@ export class PhysicsSystem {
      * Creates a PhysicsSystem object.
      */
     constructor() {
+        super();
+
         this._bodies = [];
 
         const joltSettings = new JOLT.JoltSettings();
@@ -124,20 +127,32 @@ export class PhysicsSystem {
         const rnToBodies = new Map<string, Jolt.Body>();
         
         parser.rigidNodes.forEach(rn => {
+
+            const compoundShapeSettings = new Jolt.StaticCompoundShapeSettings();
+
             rn.parts.forEach(partId => {
                 const partInstance = parser.assembly.data!.parts!.partInstances![partId]!;
-                const partDefinition = parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!];
+                const partDefinition = parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!;
+                
+                const shapeSettings = this.CreateShapeSettingsFromPart(partDefinition);
                 
+                const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
+                compoundShapeSettings.AddShape(
+                    transform.GetTranslation(),
+                    transform.GetQuaternion(),
+                    shapeSettings,
+                    0
+                );
             });
         });
 
         return rnToBodies;
     }
 
-    private CreateColliderFromPart(partDefinition: mirabuf.PartDefinition): Jolt.ShapeResult {
+    private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): Jolt.ShapeSettings {
         const settings = new JOLT.ConvexHullShapeSettings();
         const points = settings.mPoints;
-        partDefinition.bodies.forEach(body => {
+        partDefinition.bodies!.forEach(body => {
             if (body.triangleMesh && body.triangleMesh.mesh && body.triangleMesh.mesh.verts) {
                 const vertArr = body.triangleMesh.mesh.verts;
                 for (let i = 0; i < body.triangleMesh.mesh.verts.length; i += 3) {
@@ -146,14 +161,14 @@ export class PhysicsSystem {
             }
         });
 
-        return settings.Create();
+        return settings;
     }
 
-    public Step() {
+    public Update(_: number): void {
         this._joltInterface.Step(STANDARD_TIME_STEP, STANDARD_SUB_STEPS);
     }
 
-    public Destroy() {
+    public Destroy(): void {
         // Destroy Jolt Bodies.
         this._bodies.forEach(x => JOLT.destroy(x));
         this._bodies = [];
@@ -183,4 +198,6 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
         settings.mObjectLayerPairFilter,
         COUNT_OBJECT_LAYERS
     );
-}
\ No newline at end of file
+}
+
+export default PhysicsSystem;
\ No newline at end of file
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index f68f800dca..2116c50339 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -1,16 +1,16 @@
 import * as THREE from 'three';
 import SceneObject from './SceneObject';
+import WorldSystem from '../WorldSystem';
 
 const CLEAR_COLOR = 0x121212;
 
 let nextSceneObjectId = 1;
 
-class SceneRenderer {
+class SceneRenderer extends WorldSystem {
 
     private _mainCamera: THREE.PerspectiveCamera;
     private _scene: THREE.Scene;
     private _renderer: THREE.WebGLRenderer;
-    private _clock: THREE.Clock;
 
     private _sceneObjects: Map<number, SceneObject>;
 
@@ -27,8 +27,9 @@ class SceneRenderer {
     }
 
     public constructor() {
+        super();
+
         this._sceneObjects = new Map();
-        this._clock = new THREE.Clock();
 
         this._mainCamera = new THREE.PerspectiveCamera(
             75,
@@ -77,10 +78,7 @@ class SceneRenderer {
         this._mainCamera.updateProjectionMatrix();
     }
 
-    public Update() {
-        // Prevents a problem when rendering at 30hz. Referred to as the spiral of death.
-        const deltaTime = this._clock.getDelta();
-
+    public Update(_: number): void {
         this._sceneObjects.forEach(obj => {
             obj.Update();
         });
@@ -89,6 +87,10 @@ class SceneRenderer {
         this._renderer.render(this._scene, this._mainCamera);
     }
 
+    public Destroy(): void {
+        
+    }
+
     public RegisterSceneObject<T extends SceneObject>(obj: T): number {
         const id = nextSceneObjectId++;
         obj.id = id;
@@ -103,13 +105,4 @@ class SceneRenderer {
     }
 }
 
-let instance: SceneRenderer | null = null;
-
-function GetSceneRenderer() {
-    if (!instance) {
-        instance = new SceneRenderer();
-    }
-    return instance;
-}
-
-export default GetSceneRenderer;
\ No newline at end of file
+export default SceneRenderer;
\ No newline at end of file
diff --git a/fission/src/systems/world/WorldSystem.ts b/fission/src/systems/world/WorldSystem.ts
deleted file mode 100644
index e69de29bb2..0000000000

From e80aaa744632bb0c4a6a75b3cf866ac19a7622f0 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Sat, 16 Mar 2024 20:26:22 -0600
Subject: [PATCH 02/21] Still moving things over

---
 fission/src/Synthesis.tsx                      | 10 ++++++----
 fission/src/systems/World.ts                   |  2 ++
 fission/src/test/mirabuf/MirabufParser.test.ts | 12 ++++++------
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 157f4a9871..2490e8a059 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -1,5 +1,4 @@
 import Scene from './components/Scene.tsx';
-import GetSceneRenderer from './systems/scene/SceneRenderer.ts';
 import MirabufSceneObject from './mirabuf/MirabufSceneObject.ts';
 import { LoadMirabufRemote } from './mirabuf/MirabufLoader.ts';
 import { mirabuf } from './proto/mirabuf';
@@ -54,6 +53,7 @@ import ZoneConfigPanel from "./panels/configuring/scoring/ZoneConfigPanel"
 import ScoreboardPanel from "./panels/information/ScoreboardPanel"
 import DriverStationPanel from "./panels/simulation/DriverStationPanel"
 import ManageAssembliesModal from './modals/spawning/ManageAssembliesModal.tsx';
+import World from './systems/World.ts';
 
 const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
 
@@ -145,6 +145,8 @@ function Synthesis() {
 
 	useEffect(() => {
 
+        World.InitWorld();
+
         let mira_path = DEFAULT_MIRA_PATH;
 
         const urlParams = new URLSearchParams(document.location.search);
@@ -172,7 +174,7 @@ function Synthesis() {
 			}
 			
 			const mirabufSceneObject = new MirabufSceneObject(new MirabufInstance(parser));
-			GetSceneRenderer().RegisterSceneObject(mirabufSceneObject);
+			World.SceneRenderer.RegisterSceneObject(mirabufSceneObject);
 		};
 		setup();
 
@@ -180,14 +182,14 @@ function Synthesis() {
 		const mainLoop = () => {
 			mainLoopHandle = requestAnimationFrame(mainLoop);
 	
-			GetSceneRenderer().Update();
+			World.UpdateWorld();
 		};
 		mainLoop();
         // Cleanup
         return () => {
             // TODO: Teardown literally everything
             cancelAnimationFrame(mainLoopHandle);
-            GetSceneRenderer().RemoveAllSceneObjects();
+            World.SceneRenderer.RemoveAllSceneObjects();
         };
 	}, []);
 
diff --git a/fission/src/systems/World.ts b/fission/src/systems/World.ts
index c2de797dc4..68a2c6c52f 100644
--- a/fission/src/systems/World.ts
+++ b/fission/src/systems/World.ts
@@ -11,6 +11,8 @@ class World {
     private static _sceneRenderer: SceneRenderer;
     private static _physicsSystem: PhysicsSystem;
 
+    public static get isAlive() { return World._isAlive; }
+    
     public static get SceneRenderer() { return World._sceneRenderer; }
     public static get PhysicsSystem() { return World._physicsSystem; }
     
diff --git a/fission/src/test/mirabuf/MirabufParser.test.ts b/fission/src/test/mirabuf/MirabufParser.test.ts
index c55061f556..4465f251f2 100644
--- a/fission/src/test/mirabuf/MirabufParser.test.ts
+++ b/fission/src/test/mirabuf/MirabufParser.test.ts
@@ -5,12 +5,12 @@ import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
 import { LoadMirabufLocal } from "../../mirabuf/MirabufLoader";
 
 describe('Mirabuf Parser Tests', () => {
-    // test('Get Dozer JSON', () => {
-    //     const dozer = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
-    //     Object.values(dozer.data!.parts!.partDefinitions!).forEach(x => x.bodies = new Array<mirabuf.IBody>());
-    //     const json = JSON.stringify(dozer);
-    //     console.log(json);
-    // });
+    test('Get Dozer JSON', () => {
+        const dozer = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
+        Object.values(dozer.data!.parts!.partDefinitions!).forEach(x => x.bodies = new Array<mirabuf.IBody>());
+        const json = JSON.stringify(dozer);
+        console.log(json);
+    });
 
     test('Test Load TestCube_v1.mira (Uncompressed)', () => {
         const testCubeMira = LoadMirabufLocal('./public/test_mira/TestCube_v1.mira');

From 81d36c393baf837392b0843b2d965d09661bcf91 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Sat, 16 Mar 2024 23:36:49 -0600
Subject: [PATCH 03/21] Working on mass

---
 fission/src/systems/physics/PhysicsSystem.ts  | 12 +++++++++
 fission/src/test/PhysicsSystem.test.ts        |  2 +-
 .../src/test/mirabuf/MirabufParser.test.ts    | 26 +++++++++----------
 3 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 7d6022e69e..edd288d53c 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -144,6 +144,18 @@ class PhysicsSystem extends WorldSystem {
                     0
                 );
             });
+
+            const shapeResult = compoundShapeSettings.Create();
+            if (!shapeResult.IsValid || shapeResult.HasError()) {
+                console.error(`Failed to create shape for RigidNode ${rn.name}`);
+            }
+
+            const shape = shapeResult.Get();
+            // shape.GetMassProperties().mMass = 
+            const bodySettings = new JOLT.BodyCreationSettings(
+                shape, new JOLT.RVec3(), new JOLT.Quat(), JOLT.EMotionType_Dynamic, LAYER_MOVING
+            );
+            this._joltBodyInterface.CreateBody(bodySettings);
         });
 
         return rnToBodies;
diff --git a/fission/src/test/PhysicsSystem.test.ts b/fission/src/test/PhysicsSystem.test.ts
index ee56e85741..b3c09f5bdc 100644
--- a/fission/src/test/PhysicsSystem.test.ts
+++ b/fission/src/test/PhysicsSystem.test.ts
@@ -1,5 +1,5 @@
 import { test, expect, describe, assert } from 'vitest';
-import { PhysicsSystem } from '../systems/physics/PhysicsSystem';
+import PhysicsSystem from '../systems/physics/PhysicsSystem';
 
 describe('Physics System Tests', () => {
     test('Convex Hull Shape (Cube)', () => {
diff --git a/fission/src/test/mirabuf/MirabufParser.test.ts b/fission/src/test/mirabuf/MirabufParser.test.ts
index 4465f251f2..79b9b891ba 100644
--- a/fission/src/test/mirabuf/MirabufParser.test.ts
+++ b/fission/src/test/mirabuf/MirabufParser.test.ts
@@ -5,12 +5,12 @@ import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
 import { LoadMirabufLocal } from "../../mirabuf/MirabufLoader";
 
 describe('Mirabuf Parser Tests', () => {
-    test('Get Dozer JSON', () => {
-        const dozer = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
-        Object.values(dozer.data!.parts!.partDefinitions!).forEach(x => x.bodies = new Array<mirabuf.IBody>());
-        const json = JSON.stringify(dozer);
-        console.log(json);
-    });
+    // test('Get Dozer JSON', () => {
+    //     const dozer = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
+    //     Object.values(dozer.data!.parts!.partDefinitions!).forEach(x => x.bodies = new Array<mirabuf.IBody>());
+    //     const json = JSON.stringify(dozer);
+    //     console.log(json);
+    // });
 
     test('Test Load TestCube_v1.mira (Uncompressed)', () => {
         const testCubeMira = LoadMirabufLocal('./public/test_mira/TestCube_v1.mira');
@@ -78,10 +78,10 @@ function filterNonPhysicsNodes(nodes: RigidNodeReadOnly[], mira: mirabuf.Assembl
     });
 }
 
-function printRigidNodeParts(nodes: RigidNodeReadOnly[], mira: mirabuf.Assembly) {
-    nodes.forEach(x => {
-        console.log(`[ ${x.name} ]:`);
-        x.parts.forEach(y => console.log(`-> '${mira.data!.parts!.partInstances![y]!.info!.name!}'`));
-        console.log('');
-    });
-}
\ No newline at end of file
+// function printRigidNodeParts(nodes: RigidNodeReadOnly[], mira: mirabuf.Assembly) {
+//     nodes.forEach(x => {
+//         console.log(`[ ${x.name} ]:`);
+//         x.parts.forEach(y => console.log(`-> '${mira.data!.parts!.partInstances![y]!.info!.name!}'`));
+//         console.log('');
+//     });
+// }
\ No newline at end of file

From 300172ba010de7fd0d9c5d68f0e3cbc50dc53e4e Mon Sep 17 00:00:00 2001
From: Hunter Barclay <hunter.barclay18@gmail.com>
Date: Sun, 17 Mar 2024 15:44:59 -0600
Subject: [PATCH 04/21] Bug fixing

---
 fission/src/Synthesis.tsx                     |  5 +-
 fission/src/components/Scene.tsx              |  6 +-
 fission/src/mirabuf/MirabufSceneObject.ts     | 25 ++++++-
 fission/src/systems/physics/PhysicsSystem.ts  | 73 +++++++++++++++----
 .../src/test/mirabuf/MirabufParser.test.ts    | 10 +++
 fission/src/util/TypeConversions.ts           |  2 +-
 6 files changed, 96 insertions(+), 25 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 2490e8a059..6b531f0e93 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -55,7 +55,8 @@ import DriverStationPanel from "./panels/simulation/DriverStationPanel"
 import ManageAssembliesModal from './modals/spawning/ManageAssembliesModal.tsx';
 import World from './systems/World.ts';
 
-const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
+// const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
+const DEFAULT_MIRA_PATH = 'test_mira/Dozer_v2.mira';
 
 function Synthesis() {
     const { openModal, closeModal, getActiveModalElement } =
@@ -182,7 +183,7 @@ function Synthesis() {
 		const mainLoop = () => {
 			mainLoopHandle = requestAnimationFrame(mainLoop);
 	
-			World.UpdateWorld();
+			// World.UpdateWorld();
 		};
 		mainLoop();
         // Cleanup
diff --git a/fission/src/components/Scene.tsx b/fission/src/components/Scene.tsx
index 6d83f803e1..2ee5a71b33 100644
--- a/fission/src/components/Scene.tsx
+++ b/fission/src/components/Scene.tsx
@@ -1,9 +1,9 @@
 import './Scene.css';
 import { useEffect, useRef } from "react";
-import GetSceneRenderer from "../systems/scene/SceneRenderer";
 import Stats from 'stats.js';
 import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
 import SceneObject from "../systems/scene/SceneObject";
+import World from '@/systems/World';
 
 let stats: Stats | null;
 
@@ -17,10 +17,12 @@ function Scene({ useStats }: SceneProps) {
     const refContainer = useRef<HTMLDivElement>(null);
 
     useEffect(() => {
+        World.InitWorld();
+
         if (refContainer.current) {
             console.debug('Adding ThreeJs to DOM');
 
-            const sr = GetSceneRenderer();
+            const sr = World.SceneRenderer;
             sr.renderer.domElement.style.width = '100%';
             sr.renderer.domElement.style.height = '100%';
 
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index de4ed2d771..d538dec8a7 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -1,28 +1,45 @@
 import { mirabuf } from "@/proto/mirabuf";
 import SceneObject from "../systems/scene/SceneObject";
-import GetSceneRenderer from "../systems/scene/SceneRenderer";
 import MirabufInstance from "./MirabufInstance";
 import { LoadMirabufRemote } from "./MirabufLoader";
 import MirabufParser, { ParseErrorSeverity } from "./MirabufParser";
+import World from "@/systems/World";
+import Jolt from '@barclah/jolt-physics';
+import { JoltMat44_ThreeMatrix4 } from "@/util/TypeConversions";
+import * as THREE from 'three';
 
 class MirabufSceneObject extends SceneObject {
 
     private _mirabufInstance: MirabufInstance;
+    private _bodies: Map<string, Jolt.Body>;
 
     public constructor(mirabufInstance: MirabufInstance) {
         super();
 
         this._mirabufInstance = mirabufInstance;
+        this._bodies = World.PhysicsSystem.CreateBodiesFromParser(mirabufInstance.parser);
     }
 
     public Setup(): void {
-        this._mirabufInstance.AddToScene(GetSceneRenderer().scene);
+        this._mirabufInstance.AddToScene(World.SceneRenderer.scene);
     }
 
-    public Update(): void { }
+    public Update(): void {
+        this._mirabufInstance.parser.rigidNodes.forEach(rn => {
+            const body = this._bodies.get(rn.name);
+            const transform = JoltMat44_ThreeMatrix4(body!.GetWorldTransform())
+            rn.parts.forEach(part => {
+                this._mirabufInstance.meshes.get(part)!.forEach(mesh => {
+                    mesh.position.setFromMatrixPosition(transform);
+                    mesh.rotation.setFromRotationMatrix(transform);
+                });
+            });
+        });
+    }
 
     public Dispose(): void {
-        this._mirabufInstance.Dispose(GetSceneRenderer().scene);
+        World.PhysicsSystem.DestroyBodies(...this._bodies.values());
+        this._mirabufInstance.Dispose(World.SceneRenderer.scene);
     }
 }
 
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index edd288d53c..a951b3ee66 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -3,7 +3,7 @@ import JOLT from "../../util/loading/JoltSyncLoader";
 import Jolt from "@barclah/jolt-physics";
 import * as THREE from 'three';
 import { mirabuf } from '../../proto/mirabuf';
-import MirabufParser from "../../mirabuf/MirabufParser";
+import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
 import WorldSystem from "../WorldSystem";
 
 const LAYER_NOT_MOVING = 0;
@@ -126,23 +126,39 @@ class PhysicsSystem extends WorldSystem {
     public CreateBodiesFromParser(parser: MirabufParser): Map<string, Jolt.Body> {
         const rnToBodies = new Map<string, Jolt.Body>();
         
-        parser.rigidNodes.forEach(rn => {
+        filterNonPhysicsNodes(parser.rigidNodes, parser.assembly).forEach(rn => {
 
-            const compoundShapeSettings = new Jolt.StaticCompoundShapeSettings();
+            console.debug(`Making Body for RigidNode '${rn.name}'`);
+            rn.parts.forEach(x => console.debug(parser.assembly.data!.parts!.partInstances![x]!.info!.name!));
+
+            const compoundShapeSettings = new JOLT.StaticCompoundShapeSettings();
+
+            let totalMass = 0;
+            const comAccum = new mirabuf.Vector3();
 
             rn.parts.forEach(partId => {
                 const partInstance = parser.assembly.data!.parts!.partInstances![partId]!;
-                const partDefinition = parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!;
-                
-                const shapeSettings = this.CreateShapeSettingsFromPart(partDefinition);
-                
-                const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
-                compoundShapeSettings.AddShape(
-                    transform.GetTranslation(),
-                    transform.GetQuaternion(),
-                    shapeSettings,
-                    0
-                );
+                if (partInstance.skipCollider == null || partInstance == undefined || partInstance.skipCollider == false) {
+                    const partDefinition = parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!;
+                    
+                    const shapeSettings = this.CreateShapeSettingsFromPart(partDefinition);
+                    
+                    const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
+                    compoundShapeSettings.AddShape(
+                        transform.GetTranslation(),
+                        transform.GetQuaternion(),
+                        shapeSettings,
+                        0
+                    );
+
+                    if (partDefinition.physicalData && partDefinition.physicalData.com && partDefinition.physicalData.mass) {
+                        const mass = partDefinition.massOverride ? partDefinition.massOverride! : partDefinition.physicalData.mass!;
+                        totalMass += mass;
+                        comAccum.x += partDefinition.physicalData.com.x! * mass;
+                        comAccum.y += partDefinition.physicalData.com.y! * mass;
+                        comAccum.z += partDefinition.physicalData.com.z! * mass;
+                    }
+                }
             });
 
             const shapeResult = compoundShapeSettings.Create();
@@ -151,11 +167,16 @@ class PhysicsSystem extends WorldSystem {
             }
 
             const shape = shapeResult.Get();
-            // shape.GetMassProperties().mMass = 
+            shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
+            shape.GetMassProperties().Translate(
+                new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass)
+            );
             const bodySettings = new JOLT.BodyCreationSettings(
                 shape, new JOLT.RVec3(), new JOLT.Quat(), JOLT.EMotionType_Dynamic, LAYER_MOVING
             );
-            this._joltBodyInterface.CreateBody(bodySettings);
+            const body = this._joltBodyInterface.CreateBody(bodySettings);
+            this._joltBodyInterface.AddBody(body.GetID(), JOLT.EActivation_Activate);
+            rnToBodies.set(rn.name, body);
         });
 
         return rnToBodies;
@@ -176,6 +197,13 @@ class PhysicsSystem extends WorldSystem {
         return settings;
     }
 
+    public DestroyBodies(...bodies: Jolt.Body[]) {
+        bodies.forEach(x => {
+            this._joltBodyInterface.RemoveBody(x.GetID());
+            this._joltBodyInterface.DestroyBody(x.GetID());
+        });
+    }
+
     public Update(_: number): void {
         this._joltInterface.Step(STANDARD_TIME_STEP, STANDARD_SUB_STEPS);
     }
@@ -212,4 +240,17 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
     );
 }
 
+function filterNonPhysicsNodes(nodes: RigidNodeReadOnly[], mira: mirabuf.Assembly): RigidNodeReadOnly[] {
+    return nodes.filter(x => {
+        for (const part of x.parts) {
+            const inst = mira.data!.parts!.partInstances![part]!;
+            const def = mira.data!.parts!.partDefinitions![inst.partDefinitionReference!]!;
+            if (def.bodies && def.bodies.length > 0) {
+                return true;
+            }
+        }
+        return false;
+    });
+}
+
 export default PhysicsSystem;
\ No newline at end of file
diff --git a/fission/src/test/mirabuf/MirabufParser.test.ts b/fission/src/test/mirabuf/MirabufParser.test.ts
index 79b9b891ba..274e89362f 100644
--- a/fission/src/test/mirabuf/MirabufParser.test.ts
+++ b/fission/src/test/mirabuf/MirabufParser.test.ts
@@ -36,6 +36,16 @@ describe('Mirabuf Parser Tests', () => {
         // printRigidNodeParts(rn, testCubeMira);
     });
 
+    test('Generate Rigid Nodes (Dozer_v2.mira)', () => {
+        const spikeMira = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
+
+        const t = new MirabufParser(spikeMira);
+        const rn = t.rigidNodes;
+
+        expect(filterNonPhysicsNodes(rn, spikeMira).length).toBe(7);
+        // printRigidNodeParts(rn, spikeMira);
+    });
+
     test('Generate Rigid Nodes (PhysicsSpikeTest_v1.mira)', () => {
         const spikeMira = LoadMirabufLocal('./public/test_mira/PhysicsSpikeTest_v1.mira');
 
diff --git a/fission/src/util/TypeConversions.ts b/fission/src/util/TypeConversions.ts
index 5443f55762..b1163fd1dd 100644
--- a/fission/src/util/TypeConversions.ts
+++ b/fission/src/util/TypeConversions.ts
@@ -52,7 +52,7 @@ export function JoltQuat_ThreeQuaternion(quat: Jolt.Quat) {
     return new THREE.Quaternion(quat.GetX(), quat.GetY(), quat.GetZ(), quat.GetW());
 }
 
-export function JoltMat44_ThreeMatrix4(m: Jolt.Mat44): THREE.Matrix4 {
+export function JoltMat44_ThreeMatrix4(m: Jolt.RMat44): THREE.Matrix4 {
     return new THREE.Matrix4().compose(
         JoltVec3_ThreeVector3(m.GetTranslation()),
         JoltQuat_ThreeQuaternion(m.GetQuaternion()),

From 41a4c2e48ad588eefc9b9586ad9a462a29c1570b Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Sun, 17 Mar 2024 17:42:42 -0600
Subject: [PATCH 05/21] Added wireframe meshes for colliders to help debugging.
 Fixed rigid node parser though I'm not sure how

---
 fission/src/Synthesis.tsx                    |  2 +-
 fission/src/mirabuf/MirabufParser.ts         | 24 +++++-
 fission/src/mirabuf/MirabufSceneObject.ts    | 52 +++++++++++-
 fission/src/systems/World.ts                 |  2 +-
 fission/src/systems/physics/PhysicsSystem.ts | 84 ++++++++++++--------
 fission/src/util/TypeConversions.ts          | 14 +++-
 6 files changed, 138 insertions(+), 40 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 6b531f0e93..2c1f737d01 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -183,7 +183,7 @@ function Synthesis() {
 		const mainLoop = () => {
 			mainLoopHandle = requestAnimationFrame(mainLoop);
 	
-			// World.UpdateWorld();
+			World.UpdateWorld();
 		};
 		mainLoop();
         // Cleanup
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index f9a8edc08a..eb27f366ae 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -83,6 +83,8 @@ class MirabufParser {
             }
         });
 
+        // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
+
         // Fields Only: Assign Game Piece rigid nodes
         if (!assembly.dynamic) {
             // Collect all definitions labelled as gamepieces (dynamic = true)
@@ -110,9 +112,12 @@ class MirabufParser {
         // 2: Grounded joint
         const gInst = assembly.data!.joints!.jointInstances![GROUNDED_JOINT_ID];
         const gNode = this.NewRigidNode();
+        this.MovePartToRigidNode(gInst.parts!.nodes!.at(0)!.value!, gNode);
         
-        traverseTree(gInst.parts!.nodes!, x => (!this._partToNodeMap.has) && this.MovePartToRigidNode(x.value!, gNode));
+        // traverseTree(gInst.parts!.nodes!, x => (!this._partToNodeMap.has(x.value!)) && this.MovePartToRigidNode(x.value!, gNode));
         
+        // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
+
         // 3: Traverse and round up
         const traverseNodeRoundup = (node: mirabuf.INode, parentNode: RigidNode) => {
             const currentNode = that._partToNodeMap.get(node.value!);
@@ -126,6 +131,8 @@ class MirabufParser {
         }
         this._designHierarchyRoot.children?.forEach(x => traverseNodeRoundup(x, gNode));
 
+        // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
+
         // 4: Bandage via rigidgroups
         assembly.data!.joints!.rigidGroups!.forEach(rg => {
             let rn: RigidNode | null = null;
@@ -139,6 +146,8 @@ class MirabufParser {
             });
         });
 
+        // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
+
         // 5. Remove Empty RNs
         this._rigidNodes = this._rigidNodes.filter(x => x.parts.size > 0);
     }
@@ -308,6 +317,19 @@ class MirabufParser {
         recursive(this._designHierarchyRoot);
         this._partTreeValues = partTreeValues;
     }
+
+    private DebugPrintHierarchy(level: number = 1, ...nodes: mirabuf.INode[]) {
+        if (level <= 1)
+            console.debug('    .... RN DEBUG ....');
+        for (const node of nodes) {
+            console.debug(`${'-'.repeat(level)} ${this._assembly.data!.parts!.partInstances![node.value!]!.info!.name!} [${this._partToNodeMap.get(node.value!)?.name ?? '---'}]`);
+            if (node.children)
+                this.DebugPrintHierarchy(level + 1, ...node.children);
+        }
+
+        if (level <= 1)
+            console.debug('    .... END ....');
+    }
 }
 
 /**
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index d538dec8a7..59bfa56b66 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -7,39 +7,85 @@ import World from "@/systems/World";
 import Jolt from '@barclah/jolt-physics';
 import { JoltMat44_ThreeMatrix4 } from "@/util/TypeConversions";
 import * as THREE from 'three';
+import JOLT from "@/util/loading/JoltSyncLoader";
+
+const DEBUG_BODIES = true;
 
 class MirabufSceneObject extends SceneObject {
 
     private _mirabufInstance: MirabufInstance;
     private _bodies: Map<string, Jolt.Body>;
+    private _debugBodies: Map<string, THREE.Mesh> | null;
 
     public constructor(mirabufInstance: MirabufInstance) {
         super();
 
         this._mirabufInstance = mirabufInstance;
         this._bodies = World.PhysicsSystem.CreateBodiesFromParser(mirabufInstance.parser);
+        this._debugBodies = null;
     }
 
     public Setup(): void {
         this._mirabufInstance.AddToScene(World.SceneRenderer.scene);
+
+        if (DEBUG_BODIES) {
+            this._debugBodies = new Map();
+            this._bodies.forEach((body, rnName) => {
+                const mesh = this.CreateMeshForShape(body.GetShape());
+                World.SceneRenderer.scene.add(mesh);
+                this._debugBodies!.set(rnName, mesh);
+            });
+        }
     }
 
     public Update(): void {
         this._mirabufInstance.parser.rigidNodes.forEach(rn => {
             const body = this._bodies.get(rn.name);
-            const transform = JoltMat44_ThreeMatrix4(body!.GetWorldTransform())
+            const transform = JoltMat44_ThreeMatrix4(body!.GetWorldTransform());
             rn.parts.forEach(part => {
+                const partTransform = this._mirabufInstance.parser.globalTransforms.get(part)!.clone().premultiply(transform);
                 this._mirabufInstance.meshes.get(part)!.forEach(mesh => {
-                    mesh.position.setFromMatrixPosition(transform);
-                    mesh.rotation.setFromRotationMatrix(transform);
+                    mesh.position.setFromMatrixPosition(partTransform);
+                    mesh.rotation.setFromRotationMatrix(partTransform);
                 });
             });
+
+            if (this._debugBodies) {
+                const mesh = this._debugBodies.get(rn.name)!;
+                mesh.position.setFromMatrixPosition(transform);
+                mesh.rotation.setFromRotationMatrix(transform);
+            }
         });
     }
 
     public Dispose(): void {
         World.PhysicsSystem.DestroyBodies(...this._bodies.values());
         this._mirabufInstance.Dispose(World.SceneRenderer.scene);
+        this._debugBodies?.forEach(x => {
+            World.SceneRenderer.scene.remove(x);
+            x.geometry.dispose();
+            (x.material as THREE.Material).dispose();
+        });
+        this._debugBodies?.clear();
+    }
+
+    private CreateMeshForShape(shape: Jolt.Shape): THREE.Mesh {
+        const scale = new JOLT.Vec3(1, 1, 1);
+        const triangleContext = new JOLT.ShapeGetTriangles(shape, JOLT.AABox.prototype.sBiggest(), shape.GetCenterOfMass(), JOLT.Quat.prototype.sIdentity(), scale);
+        JOLT.destroy(scale);
+    
+        const vertices = new Float32Array(JOLT.HEAP32.buffer, triangleContext.GetVerticesData(), triangleContext.GetVerticesSize() / Float32Array.BYTES_PER_ELEMENT);
+        const buffer = new THREE.BufferAttribute(vertices, 3).clone();
+        JOLT.destroy(triangleContext);
+    
+        const geometry = new THREE.BufferGeometry();
+        geometry.setAttribute('position', buffer);
+        geometry.computeVertexNormals();
+    
+        const material = new THREE.MeshStandardMaterial({ color: 0x33ff33, wireframe: true })
+        const mesh = new THREE.Mesh(geometry, material);
+
+        return mesh;
     }
 }
 
diff --git a/fission/src/systems/World.ts b/fission/src/systems/World.ts
index 68a2c6c52f..a0458d9e1a 100644
--- a/fission/src/systems/World.ts
+++ b/fission/src/systems/World.ts
@@ -39,7 +39,7 @@ class World {
 
     public static UpdateWorld() {
         const deltaT = World._clock.getDelta();
-        this._physicsSystem.Update(deltaT);
+        // this._physicsSystem.Update(deltaT);
         this._sceneRenderer.Update(deltaT);
     }
 }
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index a951b3ee66..6adfe17f9c 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1,4 +1,4 @@
-import { ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
+import { MirabufFloatArr_JoltVec3, ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
 import JOLT from "../../util/loading/JoltSyncLoader";
 import Jolt from "@barclah/jolt-physics";
 import * as THREE from 'three';
@@ -41,6 +41,8 @@ class PhysicsSystem extends WorldSystem {
 
         this._joltPhysSystem = this._joltInterface.GetPhysicsSystem();
         this._joltBodyInterface = this._joltPhysSystem.GetBodyInterface();
+
+        this.CreateBox(new THREE.Vector3(5.0, 0.5, 5.0), undefined, new THREE.Vector3(0.0, -2.0, 0.0), undefined);
     }
 
     /**
@@ -132,6 +134,7 @@ class PhysicsSystem extends WorldSystem {
             rn.parts.forEach(x => console.debug(parser.assembly.data!.parts!.partInstances![x]!.info!.name!));
 
             const compoundShapeSettings = new JOLT.StaticCompoundShapeSettings();
+            let shapesAdded = 0;
 
             let totalMass = 0;
             const comAccum = new mirabuf.Vector3();
@@ -143,58 +146,73 @@ class PhysicsSystem extends WorldSystem {
                     
                     const shapeSettings = this.CreateShapeSettingsFromPart(partDefinition);
                     
-                    const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
-                    compoundShapeSettings.AddShape(
-                        transform.GetTranslation(),
-                        transform.GetQuaternion(),
-                        shapeSettings,
-                        0
-                    );
-
-                    if (partDefinition.physicalData && partDefinition.physicalData.com && partDefinition.physicalData.mass) {
-                        const mass = partDefinition.massOverride ? partDefinition.massOverride! : partDefinition.physicalData.mass!;
-                        totalMass += mass;
-                        comAccum.x += partDefinition.physicalData.com.x! * mass;
-                        comAccum.y += partDefinition.physicalData.com.y! * mass;
-                        comAccum.z += partDefinition.physicalData.com.z! * mass;
+                    if (shapeSettings) {
+                        const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
+                        compoundShapeSettings.AddShape(
+                            transform.GetTranslation(),
+                            transform.GetQuaternion(),
+                            shapeSettings,
+                            0
+                        );
+                        shapesAdded++;
+
+                        if (partDefinition.physicalData && partDefinition.physicalData.com && partDefinition.physicalData.mass) {
+                            const mass = partDefinition.massOverride ? partDefinition.massOverride! : partDefinition.physicalData.mass!;
+                            totalMass += mass;
+                            comAccum.x += partDefinition.physicalData.com.x! * mass / 100.0;
+                            comAccum.y += partDefinition.physicalData.com.y! * mass / 100.0;
+                            comAccum.z += partDefinition.physicalData.com.z! * mass / 100.0;
+                        }
                     }
                 }
             });
 
-            const shapeResult = compoundShapeSettings.Create();
-            if (!shapeResult.IsValid || shapeResult.HasError()) {
-                console.error(`Failed to create shape for RigidNode ${rn.name}`);
-            }
+            if (shapesAdded > 0) {
+                const shapeResult = compoundShapeSettings.Create();
+                if (!shapeResult.IsValid || shapeResult.HasError()) {
+                    console.error(`Failed to create shape for RigidNode ${rn.name}\n${shapeResult.GetError().c_str()}`);
+                }
 
-            const shape = shapeResult.Get();
-            shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
-            shape.GetMassProperties().Translate(
-                new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass)
-            );
-            const bodySettings = new JOLT.BodyCreationSettings(
-                shape, new JOLT.RVec3(), new JOLT.Quat(), JOLT.EMotionType_Dynamic, LAYER_MOVING
-            );
-            const body = this._joltBodyInterface.CreateBody(bodySettings);
-            this._joltBodyInterface.AddBody(body.GetID(), JOLT.EActivation_Activate);
-            rnToBodies.set(rn.name, body);
+                const shape = shapeResult.Get();
+                shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
+                // shape.GetMassProperties().Translate(
+                //     new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass)
+                // );
+                // const worldBounds = shape.GetWorldSpaceBounds(new JOLT.Mat44().sIdentity(), new JOLT.Vec3(1,1,1));
+                // const center =  worldBounds.mMax.Sub(worldBounds.mMin);
+
+                const bodySettings = new JOLT.BodyCreationSettings(
+                    shape, new JOLT.RVec3(), new JOLT.Quat(), JOLT.EMotionType_Dynamic, LAYER_MOVING
+                );
+                const body = this._joltBodyInterface.CreateBody(bodySettings);
+                this._joltBodyInterface.AddBody(body.GetID(), JOLT.EActivation_Activate);
+                rnToBodies.set(rn.name, body);
+            } else {
+                JOLT.destroy(compoundShapeSettings);
+            }
         });
 
         return rnToBodies;
     }
 
-    private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): Jolt.ShapeSettings {
+    private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): Jolt.ShapeSettings | undefined | null {
         const settings = new JOLT.ConvexHullShapeSettings();
         const points = settings.mPoints;
         partDefinition.bodies!.forEach(body => {
             if (body.triangleMesh && body.triangleMesh.mesh && body.triangleMesh.mesh.verts) {
                 const vertArr = body.triangleMesh.mesh.verts;
                 for (let i = 0; i < body.triangleMesh.mesh.verts.length; i += 3) {
-                    points.push_back(new JOLT.Vec3(vertArr[i], vertArr[i + 1], vertArr[i + 2]));
+                    points.push_back(MirabufFloatArr_JoltVec3(vertArr, i));
                 }
             }
         });
 
-        return settings;
+        if (points.size() < 4) {
+            JOLT.destroy(settings);
+            return;
+        } else {
+            return settings;
+        }
     }
 
     public DestroyBodies(...bodies: Jolt.Body[]) {
diff --git a/fission/src/util/TypeConversions.ts b/fission/src/util/TypeConversions.ts
index b1163fd1dd..78e63b18e1 100644
--- a/fission/src/util/TypeConversions.ts
+++ b/fission/src/util/TypeConversions.ts
@@ -74,5 +74,17 @@ export function MirabufVector3_ThreeVector3(v: mirabuf.Vector3): THREE.Vector3 {
 }
 
 export function MirabufVector3_JoltVec3(v: mirabuf.Vector3): Jolt.Vec3 {
-    return new Jolt.Vec3(v.x / 100.0, v.y / 100.0, v.z / 100.0);
+    return new JOLT.Vec3(v.x / 100.0, v.y / 100.0, v.z / 100.0);
+}
+
+export function MirabufFloatArr_JoltVec3(v: number[], offsetIndex: number): Jolt.Vec3 {
+    return new JOLT.Vec3(v[offsetIndex] / 100.0, v[offsetIndex + 1] / 100.0, v[offsetIndex + 2] / 100.0);
+}
+
+export function MirabufFloatArr_JoltVec3Arr(v: number[]): Jolt.Vec3[] {
+    const arr = [];
+    for (let i = 0; i < v.length; i += 3) {
+        arr.push(MirabufFloatArr_JoltVec3(v, i));
+    }
+    return arr;
 }
\ No newline at end of file

From 6ac2916fdb439e1e4a4ef07d4d50f8952f76cd11 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 18 Mar 2024 14:09:55 -0600
Subject: [PATCH 06/21] Finally solved the problem

---
 fission/src/mirabuf/MirabufSceneObject.ts    |  55 ++++++---
 fission/src/systems/physics/PhysicsSystem.ts | 115 +++++++++++++++----
 fission/src/systems/scene/SceneRenderer.ts   |  26 +++++
 fission/src/util/debug/DebugPrint.ts         |  26 +++++
 4 files changed, 184 insertions(+), 38 deletions(-)
 create mode 100644 fission/src/util/debug/DebugPrint.ts

diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index 59bfa56b66..07f78e7494 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -11,11 +11,16 @@ import JOLT from "@/util/loading/JoltSyncLoader";
 
 const DEBUG_BODIES = true;
 
+interface RnDebugMeshes {
+    colliderMesh: THREE.Mesh;
+    comMesh: THREE.Mesh;
+}
+
 class MirabufSceneObject extends SceneObject {
 
     private _mirabufInstance: MirabufInstance;
-    private _bodies: Map<string, Jolt.Body>;
-    private _debugBodies: Map<string, THREE.Mesh> | null;
+    private _bodies: Map<string, Jolt.BodyID>;
+    private _debugBodies: Map<string, RnDebugMeshes> | null;
 
     public constructor(mirabufInstance: MirabufInstance) {
         super();
@@ -30,18 +35,24 @@ class MirabufSceneObject extends SceneObject {
 
         if (DEBUG_BODIES) {
             this._debugBodies = new Map();
-            this._bodies.forEach((body, rnName) => {
-                const mesh = this.CreateMeshForShape(body.GetShape());
-                World.SceneRenderer.scene.add(mesh);
-                this._debugBodies!.set(rnName, mesh);
+            this._bodies.forEach((bodyId, rnName) => {
+
+                const body = World.PhysicsSystem.GetBody(bodyId);
+
+                const colliderMesh = this.CreateMeshForShape(body.GetShape());
+                const comMesh = World.SceneRenderer.CreateSphere(0.01);
+                World.SceneRenderer.scene.add(colliderMesh);
+                World.SceneRenderer.scene.add(comMesh);
+                (comMesh.material as THREE.Material).depthTest = false;
+                this._debugBodies!.set(rnName, { colliderMesh: colliderMesh, comMesh: comMesh });
             });
         }
     }
 
     public Update(): void {
         this._mirabufInstance.parser.rigidNodes.forEach(rn => {
-            const body = this._bodies.get(rn.name);
-            const transform = JoltMat44_ThreeMatrix4(body!.GetWorldTransform());
+            const body = World.PhysicsSystem.GetBody(this._bodies.get(rn.name)!);
+            const transform = JoltMat44_ThreeMatrix4(body.GetWorldTransform());
             rn.parts.forEach(part => {
                 const partTransform = this._mirabufInstance.parser.globalTransforms.get(part)!.clone().premultiply(transform);
                 this._mirabufInstance.meshes.get(part)!.forEach(mesh => {
@@ -50,21 +61,34 @@ class MirabufSceneObject extends SceneObject {
                 });
             });
 
+            if (isNaN(body.GetPosition().GetX())) {
+                const vel = body.GetLinearVelocity();
+                const pos = body.GetPosition();
+                console.debug(`Invalid Position.\nPosition => ${pos.GetX()}, ${pos.GetY()}, ${pos.GetZ()}\nVelocity => ${vel.GetX()}, ${vel.GetY()}, ${vel.GetZ()}`);
+            }
+            // console.debug(`POSITION: ${body.GetPosition().GetX()}, ${body.GetPosition().GetY()}, ${body.GetPosition().GetZ()}`)
+
             if (this._debugBodies) {
-                const mesh = this._debugBodies.get(rn.name)!;
-                mesh.position.setFromMatrixPosition(transform);
-                mesh.rotation.setFromRotationMatrix(transform);
+                const { colliderMesh, comMesh } = this._debugBodies.get(rn.name)!;
+                colliderMesh.position.setFromMatrixPosition(transform);
+                colliderMesh.rotation.setFromRotationMatrix(transform);
+
+                const comTransform = JoltMat44_ThreeMatrix4(body.GetCenterOfMassTransform());
+                comMesh.position.setFromMatrixPosition(comTransform);
+                comMesh.rotation.setFromRotationMatrix(comTransform);
             }
         });
     }
 
     public Dispose(): void {
-        World.PhysicsSystem.DestroyBodies(...this._bodies.values());
+        World.PhysicsSystem.DestroyBodyIds(...this._bodies.values());
         this._mirabufInstance.Dispose(World.SceneRenderer.scene);
         this._debugBodies?.forEach(x => {
-            World.SceneRenderer.scene.remove(x);
-            x.geometry.dispose();
-            (x.material as THREE.Material).dispose();
+            World.SceneRenderer.scene.remove(x.colliderMesh, x.comMesh);
+            x.colliderMesh.geometry.dispose();
+            x.comMesh.geometry.dispose();
+            (x.colliderMesh.material as THREE.Material).dispose();
+            (x.comMesh.material as THREE.Material).dispose();
         });
         this._debugBodies?.clear();
     }
@@ -84,6 +108,7 @@ class MirabufSceneObject extends SceneObject {
     
         const material = new THREE.MeshStandardMaterial({ color: 0x33ff33, wireframe: true })
         const mesh = new THREE.Mesh(geometry, material);
+        mesh.castShadow = true;
 
         return mesh;
     }
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 6adfe17f9c..2a266170a0 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1,16 +1,17 @@
-import { MirabufFloatArr_JoltVec3, ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
+import { JoltMat44_ThreeMatrix4, MirabufFloatArr_JoltVec3, ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
 import JOLT from "../../util/loading/JoltSyncLoader";
 import Jolt from "@barclah/jolt-physics";
 import * as THREE from 'three';
 import { mirabuf } from '../../proto/mirabuf';
 import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
 import WorldSystem from "../WorldSystem";
+import { threeMatrix4ToString } from "@/util/debug/DebugPrint";
 
 const LAYER_NOT_MOVING = 0;
 const LAYER_MOVING = 1;
 const COUNT_OBJECT_LAYERS = 2;
 
-const STANDARD_TIME_STEP = 1.0 / 60.0;
+const STANDARD_TIME_STEP = 1.0 / 600.0;
 const STANDARD_SUB_STEPS = 1;
 
 /**
@@ -23,7 +24,7 @@ class PhysicsSystem extends WorldSystem {
     private _joltInterface: Jolt.JoltInterface;
     private _joltPhysSystem: Jolt.PhysicsSystem;
     private _joltBodyInterface: Jolt.BodyInterface;
-    private _bodies: Array<Jolt.Body>;
+    private _bodies: Array<Jolt.BodyID>;
 
     /**
      * Creates a PhysicsSystem object.
@@ -42,7 +43,8 @@ class PhysicsSystem extends WorldSystem {
         this._joltPhysSystem = this._joltInterface.GetPhysicsSystem();
         this._joltBodyInterface = this._joltPhysSystem.GetBodyInterface();
 
-        this.CreateBox(new THREE.Vector3(5.0, 0.5, 5.0), undefined, new THREE.Vector3(0.0, -2.0, 0.0), undefined);
+        const ground = this.CreateBox(new THREE.Vector3(5.0, 0.5, 5.0), undefined, new THREE.Vector3(0.0, -2.0, 0.0), undefined);
+        this._joltBodyInterface.AddBody(ground.GetID(), JOLT.EActivation_Activate);
     }
 
     /**
@@ -71,7 +73,7 @@ class PhysicsSystem extends WorldSystem {
             pos,
             rot,
             mass ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
-            LAYER_NOT_MOVING
+            mass ? LAYER_MOVING : LAYER_NOT_MOVING
         );
         if (mass) {
             creationSettings.mMassPropertiesOverride.mMass = mass;
@@ -81,7 +83,7 @@ class PhysicsSystem extends WorldSystem {
         JOLT.destroy(rot);
         JOLT.destroy(creationSettings);
 
-        this._bodies.push(body);
+        this._bodies.push(body.GetID());
         return body;
     }
 
@@ -107,7 +109,7 @@ class PhysicsSystem extends WorldSystem {
         JOLT.destroy(rot);
         JOLT.destroy(creationSettings);
 
-        this._bodies.push(body);
+        this._bodies.push(body.GetID());
         return body;
     }
 
@@ -125,13 +127,13 @@ class PhysicsSystem extends WorldSystem {
         return settings.Create();
     }
 
-    public CreateBodiesFromParser(parser: MirabufParser): Map<string, Jolt.Body> {
-        const rnToBodies = new Map<string, Jolt.Body>();
+    public CreateBodiesFromParser(parser: MirabufParser): Map<string, Jolt.BodyID> {
+        const rnToBodies = new Map<string, Jolt.BodyID>();
         
         filterNonPhysicsNodes(parser.rigidNodes, parser.assembly).forEach(rn => {
 
-            console.debug(`Making Body for RigidNode '${rn.name}'`);
-            rn.parts.forEach(x => console.debug(parser.assembly.data!.parts!.partInstances![x]!.info!.name!));
+            // console.debug(`Making Body for RigidNode '${rn.name}'`);
+            // rn.parts.forEach(x => console.debug(parser.assembly.data!.parts!.partInstances![x]!.info!.name!));
 
             const compoundShapeSettings = new JOLT.StaticCompoundShapeSettings();
             let shapesAdded = 0;
@@ -139,14 +141,20 @@ class PhysicsSystem extends WorldSystem {
             let totalMass = 0;
             const comAccum = new mirabuf.Vector3();
 
+            const minBounds = new JOLT.Vec3(1000000.0, 1000000.0, 1000000.0);
+            const maxBounds = new JOLT.Vec3(-1000000.0, -1000000.0, -1000000.0);
+
             rn.parts.forEach(partId => {
                 const partInstance = parser.assembly.data!.parts!.partInstances![partId]!;
                 if (partInstance.skipCollider == null || partInstance == undefined || partInstance.skipCollider == false) {
                     const partDefinition = parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!;
                     
-                    const shapeSettings = this.CreateShapeSettingsFromPart(partDefinition);
+                    const partShapeResult = this.CreateShapeSettingsFromPart(partDefinition);
                     
-                    if (shapeSettings) {
+                    if (partShapeResult) {
+
+                        const [shapeSettings, partMin, partMax] = partShapeResult;
+
                         const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
                         compoundShapeSettings.AddShape(
                             transform.GetTranslation(),
@@ -156,37 +164,62 @@ class PhysicsSystem extends WorldSystem {
                         );
                         shapesAdded++;
 
+                        this.UpdateMinMaxBounds(transform.Multiply3x3(partMin), minBounds, maxBounds);
+                        this.UpdateMinMaxBounds(transform.Multiply3x3(partMax), minBounds, maxBounds);
+
                         if (partDefinition.physicalData && partDefinition.physicalData.com && partDefinition.physicalData.mass) {
                             const mass = partDefinition.massOverride ? partDefinition.massOverride! : partDefinition.physicalData.mass!;
                             totalMass += mass;
                             comAccum.x += partDefinition.physicalData.com.x! * mass / 100.0;
                             comAccum.y += partDefinition.physicalData.com.y! * mass / 100.0;
                             comAccum.z += partDefinition.physicalData.com.z! * mass / 100.0;
+
+                            console.debug(`COM MIRA: ${partDefinition.physicalData.com.x!.toFixed(4)}, ${partDefinition.physicalData.com.y!.toFixed(4)}, ${partDefinition.physicalData.com.z!.toFixed(4)}`);
                         }
                     }
                 }
             });
 
             if (shapesAdded > 0) {
+                
                 const shapeResult = compoundShapeSettings.Create();
+                // const shapeResult = new JOLT.SphereShapeSettings(0.2).Create();
+                // const shapeResult = new JOLT.BoxShapeSettings(new JOLT.Vec3(2.0, 0.5, 1.0)).Create();
+
+                const com = new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass);
+
+                const boundsCenter = minBounds.Add(maxBounds).Div(2);
+                // const rtSettings = new JOLT.RotatedTranslatedShapeSettings(
+                //     boundsCenter.Mul(-1), new JOLT.Quat(0, 0, 0, 1), compoundShapeSettings
+                // );
+                // const shapeResult = rtSettings.Create();
+
                 if (!shapeResult.IsValid || shapeResult.HasError()) {
                     console.error(`Failed to create shape for RigidNode ${rn.name}\n${shapeResult.GetError().c_str()}`);
                 }
 
                 const shape = shapeResult.Get();
-                shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
-                // shape.GetMassProperties().Translate(
-                //     new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass)
-                // );
+                // shape.GetMassProperties().mMass = 1;
+                // shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
+                // console.debug(`Mass: ${shape.GetMassProperties().mMass}`);
+                // shape.GetMassProperties().SetMassAndInertiaOfSolidBox(new JOLT.Vec3(1, 1, 1), 100);
+
+                console.debug(`Inertia [${rn.name}]:${threeMatrix4ToString(JoltMat44_ThreeMatrix4(shape.GetMassProperties().mInertia))}`);
+                
+                console.debug(`COM: ${com.GetX().toFixed(4)}, ${com.GetY().toFixed(4)}, ${com.GetZ().toFixed(4)}`);
+
                 // const worldBounds = shape.GetWorldSpaceBounds(new JOLT.Mat44().sIdentity(), new JOLT.Vec3(1,1,1));
                 // const center =  worldBounds.mMax.Sub(worldBounds.mMin);
 
                 const bodySettings = new JOLT.BodyCreationSettings(
-                    shape, new JOLT.RVec3(), new JOLT.Quat(), JOLT.EMotionType_Dynamic, LAYER_MOVING
+                    shape, new JOLT.Vec3()/*boundsCenter.Mul(-1)*/, new JOLT.Quat(0, 0, 0, 1), JOLT.EMotionType_Dynamic, LAYER_MOVING
                 );
                 const body = this._joltBodyInterface.CreateBody(bodySettings);
                 this._joltBodyInterface.AddBody(body.GetID(), JOLT.EActivation_Activate);
-                rnToBodies.set(rn.name, body);
+                rnToBodies.set(rn.name, body.GetID());
+
+                body.SetRestitution(0.2);
+                body.SetAngularVelocity(new JOLT.Vec3(0.2, 1.0, 0.0));
             } else {
                 JOLT.destroy(compoundShapeSettings);
             }
@@ -195,14 +228,21 @@ class PhysicsSystem extends WorldSystem {
         return rnToBodies;
     }
 
-    private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): Jolt.ShapeSettings | undefined | null {
+    private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined | null {
         const settings = new JOLT.ConvexHullShapeSettings();
+
+        const min = new JOLT.Vec3(1000000.0, 1000000.0, 1000000.0);
+        const max = new JOLT.Vec3(-1000000.0, -1000000.0, -1000000.0);
+
         const points = settings.mPoints;
         partDefinition.bodies!.forEach(body => {
             if (body.triangleMesh && body.triangleMesh.mesh && body.triangleMesh.mesh.verts) {
                 const vertArr = body.triangleMesh.mesh.verts;
                 for (let i = 0; i < body.triangleMesh.mesh.verts.length; i += 3) {
-                    points.push_back(MirabufFloatArr_JoltVec3(vertArr, i));
+                    const vert = MirabufFloatArr_JoltVec3(vertArr, i);
+                    points.push_back(vert);
+
+                    this.UpdateMinMaxBounds(vert, min, max);
                 }
             }
         });
@@ -211,10 +251,28 @@ class PhysicsSystem extends WorldSystem {
             JOLT.destroy(settings);
             return;
         } else {
-            return settings;
+            JOLT.destroy(settings);
+            return [new JOLT.SphereShapeSettings(0.2), min, max];
+            // return [settings, min, max];
         }
     }
 
+    private UpdateMinMaxBounds(v: Jolt.Vec3, min: Jolt.Vec3, max: Jolt.Vec3) {
+        if (v.GetX() < min.GetX())
+            min.SetX(v.GetX());
+        if (v.GetY() < min.GetY())
+            min.SetY(v.GetY());
+        if (v.GetZ() < min.GetZ())
+            min.SetZ(v.GetZ());
+
+        if (v.GetX() > max.GetX())
+            max.SetX(v.GetX());
+        if (v.GetY() > max.GetY())
+            max.SetY(v.GetY());
+        if (v.GetZ() > max.GetZ())
+            max.SetZ(v.GetZ());
+    }
+
     public DestroyBodies(...bodies: Jolt.Body[]) {
         bodies.forEach(x => {
             this._joltBodyInterface.RemoveBody(x.GetID());
@@ -222,6 +280,17 @@ class PhysicsSystem extends WorldSystem {
         });
     }
 
+    public DestroyBodyIds(...bodies: Jolt.BodyID[]) {
+        bodies.forEach(x => {
+            this._joltBodyInterface.RemoveBody(x);
+            this._joltBodyInterface.DestroyBody(x);
+        });
+    }
+
+    public GetBody(bodyId: Jolt.BodyID) {
+        return this._joltPhysSystem.GetBodyLockInterface().TryGetBody(bodyId);
+    }
+
     public Update(_: number): void {
         this._joltInterface.Step(STANDARD_TIME_STEP, STANDARD_SUB_STEPS);
     }
@@ -238,7 +307,7 @@ class PhysicsSystem extends WorldSystem {
 function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
     const objectFilter = new JOLT.ObjectLayerPairFilterTable(COUNT_OBJECT_LAYERS);
     objectFilter.EnableCollision(LAYER_NOT_MOVING, LAYER_MOVING);
-    objectFilter.EnableCollision(LAYER_MOVING, LAYER_MOVING);
+    // objectFilter.EnableCollision(LAYER_MOVING, LAYER_MOVING);
 
     const BP_LAYER_NOT_MOVING = new JOLT.BroadPhaseLayer(LAYER_NOT_MOVING);
     const BP_LAYER_MOVING = new JOLT.BroadPhaseLayer(LAYER_MOVING);
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 2116c50339..6e8f24b673 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -69,6 +69,12 @@ class SceneRenderer extends WorldSystem {
 
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1);
         this._scene.add(ambientLight);
+
+        const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(0x3785de));
+        ground.position.set(0.0, -2.0, 0.0);
+        ground.receiveShadow = true;
+        ground.castShadow = true;
+        this._scene.add(ground);
     }
 
     public UpdateCanvasSize() {
@@ -103,6 +109,26 @@ class SceneRenderer extends WorldSystem {
         this._sceneObjects.forEach(obj => obj.Dispose());
         this._sceneObjects.clear();
     }
+
+    public CreateSphere(radius: number, material?: THREE.Material | undefined): THREE.Mesh {
+        const geo = new THREE.SphereGeometry(radius);
+        if (material) {
+            return new THREE.Mesh(geo, material);
+        } else {
+            return new THREE.Mesh(geo, this.CreateToonMaterial());
+        }
+    }
+
+    public CreateToonMaterial(color: THREE.ColorRepresentation = 0xff00aa, steps: number = 5): THREE.MeshToonMaterial {
+        const format = ( this._renderer.capabilities.isWebGL2 ) ? THREE.RedFormat : THREE.LuminanceFormat;
+        const colors = new Uint8Array(steps);
+        for ( let c = 0; c < colors.length; c ++ ) {
+            colors[c] = 128 + (c / colors.length) * 128;
+        }
+        const gradientMap = new THREE.DataTexture(colors, colors.length, 1, format);
+        gradientMap.needsUpdate = true;
+        return new THREE.MeshToonMaterial({color: color, gradientMap: gradientMap});
+    }
 }
 
 export default SceneRenderer;
\ No newline at end of file
diff --git a/fission/src/util/debug/DebugPrint.ts b/fission/src/util/debug/DebugPrint.ts
new file mode 100644
index 0000000000..00e44a1f15
--- /dev/null
+++ b/fission/src/util/debug/DebugPrint.ts
@@ -0,0 +1,26 @@
+import { RigidNodeReadOnly } from "@/mirabuf/MirabufParser";
+import { mirabuf } from "@/proto/mirabuf";
+
+export function printRigidNodeParts(nodes: RigidNodeReadOnly[], mira: mirabuf.Assembly) {
+    nodes.forEach(x => {
+        console.log(`[ ${x.name} ]:`);
+        x.parts.forEach(y => console.log(`-> '${mira.data!.parts!.partInstances![y]!.info!.name!}'`));
+        console.log('');
+    });
+}
+
+export function threeMatrix4ToString(mat: THREE.Matrix4) {
+    const arr = mat.toArray();
+    return `[\n${arr[0].toFixed(4)}, ${arr[4].toFixed(4)}, ${arr[8].toFixed(4)}, ${arr[12].toFixed(4)},\n`
+        + `${arr[1].toFixed(4)}, ${arr[5].toFixed(4)}, ${arr[9].toFixed(4)}, ${arr[13].toFixed(4)},\n`
+        + `${arr[2].toFixed(4)}, ${arr[6].toFixed(4)}, ${arr[10].toFixed(4)}, ${arr[14].toFixed(4)},\n`
+        + `${arr[3].toFixed(4)}, ${arr[7].toFixed(4)}, ${arr[11].toFixed(4)}, ${arr[15].toFixed(4)},\n]`
+}
+
+export function mirabufTransformToString(mat: mirabuf.ITransform) {
+    const arr = mat.spatialMatrix!;
+    return `[\n${arr[0].toFixed(4)}, ${arr[1].toFixed(4)}, ${arr[2].toFixed(4)}, ${arr[3].toFixed(4)},\n`
+        + `${arr[4].toFixed(4)}, ${arr[5].toFixed(4)}, ${arr[6].toFixed(4)}, ${arr[7].toFixed(4)},\n`
+        + `${arr[8].toFixed(4)}, ${arr[9].toFixed(4)}, ${arr[10].toFixed(4)}, ${arr[11].toFixed(4)},\n`
+        + `${arr[12].toFixed(4)}, ${arr[13].toFixed(4)}, ${arr[14].toFixed(4)}, ${arr[15].toFixed(4)},\n]`
+}
\ No newline at end of file

From d2a5411924de75c27ec3242f0e3b93933fa7abb5 Mon Sep 17 00:00:00 2001
From: Hunter Barclay <hunter.barclay18@gmail.com>
Date: Mon, 18 Mar 2024 14:29:07 -0600
Subject: [PATCH 07/21] Collision works well

---
 fission/src/Synthesis.tsx                     |  4 ++--
 fission/src/modals/spawning/AddRobotModal.tsx |  3 ++-
 fission/src/systems/World.ts                  |  2 +-
 fission/src/systems/physics/PhysicsSystem.ts  | 12 ++++++------
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 2c1f737d01..6ece46c79a 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -55,8 +55,8 @@ import DriverStationPanel from "./panels/simulation/DriverStationPanel"
 import ManageAssembliesModal from './modals/spawning/ManageAssembliesModal.tsx';
 import World from './systems/World.ts';
 
-// const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
-const DEFAULT_MIRA_PATH = 'test_mira/Dozer_v2.mira';
+const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
+// const DEFAULT_MIRA_PATH = 'test_mira/Dozer_v2.mira';
 
 function Synthesis() {
     const { openModal, closeModal, getActiveModalElement } =
diff --git a/fission/src/modals/spawning/AddRobotModal.tsx b/fission/src/modals/spawning/AddRobotModal.tsx
index 622ef65c61..8b8a7cf1c9 100644
--- a/fission/src/modals/spawning/AddRobotModal.tsx
+++ b/fission/src/modals/spawning/AddRobotModal.tsx
@@ -5,6 +5,7 @@ import Dropdown from "../../components/Dropdown"
 import { useTooltipControlContext } from "@/TooltipContext"
 import { CreateMirabufFromUrl } from "@/mirabuf/MirabufSceneObject"
 import GetSceneRenderer from "@/systems/scene/SceneRenderer"
+import World from "@/systems/World"
 
 const RobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     // update tooltip based on type of drivetrain, receive message from Synthesis
@@ -27,7 +28,7 @@ const RobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     if (selectedRobot) {
                         CreateMirabufFromUrl(`test_mira/${selectedRobot}`).then(x => {
                             if (x) {
-                                GetSceneRenderer().RegisterSceneObject(x);
+                                World.SceneRenderer.RegisterSceneObject(x);
                             }
                         });
                     }
diff --git a/fission/src/systems/World.ts b/fission/src/systems/World.ts
index a0458d9e1a..68a2c6c52f 100644
--- a/fission/src/systems/World.ts
+++ b/fission/src/systems/World.ts
@@ -39,7 +39,7 @@ class World {
 
     public static UpdateWorld() {
         const deltaT = World._clock.getDelta();
-        // this._physicsSystem.Update(deltaT);
+        this._physicsSystem.Update(deltaT);
         this._sceneRenderer.Update(deltaT);
     }
 }
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 2a266170a0..07bca2653c 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -11,8 +11,8 @@ const LAYER_NOT_MOVING = 0;
 const LAYER_MOVING = 1;
 const COUNT_OBJECT_LAYERS = 2;
 
-const STANDARD_TIME_STEP = 1.0 / 600.0;
-const STANDARD_SUB_STEPS = 1;
+const STANDARD_TIME_STEP = 1.0 / 120.0;
+const STANDARD_SUB_STEPS = 3;
 
 /**
  * The PhysicsSystem handles all Jolt Phyiscs interactions within Synthesis.
@@ -241,8 +241,8 @@ class PhysicsSystem extends WorldSystem {
                 for (let i = 0; i < body.triangleMesh.mesh.verts.length; i += 3) {
                     const vert = MirabufFloatArr_JoltVec3(vertArr, i);
                     points.push_back(vert);
-
                     this.UpdateMinMaxBounds(vert, min, max);
+                    JOLT.destroy(vert);
                 }
             }
         });
@@ -251,9 +251,9 @@ class PhysicsSystem extends WorldSystem {
             JOLT.destroy(settings);
             return;
         } else {
-            JOLT.destroy(settings);
-            return [new JOLT.SphereShapeSettings(0.2), min, max];
-            // return [settings, min, max];
+            // JOLT.destroy(settings);
+            // return [new JOLT.SphereShapeSettings(0.2), min, max];
+            return [settings, min, max];
         }
     }
 

From 08cbb5964be8fb252979ca257d3e55c3c905c77b Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 18 Mar 2024 22:09:15 -0600
Subject: [PATCH 08/21] Compound Colliders comprising of Convex hulls are
 working decently well.

---
 fission/src/Synthesis.tsx                     |  29 ++---
 fission/src/mirabuf/MirabufInstance.ts        |  40 ++++---
 fission/src/mirabuf/MirabufParser.ts          |  37 +++---
 fission/src/mirabuf/MirabufSceneObject.ts     |   2 +-
 fission/src/modals/spawning/AddRobotModal.tsx |   1 -
 .../modals/spawning/ManageAssembliesModal.tsx |  34 +++---
 fission/src/systems/physics/PhysicsSystem.ts  | 106 ++++++++++++------
 fission/src/systems/scene/SceneRenderer.ts    |   2 +-
 8 files changed, 147 insertions(+), 104 deletions(-)

diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index 6ece46c79a..96522143af 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -164,18 +164,20 @@ function Synthesis() {
 					_ => LoadMirabufRemote(DEFAULT_MIRA_PATH)
 				).catch(console.error);
 
-			if (!miraAssembly || !(miraAssembly instanceof mirabuf.Assembly)) {
-				return;
-			}
-	
-			const parser = new MirabufParser(miraAssembly);
-			if (parser.maxErrorSeverity >= ParseErrorSeverity.Unimportable) {
-				console.error(`Assembly Parser produced significant errors for '${miraAssembly.info!.name!}'`);
-				return;
-			}
-			
-			const mirabufSceneObject = new MirabufSceneObject(new MirabufInstance(parser));
-			World.SceneRenderer.RegisterSceneObject(mirabufSceneObject);
+            await (async () => {
+                if (!miraAssembly || !(miraAssembly instanceof mirabuf.Assembly)) {
+                    return;
+                }
+        
+                const parser = new MirabufParser(miraAssembly);
+                if (parser.maxErrorSeverity >= ParseErrorSeverity.Unimportable) {
+                    console.error(`Assembly Parser produced significant errors for '${miraAssembly.info!.name!}'`);
+                    return;
+                }
+                
+                const mirabufSceneObject = new MirabufSceneObject(new MirabufInstance(parser));
+                World.SceneRenderer.RegisterSceneObject(mirabufSceneObject);
+            })();
 		};
 		setup();
 
@@ -190,7 +192,8 @@ function Synthesis() {
         return () => {
             // TODO: Teardown literally everything
             cancelAnimationFrame(mainLoopHandle);
-            World.SceneRenderer.RemoveAllSceneObjects();
+            World.DestroyWorld();
+            // World.SceneRenderer.RemoveAllSceneObjects();
         };
 	}, []);
 
diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index a964336925..495f89c11e 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -1,9 +1,13 @@
 import * as THREE from 'three';
 import { mirabuf } from "../proto/mirabuf"
 import MirabufParser, { ParseErrorSeverity } from './MirabufParser.ts';
-import { MirabufTransform_ThreeMatrix4 } from '../util/TypeConversions.ts';
+import World from '@/systems/World.ts';
 
-const NORMAL_MATERIALS = false;
+export enum MaterialStyle {
+    Regular = 0,
+    Normals = 1,
+    Toon = 2
+}
 
 export const matToString = (mat: THREE.Matrix4) => {
     const arr = mat.toArray();
@@ -78,7 +82,7 @@ class MirabufInstance {
     public get materials() { return this._materials; }
     public get meshes() { return this._meshes; }
 
-    public constructor(parser: MirabufParser) {
+    public constructor(parser: MirabufParser, materialStyle?: MaterialStyle) {
         if (parser.errors.some(x => x[0] >= ParseErrorSeverity.Unimportable)) {
             throw new Error('Parser has significant errors...');
         }
@@ -87,14 +91,14 @@ class MirabufInstance {
         this._materials = new Map();
         this._meshes = new Map();
 
-        this.LoadMaterials();
+        this.LoadMaterials(materialStyle ?? MaterialStyle.Regular);
         this.CreateMeshes();
     }
 
     /**
      * Parses all mirabuf appearances into ThreeJs materials.
      */
-    private LoadMaterials() {
+    private LoadMaterials(materialStyle: MaterialStyle) {
         Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(([appearanceId, appearance]) => {
             let hex = 0xe32b50;
             if (appearance.albedo) {
@@ -103,12 +107,22 @@ class MirabufInstance {
                     hex = A << 24 | R << 16 | G << 8  | B;
             }
 
-            this._materials.set(
-                appearanceId,
-                new THREE.MeshPhongMaterial({
+            let material: THREE.Material;
+            if (materialStyle == MaterialStyle.Regular) {
+                material = new THREE.MeshPhongMaterial({
                     color: hex,
                     shininess: 0.0,
-                })
+                });
+            } else if (materialStyle == MaterialStyle.Normals) {
+                material = new THREE.MeshNormalMaterial();
+            } else if (materialStyle == MaterialStyle.Toon) {
+                material = World.SceneRenderer.CreateToonMaterial(hex, 5);
+                console.debug('Toon Material');
+            }
+
+            this._materials.set(
+                appearanceId,
+                material!
             );
         });
     }
@@ -135,14 +149,14 @@ class MirabufInstance {
                         transformGeometry(geometry, mesh.mesh!);
 
                         const appearanceOverride = body.appearanceOverride;
-                        let material: THREE.Material =
+                        const material: THREE.Material =
                             appearanceOverride && this._materials.has(appearanceOverride)
                                 ? this._materials.get(appearanceOverride)!
                                 : fillerMaterials[nextFillerMaterial++ % fillerMaterials.length];
 
-                        if (NORMAL_MATERIALS) {
-                            material = new THREE.MeshNormalMaterial();
-                        }
+                        // if (NORMAL_MATERIALS) {
+                        //     material = new THREE.MeshNormalMaterial();
+                        // }
 
                         const threeMesh = new THREE.Mesh( geometry, material );
                         threeMesh.receiveShadow = true;
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index eb27f366ae..e13010d2b2 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -32,20 +32,16 @@ class MirabufParser {
     protected _rigidNodes: Array<RigidNode> = [];
     private _globalTransforms: Map<string, THREE.Matrix4>;
 
-    public get errors() { return new Array(...this._errors); }
+    private _groundedNode: RigidNode | undefined;
 
+    public get errors() { return new Array(...this._errors); }
     public get maxErrorSeverity() { return Math.max(...this._errors.map(x => x[0])); }
-
     public get assembly() { return this._assembly; }
-
     public get partTreeValues() { return this._partTreeValues; }
-
     public get designHierarchyRoot() { return this._designHierarchyRoot; }
-
     public get partToNodeMap() { return this._partToNodeMap; }
-
     public get globalTransforms() { return this._globalTransforms; }
-
+    public get groundedNode() { return this._groundedNode ? new RigidNodeReadOnly(this._groundedNode) : undefined; }
     public get rigidNodes(): Array<RigidNodeReadOnly> {
         return this._rigidNodes.map(x => new RigidNodeReadOnly(x));
     }
@@ -150,6 +146,12 @@ class MirabufParser {
 
         // 5. Remove Empty RNs
         this._rigidNodes = this._rigidNodes.filter(x => x.parts.size > 0);
+
+        // 6. If field, find grounded node and set isDynamic to false. Also just find grounded node again
+        this._groundedNode = this.partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!);
+        if (!assembly.dynamic && this._groundedNode) {
+            this._groundedNode.isDynamic = false;
+        }
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
@@ -317,19 +319,6 @@ class MirabufParser {
         recursive(this._designHierarchyRoot);
         this._partTreeValues = partTreeValues;
     }
-
-    private DebugPrintHierarchy(level: number = 1, ...nodes: mirabuf.INode[]) {
-        if (level <= 1)
-            console.debug('    .... RN DEBUG ....');
-        for (const node of nodes) {
-            console.debug(`${'-'.repeat(level)} ${this._assembly.data!.parts!.partInstances![node.value!]!.info!.name!} [${this._partToNodeMap.get(node.value!)?.name ?? '---'}]`);
-            if (node.children)
-                this.DebugPrintHierarchy(level + 1, ...node.children);
-        }
-
-        if (level <= 1)
-            console.debug('    .... END ....');
-    }
 }
 
 /**
@@ -338,9 +327,11 @@ class MirabufParser {
 class RigidNode {
     public name: string;
     public parts: Set<string> = new Set();
+    public isDynamic: boolean;
 
-    public constructor(name: string) {
+    public constructor(name: string, isDynamic?: boolean) {
         this.name = name;
+        this.isDynamic = isDynamic ?? true;
     }
 }
 
@@ -355,6 +346,10 @@ export class RigidNodeReadOnly {
         return this._original.parts;
     }
 
+    public get isDynamic(): boolean {
+        return this._original.isDynamic;
+    }
+
     public constructor(original: RigidNode) {
         this._original = original;
     }
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index 07f78e7494..2a2d9b00cb 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -40,7 +40,7 @@ class MirabufSceneObject extends SceneObject {
                 const body = World.PhysicsSystem.GetBody(bodyId);
 
                 const colliderMesh = this.CreateMeshForShape(body.GetShape());
-                const comMesh = World.SceneRenderer.CreateSphere(0.01);
+                const comMesh = World.SceneRenderer.CreateSphere(0.05);
                 World.SceneRenderer.scene.add(colliderMesh);
                 World.SceneRenderer.scene.add(comMesh);
                 (comMesh.material as THREE.Material).depthTest = false;
diff --git a/fission/src/modals/spawning/AddRobotModal.tsx b/fission/src/modals/spawning/AddRobotModal.tsx
index 8b8a7cf1c9..0da3a9c8ff 100644
--- a/fission/src/modals/spawning/AddRobotModal.tsx
+++ b/fission/src/modals/spawning/AddRobotModal.tsx
@@ -4,7 +4,6 @@ import { FaPlus } from "react-icons/fa6"
 import Dropdown from "../../components/Dropdown"
 import { useTooltipControlContext } from "@/TooltipContext"
 import { CreateMirabufFromUrl } from "@/mirabuf/MirabufSceneObject"
-import GetSceneRenderer from "@/systems/scene/SceneRenderer"
 import World from "@/systems/World"
 
 const RobotsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
diff --git a/fission/src/modals/spawning/ManageAssembliesModal.tsx b/fission/src/modals/spawning/ManageAssembliesModal.tsx
index 82c4d658b5..02e492e0d9 100644
--- a/fission/src/modals/spawning/ManageAssembliesModal.tsx
+++ b/fission/src/modals/spawning/ManageAssembliesModal.tsx
@@ -1,4 +1,4 @@
-import React from "react"
+import React, { RefObject, useEffect, useRef } from "react"
 import Modal, { ModalPropsImpl } from "../../components/Modal"
 import { FaPlus } from "react-icons/fa6"
 import ScrollView from "@/components/ScrollView"
@@ -7,6 +7,20 @@ const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     // update tooltip based on type of drivetrain, receive message from Synthesis
     // const { showTooltip } = useTooltipControlContext()
 
+    const refs: Array<RefObject<HTMLDivElement>> = new Array(2);
+    for (let i = 0; i < refs.length; i++) {
+        // eslint-disable-next-line react-hooks/rules-of-hooks
+        refs[i] = useRef<HTMLDivElement>(null);
+    }
+
+    useEffect(() => {
+        refs.forEach((x, i) => {
+            if (x.current) {
+                x.current.innerHTML = `Item ${i}`;
+            }
+        });
+    });
+
     return (
         <Modal
             name={"Manage Assemblies"}
@@ -21,23 +35,9 @@ const ManageAssembliesModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                 }
             }
         >
-            <ScrollView maxHeight="max-h-70vh" className="h-64" children={
+            <ScrollView maxHeight="max-h-70vh" className="h-32" children={
                 <div>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
-                    <h1>Hello</h1>
+                    {refs.map(x => <div ref={x}></div>)}
                 </div>
             }>
             </ScrollView>
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 07bca2653c..2cfc967a5a 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1,11 +1,10 @@
-import { JoltMat44_ThreeMatrix4, MirabufFloatArr_JoltVec3, ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
+import { MirabufFloatArr_JoltVec3, ThreeMatrix4_JoltMat44, ThreeVector3_JoltVec3, _JoltQuat } from "../../util/TypeConversions";
 import JOLT from "../../util/loading/JoltSyncLoader";
 import Jolt from "@barclah/jolt-physics";
 import * as THREE from 'three';
 import { mirabuf } from '../../proto/mirabuf';
 import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
 import WorldSystem from "../WorldSystem";
-import { threeMatrix4ToString } from "@/util/debug/DebugPrint";
 
 const LAYER_NOT_MOVING = 0;
 const LAYER_MOVING = 1;
@@ -87,6 +86,15 @@ class PhysicsSystem extends WorldSystem {
         return body;
     }
 
+    /**
+     * This creates a body in Jolt. Mostly used for Unit test validation.
+     * 
+     * @param   shape       Shape to impart on the body.
+     * @param   mass        Mass of the body.
+     * @param   position    Position of the body.
+     * @param   rotation    Rotation of the body.
+     * @returns Resulting Body object.
+     */
     public CreateBody(
     shape: Jolt.Shape,
     mass: number | undefined,
@@ -113,7 +121,14 @@ class PhysicsSystem extends WorldSystem {
         return body;
     }
 
-    public CreateConvexHull(points: Float32Array, density: number = 1.0) {
+    /**
+     * Utility function for creating convex hulls. Mostly used for Unit test validation.
+     * 
+     * @param   points  Flat pack array of vector 3 components.
+     * @param   density Density of the convex hull.
+     * @returns Resulting shape.
+     */
+    public CreateConvexHull(points: Float32Array, density: number = 1.0): Jolt.ShapeResult {
         if (points.length % 3) {
             throw new Error(`Invalid size of points: ${points.length}`);
         }
@@ -127,14 +142,17 @@ class PhysicsSystem extends WorldSystem {
         return settings.Create();
     }
 
+    /**
+     * Creates a map, mapping the name of RigidNodes to Jolt BodyIDs
+     * 
+     * @param   parser  MirabufParser containing properly parsed RigidNodes
+     * @returns Mapping of Jolt BodyIDs
+     */
     public CreateBodiesFromParser(parser: MirabufParser): Map<string, Jolt.BodyID> {
         const rnToBodies = new Map<string, Jolt.BodyID>();
         
         filterNonPhysicsNodes(parser.rigidNodes, parser.assembly).forEach(rn => {
 
-            // console.debug(`Making Body for RigidNode '${rn.name}'`);
-            // rn.parts.forEach(x => console.debug(parser.assembly.data!.parts!.partInstances![x]!.info!.name!));
-
             const compoundShapeSettings = new JOLT.StaticCompoundShapeSettings();
             let shapesAdded = 0;
 
@@ -156,9 +174,11 @@ class PhysicsSystem extends WorldSystem {
                         const [shapeSettings, partMin, partMax] = partShapeResult;
 
                         const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!);
+                        const translation = transform.GetTranslation();
+                        const rotation = transform.GetQuaternion();
                         compoundShapeSettings.AddShape(
-                            transform.GetTranslation(),
-                            transform.GetQuaternion(),
+                            translation,
+                            rotation,
                             shapeSettings,
                             0
                         );
@@ -167,14 +187,16 @@ class PhysicsSystem extends WorldSystem {
                         this.UpdateMinMaxBounds(transform.Multiply3x3(partMin), minBounds, maxBounds);
                         this.UpdateMinMaxBounds(transform.Multiply3x3(partMax), minBounds, maxBounds);
 
+                        JOLT.destroy(partMin);
+                        JOLT.destroy(partMax);
+                        JOLT.destroy(transform);
+
                         if (partDefinition.physicalData && partDefinition.physicalData.com && partDefinition.physicalData.mass) {
                             const mass = partDefinition.massOverride ? partDefinition.massOverride! : partDefinition.physicalData.mass!;
                             totalMass += mass;
                             comAccum.x += partDefinition.physicalData.com.x! * mass / 100.0;
                             comAccum.y += partDefinition.physicalData.com.y! * mass / 100.0;
                             comAccum.z += partDefinition.physicalData.com.z! * mass / 100.0;
-
-                            console.debug(`COM MIRA: ${partDefinition.physicalData.com.x!.toFixed(4)}, ${partDefinition.physicalData.com.y!.toFixed(4)}, ${partDefinition.physicalData.com.z!.toFixed(4)}`);
                         }
                     }
                 }
@@ -183,51 +205,47 @@ class PhysicsSystem extends WorldSystem {
             if (shapesAdded > 0) {
                 
                 const shapeResult = compoundShapeSettings.Create();
-                // const shapeResult = new JOLT.SphereShapeSettings(0.2).Create();
-                // const shapeResult = new JOLT.BoxShapeSettings(new JOLT.Vec3(2.0, 0.5, 1.0)).Create();
-
-                const com = new JOLT.Vec3(comAccum.x / totalMass, comAccum.y / totalMass, comAccum.z / totalMass);
-
-                const boundsCenter = minBounds.Add(maxBounds).Div(2);
-                // const rtSettings = new JOLT.RotatedTranslatedShapeSettings(
-                //     boundsCenter.Mul(-1), new JOLT.Quat(0, 0, 0, 1), compoundShapeSettings
-                // );
-                // const shapeResult = rtSettings.Create();
 
                 if (!shapeResult.IsValid || shapeResult.HasError()) {
                     console.error(`Failed to create shape for RigidNode ${rn.name}\n${shapeResult.GetError().c_str()}`);
                 }
 
                 const shape = shapeResult.Get();
-                // shape.GetMassProperties().mMass = 1;
-                // shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
-                // console.debug(`Mass: ${shape.GetMassProperties().mMass}`);
-                // shape.GetMassProperties().SetMassAndInertiaOfSolidBox(new JOLT.Vec3(1, 1, 1), 100);
-
-                console.debug(`Inertia [${rn.name}]:${threeMatrix4ToString(JoltMat44_ThreeMatrix4(shape.GetMassProperties().mInertia))}`);
-                
-                console.debug(`COM: ${com.GetX().toFixed(4)}, ${com.GetY().toFixed(4)}, ${com.GetZ().toFixed(4)}`);
 
-                // const worldBounds = shape.GetWorldSpaceBounds(new JOLT.Mat44().sIdentity(), new JOLT.Vec3(1,1,1));
-                // const center =  worldBounds.mMax.Sub(worldBounds.mMin);
+                if (rn.isDynamic)
+                    shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass;
 
                 const bodySettings = new JOLT.BodyCreationSettings(
-                    shape, new JOLT.Vec3()/*boundsCenter.Mul(-1)*/, new JOLT.Quat(0, 0, 0, 1), JOLT.EMotionType_Dynamic, LAYER_MOVING
+                    shape,
+                    new JOLT.Vec3(0.0, 0.0, 0.0),
+                    new JOLT.Quat(0, 0, 0, 1),
+                    rn.isDynamic ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
+                    rn.isDynamic ? LAYER_MOVING : LAYER_NOT_MOVING
                 );
                 const body = this._joltBodyInterface.CreateBody(bodySettings);
                 this._joltBodyInterface.AddBody(body.GetID(), JOLT.EActivation_Activate);
                 rnToBodies.set(rn.name, body.GetID());
 
+                // Little testing components
                 body.SetRestitution(0.2);
-                body.SetAngularVelocity(new JOLT.Vec3(0.2, 1.0, 0.0));
-            } else {
-                JOLT.destroy(compoundShapeSettings);
+                const angVelocity = new JOLT.Vec3(2.0, 20.0, 5.0);
+                body.SetAngularVelocity(angVelocity);
+                JOLT.destroy(angVelocity);
             }
+
+            // Cleanup
+            JOLT.destroy(compoundShapeSettings);
         });
 
         return rnToBodies;
     }
 
+    /**
+     * Creates the Jolt ShapeSettings for a given part using the Part Definition of said part.
+     * 
+     * @param   partDefinition  Definition of the part to create.
+     * @returns If successful, the created convex hull shape settings from the given Part Definition.
+     */
     private CreateShapeSettingsFromPart(partDefinition: mirabuf.IPartDefinition): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined | null {
         const settings = new JOLT.ConvexHullShapeSettings();
 
@@ -249,14 +267,21 @@ class PhysicsSystem extends WorldSystem {
 
         if (points.size() < 4) {
             JOLT.destroy(settings);
+            JOLT.destroy(min);
+            JOLT.destroy(max);
             return;
         } else {
-            // JOLT.destroy(settings);
-            // return [new JOLT.SphereShapeSettings(0.2), min, max];
             return [settings, min, max];
         }
     }
 
+    /**
+     * Helper function to update min and max vector bounds.
+     * 
+     * @param   v   Vector to add to min, max, bounds.
+     * @param   min Minimum vector of the bounds.
+     * @param   max Maximum vector of the bounds.
+     */
     private UpdateMinMaxBounds(v: Jolt.Vec3, min: Jolt.Vec3, max: Jolt.Vec3) {
         if (v.GetX() < min.GetX())
             min.SetX(v.GetX());
@@ -273,6 +298,11 @@ class PhysicsSystem extends WorldSystem {
             max.SetZ(v.GetZ());
     }
 
+    /**
+     * Destroys bodies.
+     * 
+     * @param   bodies  Bodies to destroy.
+     */
     public DestroyBodies(...bodies: Jolt.Body[]) {
         bodies.forEach(x => {
             this._joltBodyInterface.RemoveBody(x.GetID());
@@ -297,9 +327,10 @@ class PhysicsSystem extends WorldSystem {
 
     public Destroy(): void {
         // Destroy Jolt Bodies.
-        this._bodies.forEach(x => JOLT.destroy(x));
+        this.DestroyBodyIds(...this._bodies);
         this._bodies = [];
 
+        JOLT.destroy(this._joltBodyInterface);
         JOLT.destroy(this._joltInterface);
     }
 }
@@ -307,6 +338,7 @@ class PhysicsSystem extends WorldSystem {
 function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
     const objectFilter = new JOLT.ObjectLayerPairFilterTable(COUNT_OBJECT_LAYERS);
     objectFilter.EnableCollision(LAYER_NOT_MOVING, LAYER_MOVING);
+    // TODO: Collision between dynamic objects temporarily disabled.
     // objectFilter.EnableCollision(LAYER_MOVING, LAYER_MOVING);
 
     const BP_LAYER_NOT_MOVING = new JOLT.BroadPhaseLayer(LAYER_NOT_MOVING);
diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
index 6e8f24b673..13c203ebe9 100644
--- a/fission/src/systems/scene/SceneRenderer.ts
+++ b/fission/src/systems/scene/SceneRenderer.ts
@@ -70,7 +70,7 @@ class SceneRenderer extends WorldSystem {
         const ambientLight = new THREE.AmbientLight(0xffffff, 0.1);
         this._scene.add(ambientLight);
 
-        const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(0x3785de));
+        const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(CLEAR_COLOR));
         ground.position.set(0.0, -2.0, 0.0);
         ground.receiveShadow = true;
         ground.castShadow = true;

From 40e42f15c56d21e62dc67a1a4bec49b14c331912 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 18 Mar 2024 22:22:30 -0600
Subject: [PATCH 09/21] Adding a couple tests

---
 .../test/{mirabuf => }/MirabufParser.test.ts  |  6 ++---
 fission/src/test/PhysicsSystem.test.ts        | 24 ++++++++++++++++++-
 fission/src/test/World.test.ts                | 19 +++++++++++++++
 3 files changed, 45 insertions(+), 4 deletions(-)
 rename fission/src/test/{mirabuf => }/MirabufParser.test.ts (94%)
 create mode 100644 fission/src/test/World.test.ts

diff --git a/fission/src/test/mirabuf/MirabufParser.test.ts b/fission/src/test/MirabufParser.test.ts
similarity index 94%
rename from fission/src/test/mirabuf/MirabufParser.test.ts
rename to fission/src/test/MirabufParser.test.ts
index 274e89362f..93a0b3b2d7 100644
--- a/fission/src/test/mirabuf/MirabufParser.test.ts
+++ b/fission/src/test/MirabufParser.test.ts
@@ -1,8 +1,8 @@
 import { describe, test, expect } from "vitest";
 
-import { mirabuf } from "../../proto/mirabuf";
-import MirabufParser, { RigidNodeReadOnly } from "../../mirabuf/MirabufParser";
-import { LoadMirabufLocal } from "../../mirabuf/MirabufLoader";
+import { mirabuf } from "../proto/mirabuf";
+import MirabufParser, { RigidNodeReadOnly } from "../mirabuf/MirabufParser";
+import { LoadMirabufLocal } from "../mirabuf/MirabufLoader";
 
 describe('Mirabuf Parser Tests', () => {
     // test('Get Dozer JSON', () => {
diff --git a/fission/src/test/PhysicsSystem.test.ts b/fission/src/test/PhysicsSystem.test.ts
index b3c09f5bdc..2665ae56a5 100644
--- a/fission/src/test/PhysicsSystem.test.ts
+++ b/fission/src/test/PhysicsSystem.test.ts
@@ -1,7 +1,9 @@
 import { test, expect, describe, assert } from 'vitest';
 import PhysicsSystem from '../systems/physics/PhysicsSystem';
+import { LoadMirabufLocal } from '@/mirabuf/MirabufLoader';
+import MirabufParser from '@/mirabuf/MirabufParser';
 
-describe('Physics System Tests', () => {
+describe('Physics Sansity Checks', () => {
     test('Convex Hull Shape (Cube)', () => {
         const points: Float32Array = new Float32Array(
             [
@@ -60,4 +62,24 @@ describe('Physics System Tests', () => {
         shape.Release();
         system.Destroy();
     });
+});
+
+describe('Mirabuf Body Loading', () => {
+    test('Body Loading (Dozer)', () => {
+        const assembly = LoadMirabufLocal('./public/test_mira/Dozer_v2.mira');
+        const parser = new MirabufParser(assembly);
+        const physSystem = new PhysicsSystem();
+        const mapping = physSystem.CreateBodiesFromParser(parser);
+
+        expect(mapping.size).toBe(7);
+    });
+
+    test('Body Loading (Team_2471_(2018)_v7.mira)', () => {
+        const assembly = LoadMirabufLocal('./public/test_mira/Team_2471_(2018)_v7.mira');
+        const parser = new MirabufParser(assembly);
+        const physSystem = new PhysicsSystem();
+        const mapping = physSystem.CreateBodiesFromParser(parser);
+
+        expect(mapping.size).toBe(10);
+    });
 });
\ No newline at end of file
diff --git a/fission/src/test/World.test.ts b/fission/src/test/World.test.ts
new file mode 100644
index 0000000000..2ffb335834
--- /dev/null
+++ b/fission/src/test/World.test.ts
@@ -0,0 +1,19 @@
+import World from "@/systems/World";
+import { describe, test, expect, beforeEach, vi } from "vitest";
+
+describe('World Tests', () => {
+
+    beforeEach(() => {
+        vi.resetAllMocks();
+    });
+
+    test('World Sanity Check', () => {
+        expect(World.isAlive).toBeFalsy();
+
+        // TODO: Find a way to mock window global
+        // World.InitWorld();
+        // expect(World.isAlive).toBeTruthy();
+        // expect(World.SceneRenderer).toBeTruthy();
+        // expect(World.DestroyWorld).toBeTruthy();
+    });
+})
\ No newline at end of file

From 1b0cf086b7032ac276cb8ddf217ee3eaee8489dc Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Mon, 18 Mar 2024 23:57:34 -0600
Subject: [PATCH 10/21] Created unit testing workflow

---
 .github/workflows/FissionBuild.yml | 38 ++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 .github/workflows/FissionBuild.yml

diff --git a/.github/workflows/FissionBuild.yml b/.github/workflows/FissionBuild.yml
new file mode 100644
index 0000000000..6e7a0b61db
--- /dev/null
+++ b/.github/workflows/FissionBuild.yml
@@ -0,0 +1,38 @@
+name: Fission
+
+on:
+  workflow_dispatch: {}
+  push:
+    branches: [ master, dev ]
+  pull_request:
+    branches: [ master, dev ]
+
+jobs:
+  runUnitTests:
+    name: Unit Tests
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v2
+    - name: JavaScript Setup
+      uses: actions/setup-node@v2
+      with:
+        node-version: 20
+    - name: Install Dependencies
+      run: |
+        cd fission
+        npm install
+    - name: Unit Tests
+      id: unit-tests
+      run: |
+        cd fission
+        npm run test
+      continue-on-error: true
+    - name: Check Success
+      run: |
+        if [ ${{ steps.unit-tests.outcome }} == "success" ]; then
+          echo "Format Validation Passed"
+        else
+          echo "Format Validation Failed"
+          exit 1
+        fi
\ No newline at end of file

From 98609af8804d768e5c9f03e4323df9faef75bb0b Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:04:56 -0600
Subject: [PATCH 11/21] Renamed format workflow

---
 .../workflows/{ESLintFormat.yml => FissionESLintFormat.yml}   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
 rename .github/workflows/{ESLintFormat.yml => FissionESLintFormat.yml} (92%)

diff --git a/.github/workflows/ESLintFormat.yml b/.github/workflows/FissionESLintFormat.yml
similarity index 92%
rename from .github/workflows/ESLintFormat.yml
rename to .github/workflows/FissionESLintFormat.yml
index 5cae0c1e66..38e3c55c2d 100644
--- a/.github/workflows/ESLintFormat.yml
+++ b/.github/workflows/FissionESLintFormat.yml
@@ -1,4 +1,4 @@
-name: Format Validation (ESLint)
+name: Fission
 
 on:
   workflow_dispatch: {}
@@ -9,7 +9,7 @@ on:
 
 jobs:
   runFormatValidationScript:
-    name: Run ESLint Format Validation
+    name: ESLint Format Validation
     runs-on: ubuntu-latest
     steps:
     - name: Checkout Code

From 7ab168edf6426ac3f8cca57e9dcc5b2db5e95c70 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:50:37 -0600
Subject: [PATCH 12/21] Fixed build errors and added build workflow

---
 .github/workflows/FissionPackage.yml          |  42 +++
 fission/package.json                          |   6 +-
 fission/src/App.css                           |  38 ---
 fission/src/App.tsx                           |   9 -
 fission/src/main.tsx                          |   1 -
 .../panels/information/ScoreboardPanel.tsx    |   2 +-
 fission/src/samples/JoltExample.tsx           |  26 +-
 fission/src/samples/ThreeExample.tsx          | 281 ------------------
 fission/src/util/threejs/MeshCreation.ts      |  36 +--
 fission/vite.config.ts                        |  13 +-
 10 files changed, 61 insertions(+), 393 deletions(-)
 create mode 100644 .github/workflows/FissionPackage.yml
 delete mode 100644 fission/src/App.css
 delete mode 100644 fission/src/App.tsx
 delete mode 100644 fission/src/samples/ThreeExample.tsx

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
new file mode 100644
index 0000000000..a6660b596c
--- /dev/null
+++ b/.github/workflows/FissionPackage.yml
@@ -0,0 +1,42 @@
+name: Fission
+
+on:
+  workflow_dispatch: {}
+  push:
+    branches: [ master, dev ]
+  pull-request:
+    branches: [ master, dev ]
+
+jobs:
+  runUnitTests:
+    name: Package
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v2
+    - name: JavaScript Setup
+      uses: actions/setup-node@v2
+      with:
+        node-version: 20
+
+    - name: Install Dependencies
+      run: |
+        cd fission
+        npm install
+
+    - name: Get package info
+      id: info
+      uses: codex-team/action-nodejs-package-info@v1.1
+
+    - name: Build
+      id: build
+      run: |
+        cd fission
+        npm run build
+
+    - name: Upload Artifact
+      uses: actions/upload-artifact@v4
+      id: upload-artifact
+      with:
+        name: "${{ steps.info.outputs.name }}@${{ steps.info.outputs.version }} [$(date +'%Y-%m-%dT%H:%M:%S')]"
+        path: "dist"
\ No newline at end of file
diff --git a/fission/package.json b/fission/package.json
index 66e49aa676..38bbaad6af 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -1,7 +1,7 @@
 {
-  "name": "vite-proj",
-  "private": true,
-  "version": "0.0.0",
+  "name": "synthesis-fission",
+  "private": false,
+  "version": "0.0.1",
   "type": "module",
   "scripts": {
     "dev": "vite",
diff --git a/fission/src/App.css b/fission/src/App.css
deleted file mode 100644
index 74b5e05345..0000000000
--- a/fission/src/App.css
+++ /dev/null
@@ -1,38 +0,0 @@
-.App {
-  text-align: center;
-}
-
-.App-logo {
-  height: 40vmin;
-  pointer-events: none;
-}
-
-@media (prefers-reduced-motion: no-preference) {
-  .App-logo {
-    animation: App-logo-spin infinite 20s linear;
-  }
-}
-
-.App-header {
-  background-color: #282c34;
-  min-height: 100vh;
-  display: flex;
-  flex-direction: column;
-  align-items: center;
-  justify-content: center;
-  font-size: calc(10px + 2vmin);
-  color: white;
-}
-
-.App-link {
-  color: #61dafb;
-}
-
-@keyframes App-logo-spin {
-  from {
-    transform: rotate(0deg);
-  }
-  to {
-    transform: rotate(360deg);
-  }
-}
diff --git a/fission/src/App.tsx b/fission/src/App.tsx
deleted file mode 100644
index 8df75375fe..0000000000
--- a/fission/src/App.tsx
+++ /dev/null
@@ -1,9 +0,0 @@
-import './App.css';
-import MyThree from './samples/JoltExample.tsx';
-
-function App() {
-
-	return <MyThree />;
-}
-
-export default App;
diff --git a/fission/src/main.tsx b/fission/src/main.tsx
index 9c32b6357b..e6f566189f 100644
--- a/fission/src/main.tsx
+++ b/fission/src/main.tsx
@@ -1,4 +1,3 @@
-import React from "react"
 import ReactDOM from "react-dom/client"
 import { Theme, ThemeProvider } from "./ThemeContext"
 import Synthesis from "./Synthesis"
diff --git a/fission/src/panels/information/ScoreboardPanel.tsx b/fission/src/panels/information/ScoreboardPanel.tsx
index 8dd07f1ec1..7aa21b3481 100644
--- a/fission/src/panels/information/ScoreboardPanel.tsx
+++ b/fission/src/panels/information/ScoreboardPanel.tsx
@@ -21,7 +21,7 @@ const ScoreboardPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     )
 
     useEffect(() => {
-        const interval: NodeJS.Timer = setInterval(() => {
+        const interval: NodeJS.Timeout = setInterval(() => {
             const elapsed = Math.round((Date.now() - startTime) / 1_000)
             if (initialTime > 0) {
                 if (elapsed <= initialTime) setTime(initialTime - elapsed)
diff --git a/fission/src/samples/JoltExample.tsx b/fission/src/samples/JoltExample.tsx
index 91aea2f9dd..130f4562e2 100644
--- a/fission/src/samples/JoltExample.tsx
+++ b/fission/src/samples/JoltExample.tsx
@@ -12,7 +12,7 @@ import Jolt from '@barclah/jolt-physics';
 import { mirabuf } from "../proto/mirabuf"
 import { LoadMirabufRemote } from '../mirabuf/MirabufLoader.ts';
 import { JoltVec3_ThreeVector3, JoltQuat_ThreeQuaternion } from '../util/TypeConversions.ts';
-import { COUNT_OBJECT_LAYERS, LAYER_MOVING, LAYER_NOT_MOVING, addToScene, removeFromScene } from '../util/threejs/MeshCreation.ts';
+import { COUNT_OBJECT_LAYERS, LAYER_MOVING, LAYER_NOT_MOVING } from '../util/threejs/MeshCreation.ts';
 import MirabufInstance from '../mirabuf/MirabufInstance.ts';
 import MirabufParser, { ParseErrorSeverity } from '../mirabuf/MirabufParser.ts';
 
@@ -26,8 +26,8 @@ let camera: THREE.PerspectiveCamera;
 let scene: THREE.Scene;
 
 let joltInterface: Jolt.JoltInterface;
-let physicsSystem: Jolt.PhysicsSystem;
-let bodyInterface: Jolt.BodyInterface;
+// let physicsSystem: Jolt.PhysicsSystem;
+// let bodyInterface: Jolt.BodyInterface;
 
 const dynamicObjects: THREE.Mesh[] = [];
 
@@ -63,8 +63,8 @@ function initPhysics() {
     joltInterface = new JOLT.JoltInterface(settings);
     JOLT.destroy(settings);
 
-    physicsSystem = joltInterface.GetPhysicsSystem();
-    bodyInterface = physicsSystem.GetBodyInterface();
+    // physicsSystem = joltInterface.GetPhysicsSystem();
+    // bodyInterface = physicsSystem.GetBodyInterface();
 }
 
 function initGraphics() {
@@ -115,20 +115,6 @@ function initGraphics() {
     // TODO: Add resize event
 }
 
-function createFloor(size = 50) {
-    const shape = new JOLT.BoxShape(new JOLT.Vec3(size, 0.5, size), 0.05, undefined);
-    const position = new JOLT.Vec3(0, -0.5, 0);
-    const rotation = new JOLT.Quat(0, 0, 0, 1);
-    const creationSettings = new JOLT.BodyCreationSettings(shape, position, rotation, JOLT.EMotionType_Static, LAYER_NOT_MOVING)
-    const body = bodyInterface.CreateBody(creationSettings);
-    JOLT.destroy(position);
-    JOLT.destroy(rotation);
-    JOLT.destroy(creationSettings);
-    addToScene(scene, body, new THREE.Color(0xc7c7c7), bodyInterface, dynamicObjects);
-
-    return body;
-}
-
 function updatePhysics(deltaTime: number) {
     // If below 55hz run 2 steps. Otherwise things run very slow.
     const numSteps = deltaTime > 1.0 / 55.0 ? 2 : 1;
@@ -169,7 +155,7 @@ function MyThree() {
     const urlParams = new URLSearchParams(document.location.search);
     let mira_path = MIRA_FILE;
 
-    urlParams.forEach((v, k, p) => console.debug(`${k}: ${v}`));
+    urlParams.forEach((v, k) => console.debug(`${k}: ${v}`));
 
     if (urlParams.has("mira")) {
         mira_path = `test_mira/${urlParams.get("mira")!}`;
diff --git a/fission/src/samples/ThreeExample.tsx b/fission/src/samples/ThreeExample.tsx
deleted file mode 100644
index d77663be5b..0000000000
--- a/fission/src/samples/ThreeExample.tsx
+++ /dev/null
@@ -1,281 +0,0 @@
-/**
- * This Example will be used not for the physics, but the rendering setup for ThreeJS.
- */
-
-// SOURCE: https://dev.to/omher/how-to-start-using-react-and-threejs-in-a-few-minutes-2h6g
-import * as THREE from "three";
-
-import { useEffect, useRef, useState } from "react";
-// import { wasmWrapper } from '../WasmWrapper.mjs';
-import React from "react";
-import * as AppTest from "../App.tsx";
-import DetailsPanel from "../components/Details.tsx";
-
-var staticCube: THREE.Mesh;
-var mainBar: THREE.Mesh;
-var lightBar: THREE.Mesh;
-var heavyBar: THREE.Mesh;
-
-var scene: THREE.Scene;
-
-var lastBallSpawned: number = Date.now();
-var lastFrameCheck: number = Date.now();
-var numFrames: number = 0;
-
-var balls: Array<[THREE.Mesh, number]> = new Array();
-
-var materials = [
-    new THREE.MeshPhongMaterial({
-        color: 0xe32b50,
-        shininess: 0.5,
-    }),
-    new THREE.MeshPhongMaterial({
-        color: 0x4ccf57,
-        shininess: 0.5,
-    }),
-    new THREE.MeshPhongMaterial({
-        color: 0xcf4cca,
-        shininess: 0.5,
-    }),
-    new THREE.MeshPhongMaterial({
-        color: 0x8c37db,
-        shininess: 0.5,
-    }),
-    new THREE.MeshPhongMaterial({
-        color: 0xbddb37,
-        shininess: 0.5,
-    })
-];
-
-var matIndex = 0;
-
-var physicsInit = false;
-
-var spawnBalls = true;
-
-function createBall(
-    radius: number,
-    position: THREE.Vector3,
-    velocity: THREE.Vector3,
-    restitution: number
-) {
-    matIndex++;
-    var ballGeo = new THREE.SphereGeometry(radius);
-    var mesh = new THREE.Mesh(ballGeo, materials[matIndex % materials.length]);
-    mesh.receiveShadow = true;
-    mesh.castShadow = true;
-    scene.add(mesh);
-    var phys = PhysicsManager.getInstance().makeBall(position, radius);
-    phys.setLinvel(velocity, true);
-    phys.collider(0).setRestitution(restitution);
-    balls.push([mesh, phys.handle]);
-}
-
-function createBox(
-    halfExtents: RAPIER.Vector3,
-    position: RAPIER.Vector3,
-    velocity: RAPIER.Vector3,
-    restitution: number
-) {
-    matIndex++;
-    var ballGeo = new THREE.BoxGeometry(halfExtents.x * 2.0, halfExtents.y * 2.0, halfExtents.z * 2.0);
-    var mesh = new THREE.Mesh(ballGeo, materials[matIndex % materials.length]);
-    mesh.receiveShadow = true;
-    mesh.castShadow = true;
-    scene.add(mesh);
-    var phys = PhysicsManager.getInstance().makeBox(position, halfExtents);
-    phys.setLinvel(velocity, true);
-    phys.collider(0).setRestitution(restitution);
-    balls.push([mesh, phys.handle]);
-}
-
-function makeStaticBox(position: THREE.Vector3, extents: THREE.Vector3) {
-    var groundGeo = new THREE.BoxGeometry(extents.x, extents.y, extents.z);
-    var groundMat = new THREE.MeshPhongMaterial({
-        color: 0xeeeeee,
-        shininess: 0.1,
-    });
-    var ground = new THREE.Mesh(groundGeo, groundMat);
-    ground.receiveShadow = true;
-    ground.position.set(position.x, position.y, position.z);
-
-    scene.add(ground);
-}
-
-function MyThree() {
-
-    const [ballCount, setBallCount] = useState<number>(0);
-    const [fps, setFps] = useState<number>(0.0);
-
-    const refContainer = useRef<HTMLDivElement>(null);
-    useEffect(() => {
-
-        console.log('MyThree effect');
-
-        // === THREE.JS CODE START ===
-        scene = new THREE.Scene();
-        var camera = new THREE.PerspectiveCamera(
-            75,
-            window.innerWidth / window.innerHeight,
-            0.1,
-            1000
-        );
-        var renderer = new THREE.WebGLRenderer();
-        renderer.setSize(window.innerWidth, window.innerHeight);
-        renderer.shadowMap.enabled = true;
-        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-        renderer.setClearColor(0x121212);
-
-        // document.body.appendChild( renderer.domElement );
-        // use ref as a mount point of the Three.js scene instead of the document.body
-        if (refContainer.current) {
-            refContainer.current.innerHTML = "";
-            refContainer.current.appendChild(renderer.domElement);
-            console.log("Added dom element");
-        }
-
-        // var geometry = new THREE.BoxGeometry(1.0, 1.0, 1.0);
-        // var material = new THREE.MeshPhongMaterial({
-        //     color: 0xe32b50,
-        //     shininess: 0.1,
-        // });
-
-        var [X, Y] = [30.0, 30.0];
-
-        makeStaticBox(new THREE.Vector3(0.0, -0.25, 0.0), new THREE.Vector3(X, 0.5, Y));
-        // makeStaticBox(new THREE.Vector3((-X / 2.0) + 0.25, -1.0, 0.0), new THREE.Vector3(0.5, 2.0, Y));
-        // makeStaticBox(new THREE.Vector3((X / 2.0) - 0.25, -1.0, 0.0), new THREE.Vector3(0.5, 2.0, Y));
-        // makeStaticBox(new THREE.Vector3(0.0, -1.0, (-Y / 2.0) + 0.25), new THREE.Vector3(X, 2.0, 0.5));
-        // makeStaticBox(new THREE.Vector3(0.0, -1.0, (Y / 2.0) - 0.25), new THREE.Vector3(X, 2.0, 0.5));
-
-        var directionalLight = new THREE.DirectionalLight(0xffffff, 3.0);
-        directionalLight.position.set(-1.0, 3.0, 2.0);
-        directionalLight.castShadow = true;
-
-        var ambientLight = new THREE.AmbientLight(0xffffff, 0.2);
-        scene.add(directionalLight, ambientLight);
-
-        camera.position.set(6.0, 5.0, 6.0);
-        camera.rotateY(3.14159 * 0.25);
-        camera.rotateX(-0.5);
-
-        var shadowMapSize = Math.min(1024, renderer.capabilities.maxTextureSize);
-        var shadowCamSize = 15;
-
-        // console.log(`Cam Top: ${directionalLight.shadow.camera.top}`);
-        // console.log(`Cam Bottom: ${directionalLight.shadow.camera.bottom}`);
-        // console.log(`Cam Left: ${directionalLight.shadow.camera.left}`);
-        // console.log(`Cam Right: ${directionalLight.shadow.camera.right}`);
-
-        directionalLight.shadow.camera.top = shadowCamSize;
-        directionalLight.shadow.camera.bottom = -shadowCamSize;
-        directionalLight.shadow.camera.left = -shadowCamSize;
-        directionalLight.shadow.camera.right = shadowCamSize;
-        directionalLight.shadow.mapSize = new THREE.Vector2(shadowMapSize, shadowMapSize);
-        directionalLight.shadow.blurSamples = 16;
-        directionalLight.shadow.normalBias = -0.05;
-
-        // directionalLight.shadow.camera = new THREE.OrthographicCamera()
-
-        // directionalLight.shadow.camera.position.copy(camera.position);
-        // directionalLight.shadow.camera.matrix.copy(camera.matrix);
-
-        var animate = function () {
-            requestAnimationFrame(animate);
-
-            // var pos: THREE.Vector3 = new THREE.Vector3();
-            // var rot: THREE.Quaternion = new THREE.Quaternion();
-            // var scale: THREE.Vector3 = new THREE.Vector3();
-
-            // ObjTransform.decompose(pos, rot, scale);
-
-            // cube.position.set(pos.x, pos.y, pos.z);
-            // cube.rotation.setFromQuaternion(rot);
-
-            renderer.render(scene, camera);
-        };
-        animate();
-    }, []);
-
-    useEffect(() => {
-        var frameReq: number | undefined = undefined;
-
-        async function physicsStuff() {
-            var update = function () {
-
-                var delta = Date.now() - lastFrameCheck;
-                lastFrameCheck = Date.now();
-                setFps(1000.0 / delta);
-
-                frameReq = requestAnimationFrame(update);
-                
-                if (spawnBalls && Date.now() - lastBallSpawned > 10) {
-                    lastBallSpawned = Date.now();
-
-                    var randPos = {
-                        x: Math.random() * 8.0 - 4.0,
-                        y: 10.0,
-                        z: Math.random() * 8.0 - 4.0
-                    }
-
-                    if (Math.random() > 0.3) {
-                        createBall(
-                            Math.random() * 0.3 + 0.1,
-                            randPos,
-                            new RAPIER.Vector3(
-                                Math.random() * 0.5 - 0.25,
-                                0.0,
-                                Math.random() * 0.5 - 0.25
-                            ),
-                            Math.random() * 0.3
-                        );
-                    } else {
-                        createBox(
-                            { x: 0.25, y: 0.25, z: 0.25 },
-                            randPos,
-                            { x: 0.0, y: 0.0, z: 0.0 },
-                            Math.random() * 0.3
-                        );
-                    }
-                    setBallCount(balls.length);
-
-                    if (balls.length % 200 == 0) {
-                        spawnBalls = false;
-                    }
-                }
-
-                PhysicsManager.getInstance().step(delta / 1000.0);
-
-                for (var i = 0; i < balls.length; i++) {
-                    var [mesh, handle] = balls[i];
-                    var body = PhysicsManager.getInstance().getBody(handle);
-
-                    (body) && Translations.loadMeshWithRigidbody(body, mesh);
-                }
-            };
-
-            frameReq = requestAnimationFrame(update);
-        }
-
-        physicsStuff();
-
-        return () => {
-            if (frameReq) {
-                cancelAnimationFrame(frameReq);
-                console.log("Canceling animation");
-            }
-            // wasmWrapper.coreDestroy();
-        };
-    }, []);
-
-    console.log('MyThree Component');
-
-    return (
-        <div>
-            <div ref={refContainer}></div>
-            < DetailsPanel ballCount={ballCount} fps={fps} toggleSpawning={() => { spawnBalls = !spawnBalls; }} />
-        </div>
-    );
-}
-
-export default MyThree;
diff --git a/fission/src/util/threejs/MeshCreation.ts b/fission/src/util/threejs/MeshCreation.ts
index 267a8ce542..3342d4898e 100644
--- a/fission/src/util/threejs/MeshCreation.ts
+++ b/fission/src/util/threejs/MeshCreation.ts
@@ -2,7 +2,6 @@ import JOLT from '../loading/JoltSyncLoader.ts';
 import Jolt from '@barclah/jolt-physics';
 import * as THREE from 'three';
 import { JoltVec3_ThreeVector3, JoltQuat_ThreeQuaternion } from '../TypeConversions.ts';
-import { Random } from '../Random.ts';
 
 export const LAYER_NOT_MOVING = 0;
 export const LAYER_MOVING = 1;
@@ -84,37 +83,4 @@ export function removeFromScene(scene: THREE.Scene, threeObject: THREE.Mesh, bod
 	scene.remove(threeObject);
 	const idx = dynamicObjects.indexOf(threeObject);
 	dynamicObjects.splice(idx, 1);
-}
-
-function getRandomQuat() {
-	const vec = new JOLT.Vec3(0.001 + Random(), Random(), Random());
-	const quat = JOLT.Quat.prototype.sRotation(vec.Normalized(), 2 * Math.PI * Random());
-	JOLT.destroy(vec);
-	return quat;
-}
-
-function makeRandomBox(scene: THREE.Scene, bodyInterface: Jolt.BodyInterface, dynamicObjects: THREE.Mesh[]) {
-    const pos = new JOLT.Vec3((Random() - 0.5) * 25, 15, (Random() - 0.5) * 25);
-    const rot = getRandomQuat();
-
-    const x = Random();
-    const y = Random();
-    const z = Random();
-    const size = new JOLT.Vec3(x, y, z);
-    const shape = new JOLT.BoxShape(size, 0.05, undefined);
-    const creationSettings = new JOLT.BodyCreationSettings(shape, pos, rot, JOLT.EMotionType_Dynamic, LAYER_MOVING);
-    creationSettings.mRestitution = 0.5;
-    const body = bodyInterface.CreateBody(creationSettings);
-
-    JOLT.destroy(pos);
-    JOLT.destroy(rot);
-    JOLT.destroy(size);
-
-    // I feel as though this object should be freed at this point but doing so will cause a crash at runtime.
-    // This is the only object where this happens. I'm not sure why. Seems problematic.
-    // Jolt.destroy(shape);
-
-    JOLT.destroy(creationSettings);
-
-    addToScene(scene, body, new THREE.Color(0xff0000), bodyInterface, dynamicObjects);
-}
+}
\ No newline at end of file
diff --git a/fission/vite.config.ts b/fission/vite.config.ts
index 0adffa11cd..b1e2517549 100644
--- a/fission/vite.config.ts
+++ b/fission/vite.config.ts
@@ -6,15 +6,18 @@ import { viteSingleFile } from 'vite-plugin-singlefile'
 // https://vitejs.dev/config/
 export default defineConfig({
   plugins: [react(), /* viteSingleFile() */],
-resolve: {
-    alias: [
-        { find: '@', replacement: path.resolve(__dirname, 'src') }
-    ]
-},
+  resolve: {
+      alias: [
+          { find: '@', replacement: path.resolve(__dirname, 'src') }
+      ]
+  },
   server: {    
     // this ensures that the browser opens upon server start
     open: true,
     // this sets a default port to 3000  
     port: 3000, 
+  },
+  build: {
+    target: 'esnext'
   }
 })

From eff65289f16a6f6bd8e1cd921dd130a475f40876 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:51:28 -0600
Subject: [PATCH 13/21] Typo

---
 .github/workflows/FissionPackage.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index a6660b596c..bcbd8fc8c3 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch: {}
   push:
     branches: [ master, dev ]
-  pull-request:
+  pull_request:
     branches: [ master, dev ]
 
 jobs:

From e8cdb20ad8c15a847fdb9e9467cdb9d8ae50bb52 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:53:52 -0600
Subject: [PATCH 14/21] Updated path

---
 .github/workflows/FissionPackage.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index bcbd8fc8c3..2149827cf9 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -27,6 +27,7 @@ jobs:
     - name: Get package info
       id: info
       uses: codex-team/action-nodejs-package-info@v1.1
+      path: "fission/"
 
     - name: Build
       id: build

From 39de2f5a58b62a7a55633c123a559bc2e38b9a32 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:55:15 -0600
Subject: [PATCH 15/21] Path fix again

---
 .github/workflows/FissionPackage.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index 2149827cf9..6126927eed 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -27,7 +27,8 @@ jobs:
     - name: Get package info
       id: info
       uses: codex-team/action-nodejs-package-info@v1.1
-      path: "fission/"
+      with:
+        path: fission/
 
     - name: Build
       id: build

From 08241ce8bb7672c21ba3085e34fa4d9b51636d90 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 00:57:00 -0600
Subject: [PATCH 16/21] Fixed another path

---
 .github/workflows/FissionPackage.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index 6126927eed..e9ae03f983 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -41,4 +41,4 @@ jobs:
       id: upload-artifact
       with:
         name: "${{ steps.info.outputs.name }}@${{ steps.info.outputs.version }} [$(date +'%Y-%m-%dT%H:%M:%S')]"
-        path: "dist"
\ No newline at end of file
+        path: fission/dist/
\ No newline at end of file

From 66faf3bea339e3ed81ddcfeff351944f9d29a6aa Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 01:04:10 -0600
Subject: [PATCH 17/21] Fixing date grabbing

---
 .github/workflows/FissionPackage.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index e9ae03f983..8fe6266598 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -19,6 +19,11 @@ jobs:
       with:
         node-version: 20
 
+    - name: Get date
+        id: date # this is used on variable path
+        run: |
+          echo "timestamp=$(date +'%Y-%m-%dT%H-%M-%S')" >> $GITHUB_OUTPUT
+
     - name: Install Dependencies
       run: |
         cd fission
@@ -40,5 +45,5 @@ jobs:
       uses: actions/upload-artifact@v4
       id: upload-artifact
       with:
-        name: "${{ steps.info.outputs.name }}@${{ steps.info.outputs.version }} [$(date +'%Y-%m-%dT%H:%M:%S')]"
+        name: "${{ steps.info.outputs.name }}@${{ steps.info.outputs.version }}[${{ steps.date.outputs.timestamp }}]"
         path: fission/dist/
\ No newline at end of file

From 50a77afc91fc3f8be16b2751da7f403f0e07f51e Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 01:05:13 -0600
Subject: [PATCH 18/21] Syntax error

---
 .github/workflows/FissionPackage.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index 8fe6266598..edaaf5bb34 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -20,9 +20,9 @@ jobs:
         node-version: 20
 
     - name: Get date
-        id: date # this is used on variable path
-        run: |
-          echo "timestamp=$(date +'%Y-%m-%dT%H-%M-%S')" >> $GITHUB_OUTPUT
+      id: date # this is used on variable path
+      run: |
+        echo "timestamp=$(date +'%Y-%m-%dT%H-%M-%S')" >> $GITHUB_OUTPUT
 
     - name: Install Dependencies
       run: |

From 824a3a5311e76f4e776fb84e7832d80e7afef7ce Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 01:15:06 -0600
Subject: [PATCH 19/21] Removing the workflow to be triggered on prs

---
 .github/workflows/FissionPackage.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index edaaf5bb34..2272d8fb21 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -3,9 +3,7 @@ name: Fission
 on:
   workflow_dispatch: {}
   push:
-    branches: [ master, dev ]
-  pull_request:
-    branches: [ master, dev ]
+    branches: [ master ]
 
 jobs:
   runUnitTests:

From e2e2bd4086aaa8816913becee8df5cf15a70e4a6 Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 01:19:34 -0600
Subject: [PATCH 20/21] Fixing syntax issue

---
 .github/workflows/FissionPackage.yml                        | 2 +-
 .github/workflows/{FissionBuild.yml => FissionUnitTest.yml} | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename .github/workflows/{FissionBuild.yml => FissionUnitTest.yml} (100%)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index 2272d8fb21..58593ad47a 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -3,7 +3,7 @@ name: Fission
 on:
   workflow_dispatch: {}
   push:
-    branches: [ master ]
+    branches: [ master, dev ]
 
 jobs:
   runUnitTests:
diff --git a/.github/workflows/FissionBuild.yml b/.github/workflows/FissionUnitTest.yml
similarity index 100%
rename from .github/workflows/FissionBuild.yml
rename to .github/workflows/FissionUnitTest.yml

From f733dcd0ad436e85375c7feed1973a96c405ffbb Mon Sep 17 00:00:00 2001
From: KyroVibe <hunter.barclay18@gmail.com>
Date: Tue, 19 Mar 2024 01:20:16 -0600
Subject: [PATCH 21/21] Reverting to previous fix

---
 .github/workflows/FissionPackage.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/FissionPackage.yml b/.github/workflows/FissionPackage.yml
index 58593ad47a..2272d8fb21 100644
--- a/.github/workflows/FissionPackage.yml
+++ b/.github/workflows/FissionPackage.yml
@@ -3,7 +3,7 @@ name: Fission
 on:
   workflow_dispatch: {}
   push:
-    branches: [ master, dev ]
+    branches: [ master ]
 
 jobs:
   runUnitTests: