Merge pull request 'physicsOverhaul4' (#2) from physicsOverhaul4 into master

Reviewed-on: https://git.austinwhoover.com/studiorailgun/Renderer/pulls/2

assets/Data/creatures/human.json

@@ -127,8 +127,8 @@
             "movementSystems" : [
                 {
                     "type" : "GROUND",
-                    "acceleration" : 100.0,
-                    "maxVelocity" : 3.5,
+                    "acceleration" : 5000.0,
+                    "maxVelocity" : 500.5,
                     "animationStartup" : {
                         "name" : "Jog",
                         "length" : 1,
@@ -161,8 +161,8 @@
                 },
                 {
                     "type" : "JUMP",
-                    "jumpFrames" : 30,
-                    "jumpForce" : 0.05,
+                    "jumpFrames" : 3,
+                    "jumpForce" : 1000,
                     "animationJump" : {
                         "name" : "Jump",
                         "length" : 1,
@@ -274,7 +274,7 @@
                 "rotZ": 0,
                 "rotW": 1,
                 "offsetX" : 0,
-                "offsetY" : 0.45,
+                "offsetY" : 0.4,
                 "offsetZ" : 0
             },
             "attackMoves" : [

buildNumber.properties

@@ -1,3 +1,3 @@
 #maven.buildNumber.plugin properties file
-#Thu Mar 21 19:58:26 EDT 2024
-buildNumber=79
+#Sat Mar 23 16:53:49 EDT 2024
+buildNumber=80

docs/src/highlevel-design/economics/economicsindex.md

@@ -0,0 +1,6 @@
+@page economicsindex Economics
+
+[TOC]
+- @subpage merchantguilds
+- @subpage ports
+

docs/src/highlevel-design/economics/merchantguilds.md

@@ -0,0 +1,8 @@
+@page merchantguilds Merchant Guilds
+
+What function do they provide?
+
+How are they physically represented?
+
+Where do you go to start one?
+

docs/src/highlevel-design/economics/ports.md

@@ -0,0 +1,10 @@
+@page ports Ports
+
+Buying boats
+
+Selling boats
+
+Queueing shipping voyages
+
+Portmaster's Building
+

docs/src/highlevel-design/highleveldesignindex.md

@@ -14,4 +14,6 @@ Discussion of, at a high game-design level, how everything should work and conne
 - @subpage itemsindex
 - @subpage puzzleindex
 - @subpage fluidindex
-- @subpage locomotion
+- @subpage locomotion
+- @subpage economicsindex
+- @subpage structuresandbuildings

docs/src/highlevel-design/locations/biomeideas.md

@@ -21,6 +21,7 @@
  - Overgrown (dense)
  - Mushroom
  - Jungle
+ - Giant Frozen Taiga (supermassive snow covered pine trees, snow permanently on ground)
 
 ## Rolling Hills
 

docs/src/highlevel-design/locations/biomesindex.md

@@ -3,4 +3,5 @@
 [TOC]
  - @subpage biomeideas
  - @subpage largelocationideas
- - @subpage macrolocationideas
+ - @subpage macrolocationideas
+ - @subpage smalllocations

docs/src/highlevel-design/locations/smalllocations.md

@@ -0,0 +1,42 @@
+@page smalllocations Small Locations
+
+Little locations to provide immediate points of interest for the player to spring between
+
+## Puzzle teleporters
+
+## Shrines, torii, etc
+ - Churches, monestaries, etc that provide resting places for traveleers
+ - Taverns
+
+## Outposts, Observation Posts
+
+## Bandit Camps
+
+## Small cave networks
+
+## Grottos
+
+## Plant bundles/collection points
+Berry bushes
+Clusters of ferns
+Fruit trees
+
+## Wild animal packs
+Herds like cows, deer, horses
+Communal hunters like wolves
+Solitary animals like bears
+
+## Ore veins
+
+## Mazes full of minotaur
+
+## Crypts
+
+## Ruins
+
+## Obelisks
+
+## Magical Anomalies
+
+## Natural crafting stations
+

docs/src/highlevel-design/macrosimulation/macrosimtimeline.md

@@ -1,8 +1,10 @@
 @page macrosimtimeline Macro Simulation Timeline
 
+## Origins
+
 ## Age of Gods
 
-## First Interregnum
+## Interregnum
 
 ## Age of Exploration
 

docs/src/highlevel-design/puzzles/puzzleideas.md

@@ -8,4 +8,9 @@ Use spring to launch object into target
 
 Correctly ordering blocks to press a button
 
-Maze that uses teleportation spell to confuse in three dimensions
+Maze that uses teleportation spell to confuse in three dimensions
+
+Maze on the ceiling to navigate invisible platforms
+
+Pendulums to carry ball to switch that it opens a door with
+

docs/src/highlevel-design/structures/structuresandbuildings.md

@@ -5,4 +5,6 @@ For this, I think we're going to try for 0.25 meter cube voxels in a separate me
 0.25 meter cubed voxels are going to be 256kb/chunk uncompressed. That's 250mb/1000 chunks
 
 Problems to be solved:
-LOD alongside terrain marching cubes
+LOD alongside terrain marching cubes
+
+When in building mode, have the ability to place 'parts', ie a section of wall, a section of roof, a beam, etc

docs/src/progress/renderertodo.md

@@ -179,6 +179,9 @@ Fix Frustum Culling for skybox
 
 Fix Character creation preview not working
 
+(03/23/2024)
+Physics-controlled objects system
+
 
 # TODO
 
@@ -190,8 +193,6 @@ Level loading/saving + Basic Editor
    - Menu of types of entities to spawn
    - Button to spawn them at cursor
 
-Physics-controlled objects system
-
 Shader library system
  - Abiltiy to include the shader library in individual files (ie implement #include)
    

src/main/java/electrosphere/client/fluid/cells/FluidCellManager.java

@@ -52,7 +52,7 @@ public class FluidCellManager {
     int drawStepdownInterval = 3;
     int drawStepdownValue = 25;
 
-    double drawRadius = 200;
+    double drawRadius = 50;
     
     int physicsRadius = 3;
     

src/main/java/electrosphere/client/scene/ClientSceneWrapper.java

@@ -64,6 +64,15 @@ public class ClientSceneWrapper {
         return serverToClientIdMap.get(serverId);
     }
 
+    /**
+     * Checks if the scene wrapper contains the provided server id
+     * @param serverId The server id
+     * @return true if the map contains that id, false otherwise
+     */
+    public boolean containsServerId(int serverId){
+        return serverToClientIdMap.containsKey(serverId);
+    }
+
 
     /**
      * Returns true if the server->client map contains a given id

src/main/java/electrosphere/client/sim/ClientSimulation.java

@@ -1,6 +1,8 @@
 package electrosphere.client.sim;
 
 import electrosphere.client.targeting.crosshair.Crosshair;
+import electrosphere.collision.PhysicsEntityUtils;
+import electrosphere.collision.PhysicsUtils;
 import electrosphere.engine.Globals;
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
@@ -25,6 +27,7 @@ public class ClientSimulation {
     public void simulate(){
         //simulate bullet physics engine step
         Globals.clientSceneWrapper.getCollisionEngine().simulatePhysics((float)Globals.timekeeper.getSimFrameTime());
+        Globals.clientSceneWrapper.getCollisionEngine().updateDynamicObjectTransforms();
         //update actor animations
         for(Entity currentEntity : Globals.clientSceneWrapper.getScene().getEntitiesWithTag(EntityTags.DRAWABLE)){
             Actor currentActor = EntityUtils.getActor(currentEntity);

src/main/java/electrosphere/collision/CollisionBodyCreation.java

@@ -14,6 +14,7 @@ import org.ode4j.ode.DBox;
 import org.ode4j.ode.DCylinder;
 import org.ode4j.ode.DSphere;
 import org.ode4j.ode.DTriMesh;
+import org.ode4j.ode.OdeHelper;
 
 import electrosphere.entity.types.terrain.TerrainChunkData;
 
@@ -80,6 +81,29 @@ public class CollisionBodyCreation {
         return collisionEngine.createDBody(geom);
     }
 
+    /**
+     * Sets the provided body to be a kinematic body (no gravity applied)
+     * @param collisionEngine The collision engine
+     * @param body The body
+     */
+    public static void setKinematic(CollisionEngine collisionEngine, DBody body){
+        collisionEngine.setKinematic(body);
+    }
+
+    /**
+     * Sets the gravity mode of the body
+     * @param collisionEngine the collision engine
+     * @param body the body
+     * @param gravityMode the gravity mode value
+     */
+    public static void setGravityMode(CollisionEngine collisionEngine, DBody body, boolean gravityMode){
+        collisionEngine.setGravityMode(body, gravityMode);
+    }
+
+    public static void addMass(CollisionEngine collisionEngine, DBody body){
+        
+    }
+
     
     /**
      * Creates an ode DBody from a terrain chunk data object

src/main/java/electrosphere/collision/CollisionEngine.java

@@ -43,10 +43,12 @@ import org.ode4j.ode.DSphere;
 import org.ode4j.ode.DTriMesh;
 import org.ode4j.ode.DTriMeshData;
 import org.ode4j.ode.DWorld;
+import org.ode4j.ode.OdeConstants;
 import org.ode4j.ode.OdeHelper;
 
 import electrosphere.collision.RayCastCallback.RayCastCallbackData;
 import electrosphere.collision.collidable.Collidable;
+import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
@@ -71,7 +73,7 @@ public class CollisionEngine {
     private static Semaphore spaceLock = new Semaphore(1);
     private DJointGroup contactgroup;
 
-    private static final int MAX_CONTACTS = 1;		// maximum number of contact points per body
+    private static final int MAX_CONTACTS = 10;		// maximum number of contact points per body
 
     //The list of dbodies ode should be tracking
     List<DBody> bodies = new ArrayList<DBody>();
@@ -91,6 +93,7 @@ public class CollisionEngine {
     public CollisionEngine(){
         world = OdeHelper.createWorld();
         space = OdeHelper.createBHVSpace(Collidable.TYPE_STATIC_BIT);
+        world.setGravity(0,-3,0);
         contactgroup = OdeHelper.createJointGroup();
     }
 
@@ -210,9 +213,11 @@ public class CollisionEngine {
      */
     public void simulatePhysics(float time){
         spaceLock.acquireUninterruptibly();
-		space.collide(0,nearCallback);
+        OdeHelper.spaceCollide(space, 0, nearCallback);
         // space.collide2(space, collisionWorldData, nearCallback);
-		// world.quickStep(ENGINE_STEP_SIZE);
+
+        //simulate physics
+		world.quickStep(ENGINE_STEP_SIZE);
 
 		// remove all contact joints
 		contactgroup.empty();
@@ -247,12 +252,13 @@ public class CollisionEngine {
 		DContactBuffer contacts = new DContactBuffer(MAX_CONTACTS);   // up to MAX_CONTACTS contacts per box-box
 		for (int i=0; i<MAX_CONTACTS; i++) {
 			DContact contact = contacts.get(i);
-			contact.surface.mode = dContactBounce | dContactSoftCFM;
-			contact.surface.mu = dInfinity;
-			contact.surface.mu2 = 0;
-			contact.surface.bounce = 0.1;
-			contact.surface.bounce_vel = 0.1;
-			contact.surface.soft_cfm = 0.01;
+			contact.surface.mode = OdeConstants.dContactApprox1 & OdeConstants.dContactRolling;//dContactBounce | dContactSoftCFM;
+			contact.surface.mu = 10;
+            // contact.surface.mu = dInfinity;
+			// contact.surface.mu2 = 0;
+			// contact.surface.bounce = 0.1;
+			// contact.surface.bounce_vel = 0.1;
+			// contact.surface.soft_cfm = 0.01;
 		}
         if(
             bodyPointerMap.get(b1) != null &&
@@ -367,12 +373,12 @@ public class CollisionEngine {
      * Main function to resynchronize entity positions with physics object positions after impulses are applied.
      */
     public void updateDynamicObjectTransforms(){
+        spaceLock.acquireUninterruptibly();
         for(Collidable collidable : collidableList){
             if(collidable.getParentTracksCollidable()){
                 Entity physicsEntity = collidable.getParent();
                 DBody rigidBody = (DBody)physicsEntity.getData(EntityDataStrings.PHYSICS_COLLISION_BODY);
-                Matrix4d transform = PhysicsEntityUtils.getEntityCollidableTransform(physicsEntity);
-                Matrix4d inverseTransform = transform.invert();
+                Matrix4d inverseTransform = new Matrix4d();
                 Vector4d rawPos = inverseTransform.transform(new Vector4d(PhysicsUtils.getRigidBodyPosition(rigidBody),1));
                 Vector3d newPosition = new Vector3d(rawPos.x,rawPos.y,rawPos.z);
                 Quaterniond newRotation = PhysicsUtils.getRigidBodyRotation(rigidBody);
@@ -380,6 +386,7 @@ public class CollisionEngine {
                 EntityUtils.getRotation(physicsEntity).set(newRotation);
             }
         }
+        spaceLock.release();
     }
     
     public void registerCollisionObject(DBody body, Collidable collidable){
@@ -638,7 +645,7 @@ public class CollisionEngine {
     protected DMass createDMass(double massValue, DBody body){
         spaceLock.acquireUninterruptibly();
         DMass mass = OdeHelper.createMass();
-        body.setMass(mass);
+        mass.setMass(massValue);
         spaceLock.release();
         return mass;
     }
@@ -723,5 +730,14 @@ public class CollisionEngine {
         body.setKinematic();
         spaceLock.release();
     }
+
+    /**
+     * Sets the gravity mode of the body
+     * @param body the body
+     * @param gravityMode the gravity mode
+     */
+    protected void setGravityMode(DBody body, boolean gravityMode){
+        body.setGravityMode(gravityMode);
+    }
     
 }

src/main/java/electrosphere/collision/PhysicsEntityUtils.java

@@ -5,6 +5,7 @@ import org.joml.Matrix4f;
 import org.joml.Vector3d;
 import org.joml.Vector3f;
 import org.ode4j.ode.DBody;
+import org.ode4j.ode.DCylinder;
 import org.ode4j.ode.DTriMesh;
 
 import electrosphere.collision.collidable.Collidable;
@@ -44,6 +45,8 @@ public class PhysicsEntityUtils {
                     physicsTemplate.getDimension2(),
                     Collidable.TYPE_CREATURE_BIT
                 );
+                DCylinder cylinder = (DCylinder)rigidBody.getGeomIterator().next();
+                cylinder.setOffsetPosition(physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ());
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ClientCollidableTree tree = new ClientCollidableTree(rVal,collidable,rigidBody);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
@@ -51,7 +54,6 @@ public class PhysicsEntityUtils {
                     physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ(), //translate
                     physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW() //rotate
                 );
-                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
                 rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
@@ -59,13 +61,6 @@ public class PhysicsEntityUtils {
 
                 scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
                 rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-                //inertia tensor
-                //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-                inertiaTensor = new Matrix4f();
-                inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-                inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-                inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-                rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
 
                 Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable);
                 Globals.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE);
@@ -84,7 +79,6 @@ public class PhysicsEntityUtils {
                     physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW(), //rotate
                     1, 1, 1 //scale
                 );
-                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
                 rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
@@ -92,10 +86,6 @@ public class PhysicsEntityUtils {
 
                 scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
                 rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-                //inertia tensor
-                //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-                inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-                rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
 
                 Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable);
                 Globals.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE);
@@ -111,7 +101,7 @@ public class PhysicsEntityUtils {
      * @param physicsTemplate The collidable template
      */
     public static void serverAttachCollidableTemplate(Realm realm, Entity rVal, CollidableTemplate physicsTemplate){
-        DBody rigidBody;
+        DBody rigidBody = null;
         Collidable collidable;
         float mass = 1.0f;
         Matrix4f inertiaTensor;
@@ -124,23 +114,23 @@ public class PhysicsEntityUtils {
                     physicsTemplate.getDimension2(),
                     Collidable.TYPE_CREATURE_BIT
                 );
+                DCylinder cylinder = (DCylinder)rigidBody.getGeomIterator().next();
+                cylinder.setOffsetPosition(physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ());
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,rigidBody);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
-                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
+                Matrix4d offsetTransform = new Matrix4d().translationRotateScale(
+                    physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ(), //translate
+                    physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW(), //rotate
+                    1, 1, 1 //scale
+                );
+                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
                 rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
                 rVal.putData(EntityDataStrings.SERVER_COLLIDABLE_TREE, tree);
 
                 scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
                 rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-                //inertia tensor
-                //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-                inertiaTensor = new Matrix4f();
-                inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-                inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-                inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-                rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
 
                 realm.getCollisionEngine().registerCollisionObject(rigidBody, collidable);
                 ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
@@ -150,17 +140,18 @@ public class PhysicsEntityUtils {
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,rigidBody);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
-                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
+                Matrix4d offsetTransform = new Matrix4d().translationRotateScale(
+                    physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ(), //translate
+                    physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW(), //rotate
+                    1, 1, 1 //scale
+                );
+                rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
                 rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
                 rVal.putData(EntityDataStrings.SERVER_COLLIDABLE_TREE, tree);
 
                 scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
                 rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-                //inertia tensor
-                //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-                inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-                rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
 
                 realm.getCollisionEngine().registerCollisionObject(rigidBody, collidable);
                 ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
@@ -175,6 +166,7 @@ public class PhysicsEntityUtils {
      * [CLIENT ONLY] Attaches a heightmap dbody to an entity
      * @param terrain The terrain entity
      * @param heightfield The heightfield values
+     * 
      * @return The DBody created
      */
     public static DBody clientAttachTerrainRigidBody(Entity terrain, CollisionEngine collisionEngine, float[][] heightfield){
@@ -256,6 +248,8 @@ public class PhysicsEntityUtils {
     public static DBody clientAttachTerrainChunkRigidBody(Entity terrain, TerrainChunkData data){
         Vector3d position = EntityUtils.getPosition(terrain);
         DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(Globals.clientSceneWrapper.getCollisionEngine(), data,Collidable.TYPE_STATIC_BIT);
+        CollisionBodyCreation.setKinematic(Globals.clientSceneWrapper.getCollisionEngine(), terrainBody);
+        CollisionBodyCreation.setGravityMode(Globals.clientSceneWrapper.getCollisionEngine(), terrainBody, false);
         
         
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainBody, new Collidable(terrain,Collidable.TYPE_TERRAIN));
@@ -275,6 +269,8 @@ public class PhysicsEntityUtils {
         Vector3d position = EntityUtils.getPosition(terrain);
         Realm terrainRealm = Globals.realmManager.getEntityRealm(terrain);
         DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(terrainRealm.getCollisionEngine(),data,Collidable.TYPE_STATIC_BIT);
+        CollisionBodyCreation.setKinematic(terrainRealm.getCollisionEngine(), terrainBody);
+        CollisionBodyCreation.setGravityMode(terrainRealm.getCollisionEngine(), terrainBody, false);
         
         terrainRealm.getCollisionEngine().registerCollisionObject(terrainBody, new Collidable(terrain,Collidable.TYPE_TERRAIN));
         terrain.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, terrainBody);
@@ -290,5 +286,14 @@ public class PhysicsEntityUtils {
     public static Matrix4d getEntityCollidableTransform(Entity entity){
         return (Matrix4d) entity.getData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM);
     }
+
+    /**
+     * Gets the DBody attached to an entity
+     * @param entity the entity
+     * @return The dbody if it exists, null otherwise
+     */
+    public static DBody getDBody(Entity entity){
+        return (DBody)entity.getData(EntityDataStrings.PHYSICS_COLLISION_BODY);
+    }
     
 }

src/main/java/electrosphere/controls/ControlHandler.java

@@ -81,7 +81,7 @@ import electrosphere.controls.Control.ControlType;
 import electrosphere.engine.Globals;
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.attack.AttackTree;
 import electrosphere.entity.state.attack.ShooterTree;
 import electrosphere.entity.state.equip.EquipState;

src/main/java/electrosphere/engine/loadingthreads/ArenaLoading.java

@@ -7,11 +7,13 @@ import org.joml.Vector3d;
 
 import electrosphere.engine.Globals;
 import electrosphere.engine.assetmanager.AssetDataStrings;
+import electrosphere.entity.ClientEntityUtils;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.ServerEntityUtils;
+import electrosphere.entity.types.object.ObjectUtils;
 import electrosphere.game.server.world.ServerWorldData;
 import electrosphere.logger.LoggerInterface;
 import electrosphere.server.content.ServerContentManager;
@@ -225,6 +227,9 @@ public class ArenaLoading {
                 //         }
                 // }});
         
+                // Entity crateEntity = ObjectUtils.clientSpawnBasicObject("crateWooden");
+                // ClientEntityUtils.initiallyPositionEntity(crateEntity, new Vector3d(5,5,5));
+                // ObjectUtils.serverSpawnBasicObject(Globals.realmManager.getRealms().iterator().next(),new Vector3d(5,5,5),"crateWooden");
                 
         
                 // DebugVisualizerUtils.spawnVectorVisualizer(new Vector3d(0,0,0), new Vector3d(-1,-1,-1));

src/main/java/electrosphere/engine/loadingthreads/ClientLoading.java

@@ -25,7 +25,7 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.movement.ApplyRotationTree;
 import electrosphere.entity.types.camera.CameraEntityUtils;
 import electrosphere.entity.types.tree.ProceduralTree;

src/main/java/electrosphere/entity/EntityDataStrings.java

@@ -118,12 +118,10 @@ public class EntityDataStrings {
     Physics Entity
     */
     public static final String PHYSICS_COLLISION_BODY = "physicsRigidBody";
-    public static final String PHYSICS_COLLISION_BODY_OFFSET = "physicsRigidBodyOffset";
     public static final String PHYSICS_COLLISION_BODY_TRANSFORM = "physicsRigidBodyTransform"; // the transform matrix from origin of entity to origin of physics body
     public static final String PHYSICS_COLLIDABLE = "physicsCollidable";
     public static final String PHYSICS_MODEL_TEMPLATE = "physicsModelTemplate";
     public static final String PHYSICS_MASS = "physicsMass";
-    public static final String PHYSICS_INVERSE_INERTIA_TENSOR = "physicsInverseInertiaTensor";
     public static final String PHYSICS_ENGINE_AUTHORITATIVE_TRANSFORM = "physicsEngineAuthoritativeTransform"; // The physics engine is authoritative abound transforms of object (eg position, rotation)
     
     /*

src/main/java/electrosphere/entity/Scene.java

@@ -1,7 +1,7 @@
 package electrosphere.entity;
 
 import electrosphere.engine.Globals;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.attach.AttachUtils;
 import electrosphere.logger.LoggerInterface;
 

src/main/java/electrosphere/entity/ServerEntityUtils.java

@@ -68,7 +68,7 @@ public class ServerEntityUtils {
         //     Globals.drawCellManager.setCellY(Globals.clientPlayerData.getWorldPos().z);
         // }
         //reposition entity
-        CollisionObjUtils.serverPositionCharacter(entity, Globals.spawnPoint);
+        CollisionObjUtils.serverPositionCharacter(entity, position);
     }
 
 }

src/main/java/electrosphere/entity/btree/BehaviorTree.java

@@ -1,4 +1,4 @@
-package electrosphere.entity.state;
+package electrosphere.entity.btree;
 
 /**
  * A behavior tree

src/main/java/electrosphere/entity/state/ParticleTree.java

@@ -3,6 +3,7 @@ package electrosphere.entity.state;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
+import electrosphere.entity.btree.BehaviorTree;
 
 import org.joml.Vector3d;
 import org.joml.Vector3f;

src/main/java/electrosphere/entity/state/ambientaudio/ClientAmbientAudioTree.java

@@ -8,7 +8,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.game.data.foliage.type.AmbientAudio;
 
 /**

src/main/java/electrosphere/entity/state/attack/AttackTree.java

@@ -7,7 +7,7 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.ServerEntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.equip.EquipState;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree;

src/main/java/electrosphere/entity/state/attack/ServerAttackTree.java

@@ -7,7 +7,7 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.ServerEntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.equip.EquipState;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree;

src/main/java/electrosphere/entity/state/attack/ShooterTree.java

@@ -6,7 +6,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.entity.types.projectile.ProjectileUtils;
 import electrosphere.server.datacell.Realm;

src/main/java/electrosphere/entity/state/collidable/ClientCollidableTree.java

@@ -15,7 +15,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.gravity.ClientGravityTree;
 import electrosphere.entity.types.collision.CollisionObjUtils;
 import electrosphere.entity.types.item.ItemUtils;
@@ -31,13 +31,9 @@ public class ClientCollidableTree implements BehaviorTree {
     //the ode body for this collidable tree
     DBody body;
     Collidable collidable;
-    Quaterniond angularVelocity = new Quaterniond(0,0,0,0);
-    Vector4d cumulativeTorque = new Vector4d(0,0,0,0);
 
     boolean applyImpulses = true;
     
-    static final float DELTA_T = 0.01f;
-
     public ClientCollidableTree(Entity e, Collidable collidable, DBody body){
         parent = e;
         this.collidable = collidable;
@@ -56,7 +52,6 @@ public class ClientCollidableTree implements BehaviorTree {
     public void simulate(float deltaTime){
         Vector3d position = EntityUtils.getPosition(parent);
         Quaterniond rotation = EntityUtils.getRotation(parent);
-        Matrix4f inverseInertiaTensor = CollisionObjUtils.getInverseInertiaTensor(parent);
         Vector3d offsetVector = new Vector3d();
         Vector3d newPosition = new Vector3d(position);
         //have we hit a terrain impulse?
@@ -81,151 +76,18 @@ public class ClientCollidableTree implements BehaviorTree {
                     ClientGravityTree.getClientGravityTree(parent).start();
                 }
             }
-            if(
-                impulse.getCollisionPoint().length() > 0 &&
-                !Double.isNaN(impulse.getCollisionPoint().x) && 
-                !Double.isNaN(impulse.getCollisionPoint().y) && 
-                !Double.isNaN(impulse.getCollisionPoint().z) && 
-                !Double.isNaN(impulse.getDirection().x) &&
-                !Double.isNaN(impulse.getDirection().y) &&
-                !Double.isNaN(impulse.getDirection().z) &&
-                ItemUtils.isItem(parent)
-            ){
-                // Vector3d collisionPoint = new Vector3d(impulse.getCollisionPoint()).normalize();
-                Vector3d collisionPoint = new Vector3d(impulse.getWorldPoint()).sub(position);
-                Vector3d forceDir = new Vector3d(impulse.getDirection()).normalize();
-                Vector3d torqueVec = new Vector3d(collisionPoint).cross(forceDir).normalize();
-                // double torqueMag = Math.abs(impulse.force);
-                double torqueMag = Math.sqrt(impulse.getCollisionPoint().length()) * impulse.getForce();
-                if(impulse.getType().equals(Collidable.TYPE_TERRAIN)){
-                    torqueMag = torqueMag * 3;
-                }
-                    torqueMag = torqueMag * 10;
-                // } else {
-                //     torqueMag = 0;
-                // }
-                // if(impulse.type.matches(Collidable.TYPE_ITEM) && ItemUtils.isItem(parent)){
-                //     // System.out.println(rotation);
-                //     if(impulse.collisionPoint.x < 0){
-                //         // System.out.println("Impulse collision point: " + impulse.getCollisionPoint() + " direction: " + impulse.getDirection() + " => " + new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                //         cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                //     }
-                // } else {
-                //     // angularVelocity.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()),1.0);
-                //     cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                // }
-                if(impulse.type.matches(Collidable.TYPE_CREATURE)){
-                    // System.out.println("Impulse: " + impulse.getCollisionPoint() + " x " + impulse.getDirection() + " ->f " + impulse.force);
-                    // incrementer++;
-                    // if(incrementer > 5){
-                    //     Globals.microSimulation.freeze();
-                    // } else if(incrementer <= 5){
-                    //     // Globals.controlHandler.showMouse();
-                        // Vector3d pos = impulse.getWorldPoint();
-                    //     // pos = new Vector3d(position).add(impulse.getCollisionPoint()).mul(1,0,1);
-                        // DebugVisualizerUtils.spawnVectorVisualizer(impulse.getWorldPoint(), new Vector3d(torqueVec));
-                    // }
-                    // System.out.println("Impulse: " + torqueVec + " " + torqueMag);
-                }
-                // if(CreatureUtils.isCreature(parent) && forceDir.y < 0.5){
-                //     System.out.println(collisionPoint + " x " + forceDir + " => " + torqueVec + " " + torqueMag);
-                // }
-                Quaterniond impulseRotation = new Quaterniond().rotationAxis(torqueMag * DELTA_T,torqueVec.x,torqueVec.y,torqueVec.z);
-                if(angularVelocity.lengthSquared() > 0.001){
-                    angularVelocity.mul(impulseRotation);
-                } else {
-                    angularVelocity.set(impulseRotation);
-                }
-                // angularVelocity.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
-                // cumulativeTorque.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
-            }
-            offsetVector.add(impulseForce);
         }
-        // if(ItemUtils.isItem(parent) && cumulativeTorque.w > 0.001){
-        //     System.out.println(cumulativeTorque);
-        // }
-        //friction
-        // if(angularVelocity.lengthSquared() > 0.001){
-        //     angularVelocity.slerp(new Quaterniond(0,0,0,1), 0.03);
-        //     // angularVelocity.scale((float)(Math.sqrt(angularVelocity.lengthSquared()) * 0.9));
-        //     // System.out.println(angularVelocity);
-        // }
-        // // if(cumulativeTorque.w > 0.001){
-        // //     Vector4f holder = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.y,(float)cumulativeTorque.z,(float)cumulativeTorque.w));
-        // //     cumulativeTorque = new Vector4d(holder.x,holder.y,holder.z,holder.w);
-        // //     angularVelocity = angularVelocity.add(cumulativeTorque).normalize();
-        // //     cumulativeTorque.set(0,0,0,0);
-        // // //     Vector3d normalizedTorqueDir = new Vector3d(cumulativeTorque.x,cumulativeTorque.y,cumulativeTorque.z).normalize();
-        // // //     double newMag = cumulativeTorque.w * 0.9;
-        // // //     cumulativeTorque.set(normalizedTorqueDir.x,normalizedTorqueDir.y,normalizedTorqueDir.z,newMag);
-        // // }
-        // if(angularVelocity.lengthSquared() > 0.001){
-        //     // System.out.println("-" + rotation);
-        //     Quaterniond newRotation = new Quaterniond(rotation).mul(angularVelocity).normalize();
-        //     // if(new Quaternionf(newRotation).add(new Quaternionf(rotation).conjugate()).lengthSquared() > 0.2){
-        //     //     newRotation.w = Math.copySign(newRotation.w, rotation.w);
-        //     //     newRotation.x = Math.copySign(newRotation.x, rotation.x);
-        //     //     newRotation.y = Math.copySign(newRotation.y, rotation.y);
-        //     //     newRotation.z = Math.copySign(newRotation.z, rotation.z);
-        //     // }
-        //     rotation.set(newRotation);
-        //     // System.out.println("=" + rotation);
-        // }
-        // if(inverseInertiaTensor != null && angularVelocity.w > 0.01){
-        //     // Vector4f angularMomentum = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.w));
-        //     // Quaternionf nextRotation = new Quaternionf(rotation).mul(new Quaternionf(angularMomentum.x,angularMomentum.y,angularMomentum.z,angularMomentum.w).scale(0.001f)).normalize();
-        //     // rotation = nextRotation;
-        //     // rotation.mul(new Quaternionf((float)angularMomentum.x,(float)angularMomentum.y,(float)angularMomentum.z,(float)angularMomentum.w / 0.01f));
-        //     // if(ItemUtils.isItem(parent)){
-        //     //     System.out.println("cumulative quat: " + cumulativeTorque);
-        //     // }
-        //     rotation.x = rotation.x + rotation.x * (float)(angularVelocity.x * angularVelocity.w) * 0.01f;
-        //     rotation.y = rotation.y + rotation.y * (float)(angularVelocity.y * angularVelocity.w) * 0.01f;
-        //     rotation.z = rotation.z + rotation.z * (float)(angularVelocity.z * angularVelocity.w) * 0.01f;
-        //     rotation.w = 1;
-        //     // rotation.w = rotation.w + rotation.w * (float)cumulativeTorque.w * 0.001f;
-        //     rotation.normalize();
-        // }
-        
-        //the reasoning here is that if we have something above something else and it's pushing it into the terrain,
-        //we should instead just not push into terrain and push along terrain
-        if(hitTerrain && offsetVector.y < 0){
-            offsetVector.y = 0;
+        //bound to world bounds
+        if(newPosition.x < Globals.clientWorldData.getWorldBoundMin().x){
+            newPosition.x = Globals.clientWorldData.getWorldBoundMin().x;
         }
-        
-        //make sure we're in a valid (World bounds) position
-        if(applyImpulses){
-            newPosition.add(offsetVector);
+        if(newPosition.y < Globals.clientWorldData.getWorldBoundMin().y){
+            newPosition.y = Globals.clientWorldData.getWorldBoundMin().y;
         }
-        if(!Globals.clientSceneWrapper.getCollisionEngine().checkCanOccupyPosition(Globals.commonWorldData, parent, newPosition)){
-            newPosition = Globals.clientSceneWrapper.getCollisionEngine().suggestMovementPosition(Globals.commonWorldData, parent, newPosition);
+        if(newPosition.z < Globals.clientWorldData.getWorldBoundMin().z){
+            newPosition.z = Globals.clientWorldData.getWorldBoundMin().z;
         }
-        position.set(newPosition);
-        
-        //update collision engine of this thing's position
-        CollidableTemplate template = (CollidableTemplate)parent.getData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE);
-        Matrix4d physicsBodyTransform = PhysicsEntityUtils.getEntityCollidableTransform(parent);
-        Vector3f parentScale = EntityUtils.getScale(parent);
-        Matrix4d parentTransform = new Matrix4d();
-        // calculate new transform for current entity
-        parentTransform.identity()
-            .translate(position)
-            .rotate(rotation)
-            .scale(parentScale.x,parentScale.y,parentScale.z)
-            .mul(physicsBodyTransform);
-        //transform bone space
-        Vector4d rigidBodyPositionRaw = parentTransform.transform(new Vector4d(0,0,0,1));
-        Vector3d rigidBodyPosition = new Vector3d(rigidBodyPositionRaw.x,rigidBodyPositionRaw.y,rigidBodyPositionRaw.z);
-        Quaterniond rigidBodyRotation = parentTransform.getUnnormalizedRotation(new Quaterniond()).normalize();
-        Vector3d rigidBodyScale = new Vector3d(parentScale);
-        PhysicsUtils.setRigidBodyTransform(
-            Globals.clientSceneWrapper.getCollisionEngine(),
-            template,
-            rigidBodyPosition,
-            rigidBodyRotation,
-            rigidBodyScale,
-            body
-        );
+        PhysicsUtils.setRigidBodyTransform(Globals.clientSceneWrapper.getCollisionEngine(), newPosition, rotation, body);
     }
     
     /**
@@ -237,10 +99,6 @@ public class ClientCollidableTree implements BehaviorTree {
         this.body = body;
         this.collidable = collidable;
     }
-    
-    public double getAngularVelocityMagnitude(){
-        return angularVelocity.lengthSquared();
-    }
 
     public static boolean hasClientCollidableTree(Entity e){
         return e.containsKey(EntityDataStrings.CLIENT_COLLIDABLE_TREE);

src/main/java/electrosphere/entity/state/collidable/ServerCollidableTree.java

@@ -6,7 +6,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.gravity.ServerGravityTree;
 import electrosphere.entity.types.collision.CollisionObjUtils;
 import electrosphere.entity.types.creature.CreatureUtils;
@@ -14,6 +14,7 @@ import electrosphere.entity.types.debug.DebugVisualizerUtils;
 import electrosphere.entity.types.item.ItemUtils;
 import electrosphere.game.data.collidable.CollidableTemplate;
 import electrosphere.server.datacell.Realm;
+import electrosphere.server.datacell.utils.DataCellSearchUtils;
 
 import org.joml.Matrix4f;
 import org.joml.Quaterniond;
@@ -33,12 +34,8 @@ public class ServerCollidableTree implements BehaviorTree {
     Entity parent;
     DBody body;
     Collidable collidable;
-    Quaterniond angularVelocity = new Quaterniond(0,0,0,0);
-    Vector4d cumulativeTorque = new Vector4d(0,0,0,0);
-
     boolean applyImpulses = true;
     
-    static final float DELTA_T = 0.01f;
 
     public ServerCollidableTree(Entity e, Collidable collidable, DBody body){
         parent = e;
@@ -58,7 +55,6 @@ public class ServerCollidableTree implements BehaviorTree {
     public void simulate(float deltaTime){
         Vector3d position = EntityUtils.getPosition(parent);
         Quaterniond rotation = EntityUtils.getRotation(parent);
-        Matrix4f inverseInertiaTensor = CollisionObjUtils.getInverseInertiaTensor(parent);
         Vector3d offsetVector = new Vector3d();
         Vector3d newPosition = new Vector3d(position);
         //have we hit a terrain impulse?
@@ -66,7 +62,6 @@ public class ServerCollidableTree implements BehaviorTree {
         //handle impulses
         for(Impulse impulse : collidable.getImpulses()){
 //            collidable.getImpulses().remove(impulse);
-            Vector3d impulseForce = new Vector3d(impulse.getDirection()).mul(impulse.getForce());
             if(impulse.type.matches(Collidable.TYPE_TERRAIN)){
                 hitTerrain = true;
             //    System.out.println("Impulse force: " + impulseForce);
@@ -83,136 +78,19 @@ public class ServerCollidableTree implements BehaviorTree {
                     ServerGravityTree.getServerGravityTree(parent).start();
                 }
             }
-            if(
-                impulse.getCollisionPoint().length() > 0 &&
-                !Double.isNaN(impulse.getCollisionPoint().x) && 
-                !Double.isNaN(impulse.getCollisionPoint().y) && 
-                !Double.isNaN(impulse.getCollisionPoint().z) && 
-                !Double.isNaN(impulse.getDirection().x) &&
-                !Double.isNaN(impulse.getDirection().y) &&
-                !Double.isNaN(impulse.getDirection().z) &&
-                ItemUtils.isItem(parent)
-            ){
-                // Vector3d collisionPoint = new Vector3d(impulse.getCollisionPoint()).normalize();
-                Vector3d collisionPoint = new Vector3d(impulse.getWorldPoint()).sub(position);
-                Vector3d forceDir = new Vector3d(impulse.getDirection()).normalize();
-                Vector3d torqueVec = new Vector3d(collisionPoint).cross(forceDir).normalize();
-                // double torqueMag = Math.abs(impulse.force);
-                double torqueMag = Math.sqrt(impulse.getCollisionPoint().length()) * impulse.getForce();
-                if(impulse.getType().equals(Collidable.TYPE_TERRAIN)){
-                    torqueMag = torqueMag * 3;
-                }
-                    torqueMag = torqueMag * 10;
-                // } else {
-                //     torqueMag = 0;
-                // }
-                // if(impulse.type.matches(Collidable.TYPE_ITEM) && ItemUtils.isItem(parent)){
-                //     // System.out.println(rotation);
-                //     if(impulse.collisionPoint.x < 0){
-                //         // System.out.println("Impulse collision point: " + impulse.getCollisionPoint() + " direction: " + impulse.getDirection() + " => " + new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                //         cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                //     }
-                // } else {
-                //     // angularVelocity.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()),1.0);
-                //     cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
-                // }
-                if(impulse.type.matches(Collidable.TYPE_CREATURE)){
-                    // System.out.println("Impulse: " + impulse.getCollisionPoint() + " x " + impulse.getDirection() + " ->f " + impulse.force);
-                    // incrementer++;
-                    // if(incrementer > 5){
-                    //     Globals.microSimulation.freeze();
-                    // } else if(incrementer <= 5){
-                    //     // Globals.controlHandler.showMouse();
-                        // Vector3d pos = impulse.getWorldPoint();
-                    //     // pos = new Vector3d(position).add(impulse.getCollisionPoint()).mul(1,0,1);
-                        // DebugVisualizerUtils.spawnVectorVisualizer(impulse.getWorldPoint(), new Vector3d(torqueVec));
-                    // }
-                    // System.out.println("Impulse: " + torqueVec + " " + torqueMag);
-                }
-                // if(CreatureUtils.isCreature(parent) && forceDir.y < 0.5){
-                //     System.out.println(collisionPoint + " x " + forceDir + " => " + torqueVec + " " + torqueMag);
-                // }
-                Quaterniond impulseRotation = new Quaterniond().rotationAxis(torqueMag * DELTA_T,torqueVec.x,torqueVec.y,torqueVec.z);
-                if(angularVelocity.lengthSquared() > 0.001){
-                    angularVelocity.mul(impulseRotation);
-                } else {
-                    angularVelocity.set(impulseRotation);
-                }
-                // angularVelocity.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
-                // cumulativeTorque.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
-            }
-            offsetVector.add(impulseForce);
         }
-        // if(ItemUtils.isItem(parent) && cumulativeTorque.w > 0.001){
-        //     System.out.println(cumulativeTorque);
-        // }
-        //friction
-        if(angularVelocity.lengthSquared() > 0.001){
-            angularVelocity.slerp(new Quaterniond(0,0,0,1), 0.03);
-            // angularVelocity.scale((float)(Math.sqrt(angularVelocity.lengthSquared()) * 0.9));
-            // System.out.println(angularVelocity);
+        Realm realm = Globals.realmManager.getEntityRealm(parent);
+        //bound to world bounds
+        if(newPosition.x < Globals.serverWorldData.getWorldBoundMin().x){
+            newPosition.x = Globals.serverWorldData.getWorldBoundMin().x;
         }
-        // if(cumulativeTorque.w > 0.001){
-        //     Vector4f holder = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.y,(float)cumulativeTorque.z,(float)cumulativeTorque.w));
-        //     cumulativeTorque = new Vector4d(holder.x,holder.y,holder.z,holder.w);
-        //     angularVelocity = angularVelocity.add(cumulativeTorque).normalize();
-        //     cumulativeTorque.set(0,0,0,0);
-        // //     Vector3d normalizedTorqueDir = new Vector3d(cumulativeTorque.x,cumulativeTorque.y,cumulativeTorque.z).normalize();
-        // //     double newMag = cumulativeTorque.w * 0.9;
-        // //     cumulativeTorque.set(normalizedTorqueDir.x,normalizedTorqueDir.y,normalizedTorqueDir.z,newMag);
-        // }
-        if(angularVelocity.lengthSquared() > 0.001){
-            // System.out.println("-" + rotation);
-            Quaterniond newRotation = new Quaterniond(rotation).mul(angularVelocity).normalize();
-            // if(new Quaternionf(newRotation).add(new Quaternionf(rotation).conjugate()).lengthSquared() > 0.2){
-            //     newRotation.w = Math.copySign(newRotation.w, rotation.w);
-            //     newRotation.x = Math.copySign(newRotation.x, rotation.x);
-            //     newRotation.y = Math.copySign(newRotation.y, rotation.y);
-            //     newRotation.z = Math.copySign(newRotation.z, rotation.z);
-            // }
-            rotation.set(newRotation);
-            // System.out.println("=" + rotation);
+        if(newPosition.y < Globals.serverWorldData.getWorldBoundMin().y){
+            newPosition.y = Globals.serverWorldData.getWorldBoundMin().y;
         }
-        // if(inverseInertiaTensor != null && angularVelocity.w > 0.01){
-        //     // Vector4f angularMomentum = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.w));
-        //     // Quaternionf nextRotation = new Quaternionf(rotation).mul(new Quaternionf(angularMomentum.x,angularMomentum.y,angularMomentum.z,angularMomentum.w).scale(0.001f)).normalize();
-        //     // rotation = nextRotation;
-        //     // rotation.mul(new Quaternionf((float)angularMomentum.x,(float)angularMomentum.y,(float)angularMomentum.z,(float)angularMomentum.w / 0.01f));
-        //     // if(ItemUtils.isItem(parent)){
-        //     //     System.out.println("cumulative quat: " + cumulativeTorque);
-        //     // }
-        //     rotation.x = rotation.x + rotation.x * (float)(angularVelocity.x * angularVelocity.w) * 0.01f;
-        //     rotation.y = rotation.y + rotation.y * (float)(angularVelocity.y * angularVelocity.w) * 0.01f;
-        //     rotation.z = rotation.z + rotation.z * (float)(angularVelocity.z * angularVelocity.w) * 0.01f;
-        //     rotation.w = 1;
-        //     // rotation.w = rotation.w + rotation.w * (float)cumulativeTorque.w * 0.001f;
-        //     rotation.normalize();
-        // }
-        
-        //the reasoning here is that if we have something above something else and it's pushing it into the terrain,
-        //we should instead just not push into terrain and push along terrain
-        if(hitTerrain && offsetVector.y < 0){
-            offsetVector.y = 0;
+        if(newPosition.z < Globals.serverWorldData.getWorldBoundMin().z){
+            newPosition.z = Globals.serverWorldData.getWorldBoundMin().z;
         }
-        
-        //make sure we're in a valid (World bounds) position
-        if(applyImpulses){
-            newPosition.add(offsetVector);
-        }
-        Realm parentRealm = Globals.realmManager.getEntityRealm(parent);
-        if(!parentRealm.getCollisionEngine().checkCanOccupyPosition(Globals.commonWorldData, parent, newPosition)){
-            newPosition = parentRealm.getCollisionEngine().suggestMovementPosition(Globals.commonWorldData, parent, newPosition);
-        }
-        position.set(newPosition);
-        
-        //update collision engine of this thing's position
-        CollidableTemplate template = (CollidableTemplate)parent.getData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE);
-        PhysicsUtils.setRigidBodyTransform(
-            parentRealm.getCollisionEngine(),
-            new Vector3d(position.x + template.getOffsetX(),position.y + template.getOffsetY(),position.z + template.getOffsetZ()),
-            rotation,
-            body
-        );
+        PhysicsUtils.setRigidBodyTransform(realm.getCollisionEngine(), newPosition, rotation, body);
     }
     
     
@@ -226,10 +104,6 @@ public class ServerCollidableTree implements BehaviorTree {
         this.collidable = collidable;
     }
     
-    public double getAngularVelocityMagnitude(){
-        return angularVelocity.lengthSquared();
-    }
-
     public static boolean hasServerCollidableTree(Entity e){
         return e.containsKey(EntityDataStrings.SERVER_COLLIDABLE_TREE);
     }

src/main/java/electrosphere/entity/state/foliage/AmbientFoliage.java

@@ -7,7 +7,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.camera.CameraEntityUtils;
 
 /**

src/main/java/electrosphere/entity/state/gravity/ClientGravityTree.java

@@ -18,7 +18,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.ClientCollidableTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.movement.FallTree;
@@ -48,9 +48,6 @@ public class ClientGravityTree implements BehaviorTree {
     int frameCurrent = 0;
     int fallFrame = 1;
     
-    float gravityVelocity = 0;
-    float gravityAccel = 0.0007f;
-    
     DBody body;
     Collidable collidable;
     
@@ -112,34 +109,6 @@ public class ClientGravityTree implements BehaviorTree {
             collidableTree = ClientCollidableTree.getClientCollidableTree(parent);
         }
 
-        //parse attached network messages
-//        for(EntityMessage message : networkMessageQueue){
-//            networkMessageQueue.remove(message);
-////            System.out.println("MOVE to " + message.getX() + " " + message.getY() + " " + message.getZ());
-//            switch(message.getMessageSubtype()){
-//                case ATTACKUPDATE:
-//                    switch(message.gettreeState()){
-//                     case 0:
-//                            state = IdleTreeState.IDLE;
-//                            break;
-//                        case 1:
-//                            state = IdleTreeState.NOT_IDLE;
-//                            break;
-//                    }
-//                    EntityUtils.getPosition(parent).set(message.getpositionX(),message.getpositionY(),message.getpositionZ());
-//                    CreatureUtils.setMovementVector(parent, new Vector3f(message.getrotationX(),message.getrotationY(),message.getrotationZ()));
-//                    break;
-//            }
-//        }
-
-        //Basically if we're still spinning keep applying gravity
-        boolean angularVelocityLow = true;
-        if(collidableTree != null){
-            if(collidableTree.getAngularVelocityMagnitude() > 0.0001){
-                angularVelocityLow = false;
-            }
-        }
-
         
         //state machine
         switch(state){
@@ -158,7 +127,6 @@ public class ClientGravityTree implements BehaviorTree {
                         fallTree.land();
                     }
                     frameCurrent = 0;
-                    gravityVelocity = 0;
                 } else {
                     //animation nonsense
                     frameCurrent++;
@@ -169,32 +137,6 @@ public class ClientGravityTree implements BehaviorTree {
                         }
                     }
 
-                    //actual gravity calculations
-                    if(gravityVelocity < gravityConstant){
-                        gravityVelocity = gravityVelocity + gravityAccel;
-                    }
-                    if(gravityVelocity > gravityConstant){
-                        gravityVelocity = gravityConstant;
-                    }
-                    float gravityDif = gravityVelocity * (float)Math.pow(1.0f - linearDamping,deltaTime * 2);
-                    // Vector3d newGravityPos = new Vector3d(position.x,position.y - gravityDif,position.z);
-                    // Entity terrainHit = Globals.clientSceneWrapper.getCollisionEngine().rayCast(
-                    //     position,
-                    //     new Vector3d(0,-1,0),
-                    //     gravityDif,
-                    //     CollisionMasks.terrainMask
-                    // );
-                    // float hitFraction = Globals.clientSceneWrapper.getCollisionEngine().sweepTest(body, new Vector3f((float)position.x,(float)position.y,(float)position.z), new Vector3f((float)newGravityPos.x,(float)newGravityPos.y,(float)newGravityPos.z));
-//                    if(hitFraction >= 0){
-//                        collidable.addImpulse(new Impulse(new Vector3d(0,-1,0),gravityDif * hitFraction,"gravity"));
-//                        position.set(new Vector3d(position.x,position.y - gravityDif * hitFraction,position.z));
-//                    } else {
-//                        position.set(new Vector3d(position.x,position.y - gravityDif,position.z));
-//                    }
-                    // if(hitFraction < 0){
-                    //     hitFraction = 1;
-                    // }
-                    collidable.addImpulse(new Impulse(new Vector3d(0,-1,0), new Vector3d(0,0,0), new Vector3d(position), gravityDif,"gravity"));
                 }
                 break;
             case NOT_ACTIVE:

src/main/java/electrosphere/entity/state/gravity/ServerGravityTree.java

@@ -21,7 +21,7 @@ import electrosphere.collision.collidable.Collidable;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.collidable.ServerCollidableTree;
 import electrosphere.entity.state.gravity.ClientGravityTree.GravityTreeState;
@@ -46,9 +46,6 @@ public class ServerGravityTree implements BehaviorTree {
     int frameCurrent = 0;
     int fallFrame = 1;
     
-    float gravityVelocity = 0;
-    float gravityAccel = 0.0007f;
-    
     DBody body;
     Collidable collidable;
     
@@ -130,23 +127,12 @@ public class ServerGravityTree implements BehaviorTree {
 //            }
 //        }
 
-        //Basically if we're still spinning keep applying gravity
-        boolean angularVelocityLow = true;
-        if(collidableTree != null){
-            if(collidableTree.getAngularVelocityMagnitude() > 0.0001){
-                angularVelocityLow = false;
-            }
-        }
-
         
         //state machine
         switch(state){
             case ACTIVE:
                 if(hadGroundCollision()){
                     setState(GravityTreeState.NOT_ACTIVE);
-                    if(!hadStructureCollision()){
-//                        position.set(new Vector3d(position.x,Globals.commonWorldData.getElevationAtPoint(position) + 0.0001f,position.z));
-                    }
                     ServerJumpTree jumpTree;
                     if((jumpTree = ServerJumpTree.getServerJumpTree(parent))!=null){
                         jumpTree.land();
@@ -156,7 +142,6 @@ public class ServerGravityTree implements BehaviorTree {
                         fallTree.land();
                     }
                     frameCurrent = 0;
-                    gravityVelocity = 0;
                 } else {
                     //animation nonsense
                     frameCurrent++;
@@ -166,28 +151,6 @@ public class ServerGravityTree implements BehaviorTree {
                             fallTree.start();
                         }
                     }
-
-                    //actual gravity calculations
-                    if(gravityVelocity < gravityConstant){
-                        gravityVelocity = gravityVelocity + gravityAccel;
-                    }
-                    if(gravityVelocity > gravityConstant){
-                        gravityVelocity = gravityConstant;
-                    }
-                    float gravityDif = gravityVelocity * (float)Math.pow(1.0f - linearDamping,deltaTime * 2);
-                    // Vector3d newGravityPos = new Vector3d(position.x,position.y - gravityDif,position.z);
-                    // Realm parentRealm = Globals.realmManager.getEntityRealm(parent);
-                    // float hitFraction = parentRealm.getCollisionEngine().sweepTest(body, new Vector3f((float)position.x,(float)position.y,(float)position.z), new Vector3f((float)newGravityPos.x,(float)newGravityPos.y,(float)newGravityPos.z));
-//                    if(hitFraction >= 0){
-//                        collidable.addImpulse(new Impulse(new Vector3d(0,-1,0),gravityDif * hitFraction,"gravity"));
-//                        position.set(new Vector3d(position.x,position.y - gravityDif * hitFraction,position.z));
-//                    } else {
-//                        position.set(new Vector3d(position.x,position.y - gravityDif,position.z));
-//                    }
-                    // if(hitFraction < 0){
-                    //     hitFraction = 1;
-                    // }
-                    collidable.addImpulse(new Impulse(new Vector3d(0,-1,0), new Vector3d(0,0,0), new Vector3d(position), gravityDif,"gravity"));
                 }
                 break;
             case NOT_ACTIVE:

src/main/java/electrosphere/entity/state/idle/IdleTree.java

@@ -2,16 +2,16 @@ package electrosphere.entity.state.idle;
 
 
 import electrosphere.net.synchronization.BehaviorTreeIdEnums;
-
-import electrosphere.entity.state.BehaviorTree;
 import electrosphere.entity.state.attack.AttackTree;
 import electrosphere.entity.state.movement.AirplaneMovementTree;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree.MovementTreeState;
+import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.net.synchronization.annotation.SyncedField;
 import electrosphere.net.synchronization.annotation.SynchronizableEnum;

src/main/java/electrosphere/entity/state/idle/ServerIdleTree.java

@@ -1,6 +1,5 @@
 package electrosphere.entity.state.idle;
 
-import electrosphere.entity.state.BehaviorTree;
 import electrosphere.entity.state.attack.ServerAttackTree;
 import electrosphere.entity.state.attack.ServerAttackTree.AttackTreeState;
 import electrosphere.entity.state.idle.IdleTree.IdleTreeState;
@@ -11,6 +10,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.net.parser.net.message.EntityMessage;
 import electrosphere.net.parser.net.message.SynchronizationMessage;

src/main/java/electrosphere/entity/state/inventory/InventoryState.java

@@ -5,7 +5,7 @@ import java.util.concurrent.CopyOnWriteArrayList;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.equip.EquipState;
 import electrosphere.entity.types.item.ItemUtils;
 import electrosphere.game.data.creature.type.equip.EquipPoint;

src/main/java/electrosphere/entity/state/inventory/ServerInventoryState.java

@@ -5,7 +5,7 @@ import java.util.concurrent.CopyOnWriteArrayList;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.equip.EquipState;
 import electrosphere.entity.types.item.ItemUtils;
 import electrosphere.game.data.creature.type.equip.EquipPoint;

src/main/java/electrosphere/entity/state/ironsight/IronSightTree.java

@@ -5,7 +5,7 @@ import org.joml.Vector3f;
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.camera.CameraEntityUtils;
 
 public class IronSightTree implements BehaviorTree {

src/main/java/electrosphere/entity/state/life/LifeState.java

@@ -8,7 +8,7 @@ import electrosphere.engine.Globals;
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.game.data.creature.type.CreatureType;
 import electrosphere.game.data.creature.type.HealthSystem;

src/main/java/electrosphere/entity/state/movement/AirplaneMovementTree.java

@@ -12,7 +12,7 @@ import electrosphere.engine.Globals;
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.types.camera.CameraEntityUtils;
 import electrosphere.entity.types.creature.CreatureUtils;

src/main/java/electrosphere/entity/state/movement/ApplyRotationTree.java

@@ -5,7 +5,7 @@ import org.joml.Quaternionf;
 
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 
 public class ApplyRotationTree implements BehaviorTree {
     

src/main/java/electrosphere/entity/state/movement/FallTree.java

@@ -3,7 +3,7 @@ package electrosphere.entity.state.movement;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.renderer.actor.Actor;
 
 public class FallTree implements BehaviorTree {

src/main/java/electrosphere/entity/state/movement/JumpTree.java

@@ -1,12 +1,16 @@
 package electrosphere.entity.state.movement;
 
 import org.joml.Vector3d;
+import org.ode4j.math.DVector3C;
+import org.ode4j.ode.DBody;
 
+import electrosphere.collision.PhysicsEntityUtils;
+import electrosphere.collision.PhysicsUtils;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.gravity.GravityUtils;
 import electrosphere.entity.types.collision.CollisionObjUtils;
@@ -40,12 +44,12 @@ public class JumpTree implements BehaviorTree {
     }
 
     public void start(){
-        if(state == JumpState.INACTIVE){
+        // if(state == JumpState.INACTIVE){
             state = JumpState.ACTIVE;
             currentFrame = 0;
             currentJumpForce = jumpForce;
             GravityUtils.clientAttemptActivateGravity(parent);
-        }
+        // }
     }
 
     @Override
@@ -62,8 +66,12 @@ public class JumpTree implements BehaviorTree {
             }
             currentFrame++;
             currentJumpForce = currentJumpForce * jumpFalloff;
+            //stop body falling if it is
+            DBody body = PhysicsEntityUtils.getDBody(parent);
+            DVector3C linearVelocity = body.getLinearVel();
+            body.setLinearVel(linearVelocity.get0(), 0, linearVelocity.get2());
             //push parent up
-            CollisionObjUtils.getCollidable(parent).addImpulse(new Impulse(new Vector3d(0,1,0), new Vector3d(0,0,0), new Vector3d(EntityUtils.getPosition(parent)), currentJumpForce, Collidable.TYPE_FORCE));
+            body.addForce(0, currentJumpForce, 0);
             //potentially disable
             if(currentFrame >= jumpFrames){
                 state = JumpState.AWAITING_LAND;

src/main/java/electrosphere/entity/state/movement/ProjectileTree.java

@@ -7,7 +7,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.server.datacell.utils.ServerBehaviorTreeUtils;
 
 public class ProjectileTree implements BehaviorTree {

src/main/java/electrosphere/entity/state/movement/ServerFallTree.java

@@ -3,7 +3,7 @@ package electrosphere.entity.state.movement;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.renderer.actor.Actor;
 
 public class ServerFallTree implements BehaviorTree {

src/main/java/electrosphere/entity/state/movement/ServerJumpTree.java

@@ -1,12 +1,15 @@
 package electrosphere.entity.state.movement;
 
 import org.joml.Vector3d;
+import org.ode4j.math.DVector3C;
+import org.ode4j.ode.DBody;
 
+import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.gravity.GravityUtils;
 import electrosphere.entity.types.collision.CollisionObjUtils;
@@ -62,8 +65,12 @@ public class ServerJumpTree implements BehaviorTree {
             }
             currentFrame++;
             currentJumpForce = currentJumpForce * jumpFalloff;
+            //stop body falling if it is
+            DBody body = PhysicsEntityUtils.getDBody(parent);
+            DVector3C linearVelocity = body.getLinearVel();
+            body.setLinearVel(linearVelocity.get0(), 0, linearVelocity.get2());
             //push parent up
-            CollisionObjUtils.getCollidable(parent).addImpulse(new Impulse(new Vector3d(0,1,0), new Vector3d(0,0,0), new Vector3d(EntityUtils.getPosition(parent)), currentJumpForce, Collidable.TYPE_FORCE));
+            body.addForce(0, currentJumpForce, 0);
             //potentially disable
             if(currentFrame >= jumpFrames){
                 state = JumpState.AWAITING_LAND;

src/main/java/electrosphere/entity/state/movement/ServerSprintTree.java

@@ -2,7 +2,7 @@ package electrosphere.entity.state.movement;
 
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.movement.groundmove.ServerGroundMovementTree;
 import electrosphere.entity.state.movement.groundmove.ServerGroundMovementTree.MovementTreeState;
 

src/main/java/electrosphere/entity/state/movement/SprintTree.java

@@ -2,7 +2,7 @@ package electrosphere.entity.state.movement;
 
 import electrosphere.engine.Main;
 import electrosphere.entity.Entity;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree;
 import electrosphere.entity.state.movement.groundmove.GroundMovementTree.MovementTreeState;
 

src/main/java/electrosphere/entity/state/movement/groundmove/GroundMovementTree.java

@@ -4,16 +4,19 @@ import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.gravity.ClientGravityTree;
 import electrosphere.entity.state.gravity.GravityUtils;
 import electrosphere.collision.CollisionEngine;
+import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.PhysicsUtils;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.engine.Globals;
 import electrosphere.engine.Main;
 import electrosphere.entity.types.camera.CameraEntityUtils;
+import electrosphere.entity.types.collision.CollisionObjUtils;
 import electrosphere.entity.types.creature.CreatureUtils;
+import electrosphere.entity.ClientEntityUtils;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.attack.AttackTree;
 import electrosphere.entity.state.attack.AttackTree.AttackTreeState;
 import electrosphere.entity.state.movement.FallTree;
@@ -35,6 +38,9 @@ import org.joml.Quaterniond;
 import org.joml.Quaternionf;
 import org.joml.Vector3d;
 import org.joml.Vector3f;
+import org.ode4j.math.DVector3;
+import org.ode4j.math.DVector3C;
+import org.ode4j.ode.DBody;
 
 /*
 Behavior tree for movement in an entity
@@ -162,6 +168,8 @@ public class GroundMovementTree implements BehaviorTree {
         Vector3d position = EntityUtils.getPosition(parent);
         Vector3d facingVector = CreatureUtils.getFacingVector(parent);
         Vector3d movementVector = new Vector3d(facingVector);
+        DBody body = PhysicsEntityUtils.getDBody(parent);
+        DVector3C linearVelocity = body.getLinearVel();
         switch(facing){
             case FORWARD:
             movementVector.normalize();
@@ -193,6 +201,11 @@ public class GroundMovementTree implements BehaviorTree {
 //        float movementYaw = CameraEntityUtils.getCameraYaw(Globals.playerCamera);
         Quaterniond movementQuaternion = new Quaterniond().rotationTo(new Vector3d(0,0,1), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
         Quaterniond rotation = EntityUtils.getRotation(parent);
+        //TODO: optimize away and document (I know for the moment if this exception isn't here it will bite me in the ass later)
+        if(facingVector.length() == 0){
+            throw new IllegalStateException("Facing vector length is 0. This will break ODE4J");
+        }
+        rotation.set(movementQuaternion);
         
         //parse attached network messages
         for(EntityMessage message : networkMessageQueue){
@@ -239,6 +252,7 @@ public class GroundMovementTree implements BehaviorTree {
                         // }
                         //we want to always update the server facing vector with where the client says they're facing
                         EntityUtils.getRotation(parent).set(message.getrotationX(),message.getrotationY(),message.getrotationZ(),message.getrotationW());
+                        CollisionObjUtils.clientPositionCharacter(parent, position);
                         // CreatureUtils.setFacingVector(parent, new Vector3d(message.getrotationX(),message.getrotationY(),message.getrotationZ()));
                         break;
                     }
@@ -272,9 +286,13 @@ public class GroundMovementTree implements BehaviorTree {
                     state = MovementTreeState.MOVE;
                 }
                 CreatureUtils.setVelocity(parent, velocity);
-//                //actually update
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
-//                position.set(newPosition);
+                //actually update
+                body.setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
                 rotation.set(movementQuaternion);
                 
                 GravityUtils.clientAttemptActivateGravity(parent);
@@ -298,8 +316,12 @@ public class GroundMovementTree implements BehaviorTree {
                     velocity = maxNaturalVelocity;
                     CreatureUtils.setVelocity(parent, velocity);
                 }
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
-//                position.set(newPosition);
+                body.setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
                 rotation.set(movementQuaternion);
                 
                 GravityUtils.clientAttemptActivateGravity(parent);
@@ -332,8 +354,12 @@ public class GroundMovementTree implements BehaviorTree {
                     }
                 }
                 CreatureUtils.setVelocity(parent, velocity);
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
-//                position.set(newPosition);
+                body.setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
                 rotation.set(movementQuaternion);
                 
                 GravityUtils.clientAttemptActivateGravity(parent);

src/main/java/electrosphere/entity/state/movement/groundmove/ServerGroundMovementTree.java

@@ -3,6 +3,7 @@ package electrosphere.entity.state.movement.groundmove;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.state.gravity.GravityUtils;
 import electrosphere.collision.CollisionEngine;
+import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.PhysicsUtils;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.engine.Globals;
@@ -12,7 +13,7 @@ import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.attack.ServerAttackTree;
 import electrosphere.entity.state.attack.ServerAttackTree.AttackTreeState;
 import electrosphere.entity.state.movement.ServerFallTree;
@@ -35,6 +36,8 @@ import org.joml.Quaterniond;
 import org.joml.Quaternionf;
 import org.joml.Vector3d;
 import org.joml.Vector3f;
+import org.ode4j.math.DVector3C;
+import org.ode4j.ode.DBody;
 
 /*
 Behavior tree for movement in an entity
@@ -162,6 +165,8 @@ public class ServerGroundMovementTree implements BehaviorTree {
         Vector3d position = EntityUtils.getPosition(parent);
         Vector3d facingVector = CreatureUtils.getFacingVector(parent);
         Vector3d movementVector = new Vector3d(facingVector);
+        DBody body = PhysicsEntityUtils.getDBody(parent);
+        DVector3C linearVelocity = body.getLinearVel();
         switch(facing){
             case FORWARD:
             movementVector.normalize();
@@ -193,6 +198,11 @@ public class ServerGroundMovementTree implements BehaviorTree {
 //        float movementYaw = CameraEntityUtils.getCameraYaw(Globals.playerCamera);
         Quaterniond movementQuaternion = new Quaterniond().rotationTo(new Vector3d(0,0,1), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
         Quaterniond rotation = EntityUtils.getRotation(parent);
+        //TODO: optimize away and document (I know for the moment if this exception isn't here it will bite me in the ass later)
+        if(facingVector.length() == 0){
+            throw new IllegalStateException("Facing vector length is 0. This will break ODE4J");
+        }
+        rotation.set(movementQuaternion);
         
         //parse attached network messages
         for(EntityMessage message : networkMessageQueue){
@@ -264,7 +274,12 @@ public class ServerGroundMovementTree implements BehaviorTree {
                 }
                 CreatureUtils.setVelocity(parent, velocity);
 //                //actually update
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
+                PhysicsEntityUtils.getDBody(parent).setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
 //                position.set(newPosition);
                 rotation.set(movementQuaternion);
                 
@@ -304,7 +319,12 @@ public class ServerGroundMovementTree implements BehaviorTree {
                     velocity = maxNaturalVelocity;
                     CreatureUtils.setVelocity(parent, velocity);
                 }
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
+                PhysicsEntityUtils.getDBody(parent).setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
 //                position.set(newPosition);
                 rotation.set(movementQuaternion);
                 
@@ -353,7 +373,12 @@ public class ServerGroundMovementTree implements BehaviorTree {
                     }
                 }
                 CreatureUtils.setVelocity(parent, velocity);
-                collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), new Vector3d(0,0,0), velocity * Globals.timekeeper.getSimFrameTime(), "movement"));
+                PhysicsEntityUtils.getDBody(parent).setLinearVel(
+                    movementVector.x * velocity * Globals.timekeeper.getSimFrameTime(),
+                    linearVelocity.get1(),
+                    movementVector.z * velocity * Globals.timekeeper.getSimFrameTime()
+                );
+                body.setAngularVel(0, 0, 0);
 //                position.set(newPosition);
                 rotation.set(movementQuaternion);
                 

src/main/java/electrosphere/entity/state/rotator/RotatorTree.java

@@ -12,7 +12,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.view.ViewUtils;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.renderer.actor.Actor;

src/main/java/electrosphere/entity/state/rotator/ServerRotatorTree.java

@@ -12,7 +12,7 @@ import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.view.ViewUtils;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.renderer.actor.Actor;

src/main/java/electrosphere/entity/types/camera/CameraEntityUtils.java

@@ -5,7 +5,7 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 
 import org.joml.Matrix4f;
 import org.joml.Quaternionf;

src/main/java/electrosphere/entity/types/collision/CollisionObjUtils.java

@@ -41,10 +41,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, planeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f().zero();
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -67,10 +63,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, planeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f().zero();
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -94,10 +86,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-        Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -120,10 +108,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-        Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -145,13 +129,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -173,13 +150,6 @@ public class CollisionObjUtils {
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
         rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
         
         return rVal;
@@ -193,10 +163,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f().zero();
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
         
         return rVal;
     }
@@ -209,10 +175,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f().zero();
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
         
         return rVal;
     }
@@ -224,10 +186,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-        Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         
         return rVal;
     }
@@ -240,10 +198,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
-        Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         
         return rVal;
     }
@@ -255,13 +209,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         
         return rVal;
     }
@@ -274,13 +221,6 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
         
         return rVal;
     }
@@ -306,13 +246,6 @@ public class CollisionObjUtils {
         entity.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, collisionObject);
         entity.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         entity.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        entity.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
     }
 
     /**
@@ -337,13 +270,6 @@ public class CollisionObjUtils {
         entity.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, collisionObject);
         entity.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
         entity.putData(EntityDataStrings.PHYSICS_MASS, mass);
-        //inertia tensor
-        //https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
-        Matrix4f inertiaTensor = new Matrix4f();
-        inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
-        inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
-        entity.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
     }
     
     public static DBody getCollisionBody(Entity e){
@@ -377,9 +303,5 @@ public class CollisionObjUtils {
         return (float)e.getData(EntityDataStrings.PHYSICS_MASS);
     }
 
-    public static Matrix4f getInverseInertiaTensor(Entity e){
-        return (Matrix4f)e.getData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR);
-    }
-
     
 }

src/main/java/electrosphere/entity/types/creature/CreatureUtils.java

@@ -18,7 +18,7 @@ import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityTags;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.attack.AttackTree;
 import electrosphere.entity.state.attack.ServerAttackTree;
 import electrosphere.entity.state.attack.ShooterTree;
@@ -158,7 +158,7 @@ public class CreatureUtils {
                     }
                     //round out end of move system
                     rVal.putData(EntityDataStrings.CLIENT_MOVEMENT_BT, moveTree);
-                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,0));
+                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,1));
                     rVal.putData(EntityDataStrings.DATA_STRING_MAX_NATURAL_VELOCITY, groundMovementSystem.getMaxVelocity());
                     rVal.putData(EntityDataStrings.DATA_STRING_ACCELERATION, groundMovementSystem.getAcceleration());
                     rVal.putData(EntityDataStrings.DATA_STRING_VELOCITY, 0f);
@@ -216,7 +216,7 @@ public class CreatureUtils {
                     airplaneMovementTree.setMaxRotationSpeed(airplaneMovementSystem.getMaxRotationSpeed());
                     //register misc stuff
                     rVal.putData(EntityDataStrings.CLIENT_MOVEMENT_BT, airplaneMovementTree);
-                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,0));
+                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,1));
                     Globals.clientScene.registerBehaviorTree(airplaneMovementTree);
                     Globals.clientScene.registerEntityToTag(rVal, EntityTags.MOVEABLE);
                 } break;
@@ -454,7 +454,7 @@ public class CreatureUtils {
                     }
                     //round out end of move system
                     rVal.putData(EntityDataStrings.SERVER_MOVEMENT_BT, moveTree);
-                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,0));
+                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,1));
                     rVal.putData(EntityDataStrings.DATA_STRING_MAX_NATURAL_VELOCITY, groundMovementSystem.getMaxVelocity());
                     rVal.putData(EntityDataStrings.DATA_STRING_ACCELERATION, groundMovementSystem.getAcceleration());
                     rVal.putData(EntityDataStrings.DATA_STRING_VELOCITY, 0f);
@@ -512,7 +512,7 @@ public class CreatureUtils {
                     airplaneMovementTree.setMaxRotationSpeed(airplaneMovementSystem.getMaxRotationSpeed());
                     //register misc stuff
                     rVal.putData(EntityDataStrings.SERVER_MOVEMENT_BT, airplaneMovementTree);
-                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,0));
+                    CreatureUtils.setFacingVector(rVal, new Vector3d(0,0,1));
                     ServerBehaviorTreeUtils.attachBTreeToEntity(rVal, airplaneMovementTree);
                     ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.MOVEABLE);
                 } break;

src/main/java/electrosphere/entity/types/item/ItemUtils.java

@@ -196,9 +196,6 @@ public class ItemUtils {
         if(item.containsKey(EntityDataStrings.PHYSICS_COLLISION_BODY)){
             item.removeData(EntityDataStrings.PHYSICS_COLLISION_BODY);
         }
-        if(item.containsKey(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET)){
-            item.removeData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET);
-        }
         if(item.containsKey(EntityDataStrings.PHYSICS_MODEL_TEMPLATE)){
             item.removeData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE);
         }

src/main/java/electrosphere/entity/types/object/ObjectUtils.java

@@ -16,7 +16,7 @@ import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityTags;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.collidable.ClientCollidableTree;
 import electrosphere.entity.state.collidable.ServerCollidableTree;
 import electrosphere.entity.state.gravity.ClientGravityTree;

src/main/java/electrosphere/entity/types/tree/ProceduralTree.java

@@ -15,10 +15,12 @@ import org.joml.Vector3f;
 import org.joml.Vector4d;
 import org.joml.Vector4f;
 import org.ode4j.ode.DBody;
+import org.ode4j.ode.DCylinder;
 
 import electrosphere.audio.VirtualAudioSource;
 import electrosphere.audio.VirtualAudioSourceManager.VirtualAudioSourceType;
 import electrosphere.collision.CollisionBodyCreation;
+import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.collision.PhysicsUtils;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.engine.Globals;
@@ -28,7 +30,7 @@ import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityTags;
 import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.types.attach.AttachUtils;
 import electrosphere.entity.types.instance.InstanceTemplate;
 import electrosphere.entity.types.instance.InstancedEntityUtils;
@@ -124,9 +126,17 @@ public class ProceduralTree {
             treeModel.getPhysicsBody().getDimension2(),
             Collidable.TYPE_STATIC_BIT
         );
+        DCylinder cylinder = (DCylinder)rigidBody.getGeomIterator().next();
+        cylinder.setOffsetPosition(0,treeModel.getPhysicsBody().getOffsetY(),0);
+        CollisionBodyCreation.setKinematic(Globals.clientSceneWrapper.getCollisionEngine(), rigidBody);
         Collidable collidable = new Collidable(trunkChild, Collidable.TYPE_OBJECT);
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
-        trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(0,treeModel.getPhysicsBody().getOffsetY(),0));
+        Matrix4d offsetTransform = new Matrix4d().translationRotateScale(
+            0,treeModel.getPhysicsBody().getOffsetY(),0, //translate
+            0,0,0,1, //rotate
+            1, 1, 1 //scale
+        );
+        trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
         trunkChild.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, treeModel.getPhysicsBody());
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
         trunkChild.putData(EntityDataStrings.PHYSICS_MASS, TREE_MASS);
@@ -383,9 +393,17 @@ public class ProceduralTree {
             treeModel.getPhysicsBody().getDimension2(),
             Collidable.TYPE_STATIC_BIT
         );
+        DCylinder cylinder = (DCylinder)rigidBody.getGeomIterator().next();
+        cylinder.setOffsetPosition(0,treeModel.getPhysicsBody().getOffsetY(),0);
+        CollisionBodyCreation.setKinematic(realm.getCollisionEngine(), rigidBody);
         Collidable collidable = new Collidable(trunkChild, Collidable.TYPE_FOLIAGE_STATIC);
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
-        trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(0,treeModel.getPhysicsBody().getOffsetY(),0));
+        Matrix4d offsetTransform = new Matrix4d().translationRotateScale(
+            0,treeModel.getPhysicsBody().getOffsetY(),0, //translate
+            0,0,0,1, //rotate
+            1, 1, 1 //scale
+        );
+        trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
         trunkChild.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, treeModel.getPhysicsBody());
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
         trunkChild.putData(EntityDataStrings.PHYSICS_MASS, TREE_MASS);

src/main/java/electrosphere/menu/ImGuiWindowMacros.java

@@ -3,7 +3,11 @@ package electrosphere.menu;
 import java.util.HashMap;
 import java.util.Map;
 
+import org.ode4j.ode.DBody;
+
 import electrosphere.audio.VirtualAudioSource;
+import electrosphere.collision.PhysicsEntityUtils;
+import electrosphere.collision.PhysicsUtils;
 import electrosphere.controls.ControlHandler.ControlsState;
 import electrosphere.engine.Globals;
 import electrosphere.entity.EntityUtils;
@@ -166,6 +170,13 @@ public class ImGuiWindowMacros {
                 ImGui.text("Player Entity Details");
                 if(Globals.playerEntity != null){
                     ImGui.text("Position: " + EntityUtils.getPosition(Globals.playerEntity));
+                    DBody body = PhysicsEntityUtils.getDBody(Globals.playerEntity);
+                    if(body != null){
+                        ImGui.text("Velocity: " + body.getLinearVel());
+                        ImGui.text("Force: " + body.getForce());
+                        ImGui.text("Angular Velocity: " + body.getAngularVel());
+                        ImGui.text("Torque: " + body.getTorque());
+                    }
                 }
                 if(ImGui.button("Toggle Player Camera Lock")){
                     Globals.cameraHandler.setTrackPlayerEntity(!Globals.cameraHandler.getTrackPlayerEntity());

src/main/java/electrosphere/net/client/protocol/EntityProtocol.java

@@ -45,7 +45,7 @@ public class EntityProtocol {
                 LoggerInterface.loggerNetworking.DEBUG("Spawn Creature " + message.getentityID() + " at " + message.getpositionX() + " " + message.getpositionY() + " " + message.getpositionZ());
                 CreatureTemplate template = Utilities.deserialize(message.getcreatureTemplate(), CreatureTemplate.class);
                 newlySpawnedEntity = CreatureUtils.clientSpawnBasicCreature(template.getCreatureType(),template);
-                EntityUtils.getPosition(newlySpawnedEntity).set(message.getpositionX(),message.getpositionY(),message.getpositionZ());
+                ClientEntityUtils.initiallyPositionEntity(newlySpawnedEntity, new Vector3d(message.getpositionX(),message.getpositionY(),message.getpositionZ()));
                 Globals.clientSceneWrapper.mapIdToId(newlySpawnedEntity.getId(), message.getentityID());
                 break;
             case SPAWNITEM:

src/main/java/electrosphere/net/synchronization/ClientSynchronizationManager.java

@@ -38,23 +38,25 @@ public class ClientSynchronizationManager {
     public void processMessages(){
         List<SynchronizationMessage> messagesToClear = new LinkedList<SynchronizationMessage>();
         for(SynchronizationMessage message : messages){
-            messagesToClear.add(message);
-            switch(message.getMessageSubtype()){
-                case UPDATECLIENTSTATE:{
-                    int bTreeId = message.getbTreeId();
-                    int entityId = message.getentityId();
-                    Entity targetEntity = Globals.clientSceneWrapper.getEntityFromServerId(entityId);
-                    updateEntityState(targetEntity,bTreeId,message);
-                } break;
-                case ATTACHTREE:{
-                    int bTreeId = message.getbTreeId();
-                    int bTreeValue = message.getbTreeValue();
-                    int entityId = message.getentityId();
-                } break;
-                case DETATCHTREE:{
-                    int bTreeId = message.getbTreeId();
-                    int entityId = message.getentityId();
-                } break;
+            if(Globals.clientSceneWrapper.containsServerId(message.getentityId())){
+                messagesToClear.add(message);
+                switch(message.getMessageSubtype()){
+                    case UPDATECLIENTSTATE:{
+                        int bTreeId = message.getbTreeId();
+                        int entityId = message.getentityId();
+                        Entity targetEntity = Globals.clientSceneWrapper.getEntityFromServerId(entityId);
+                        updateEntityState(targetEntity,bTreeId,message);
+                    } break;
+                    case ATTACHTREE:{
+                        int bTreeId = message.getbTreeId();
+                        int bTreeValue = message.getbTreeValue();
+                        int entityId = message.getentityId();
+                    } break;
+                    case DETATCHTREE:{
+                        int bTreeId = message.getbTreeId();
+                        int entityId = message.getentityId();
+                    } break;
+                }
             }
         }
         for(SynchronizationMessage message : messagesToClear){

src/main/java/electrosphere/server/datacell/Realm.java

@@ -158,6 +158,7 @@ public class Realm {
     protected void simulate(){
         //simulate bullet physics engine step
         collisionEngine.simulatePhysics((float)Globals.timekeeper.getSimFrameTime());
+        collisionEngine.updateDynamicObjectTransforms();
         //main simulation
         dataCellManager.simulate();
         //data cell manager update misc variables (player positions, unload not-in-use cells)

src/main/java/electrosphere/server/datacell/ServerDataCell.java

@@ -2,6 +2,7 @@ package electrosphere.server.datacell;
 
 import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
+import electrosphere.entity.EntityUtils;
 import electrosphere.entity.Scene;
 import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.entity.types.foliage.FoliageUtils;

src/main/java/electrosphere/server/datacell/utils/ServerBehaviorTreeUtils.java

@@ -6,7 +6,7 @@ import java.util.Map;
 import java.util.Set;
 
 import electrosphere.entity.Entity;
-import electrosphere.entity.state.BehaviorTree;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.server.datacell.ServerDataCell;
 
 /**

src/main/java/electrosphere/server/simulation/MicroSimulation.java

@@ -8,8 +8,8 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityTags;
 import electrosphere.entity.EntityUtils;
+import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.scene.EntityDescriptor;
-import electrosphere.entity.state.BehaviorTree;
 import electrosphere.entity.state.ParticleTree;
 import electrosphere.entity.state.attack.AttackTree;
 import electrosphere.entity.state.collidable.ClientCollidableTree;
@@ -47,10 +47,6 @@ public class MicroSimulation {
     
     public void simulate(ServerDataCell dataCell, HitboxManager hitboxManager){
         if(dataCell.isReady()){
-            //update dynamic entity positions calculated by bullet
-    //        Globals.collisionEngine.updateDynamicObjectTransforms();
-            //list dynamic object positions
-    //        Globals.collisionEngine.listBodyPositions();
             //simulate ai
             Globals.aiManager.simulate();
             //update actor animations
@@ -84,11 +80,6 @@ public class MicroSimulation {
                     HitboxUtils.serverCollideEntities(currentHitbox);
                 }
             }
-            //tally collidables and offset position accordingly
-            // for(Entity currentCollidable : Globals.entityManager.getEntitiesWithTag(EntityTags.COLLIDABLE)){
-            //     CollidableTree tree = CollidableTree.getCollidableTree(currentCollidable);
-            //     tree.simulate(Main.deltaFrames);
-            // }
             //simulate behavior trees
             dataCell.getScene().simulateBehaviorTrees((float)Globals.timekeeper.getSimFrameTime());
             //sum collidable impulses

src/main/java/electrosphere/server/terrain/manager/ServerTerrainManager.java

@@ -235,7 +235,7 @@ public class ServerTerrainManager {
             returnedChunk = chunkCache.get(key);
             return returnedChunk;
         } else {
-            if(chunkCacheContents.size() > cacheSize){
+            if(chunkCacheContents.size() >= cacheSize){
                 String oldChunk = chunkCacheContents.remove(chunkCacheContents.size() - 1);
                 chunkCache.remove(oldChunk);
             }
@@ -261,7 +261,9 @@ public class ServerTerrainManager {
      * @param position The position to save
      */
     public void savePositionToDisk(Vector3i position){
-        chunkDiskMap.saveToDisk(getChunk(position.x, position.y, position.z));
+        if(chunkDiskMap != null){
+            chunkDiskMap.saveToDisk(getChunk(position.x, position.y, position.z));
+        }
     }
     
     /**