updates

14 files changed, 545 insertions, 266 deletions

diff --git a/src/shared/lua_api/load_net.cpp b/src/shared/lua_api/load_net.cpp
index b6e95bc..04a9239 100644
--- a/src/shared/lua_api/load_net.cpp
+++ b/src/shared/lua_api/load_net.cpp
@@ -422,53 +422,6 @@ void gameloop_net(lua_State* L){
 	}
 	//printf("There are %d items left on the lua stack\n",lua_gettop(L));
 	lua_pop(L,2);
-	//for(std::map<nng_socket*,int>::iterator it = netfuncs.begin(); it != netfuncs.end(); ++it){
-		////printf("In for socket %p\n",(void*)(it->first));
-		////char* buf = NULL;
-		////size_t size;
-		////int err = nng_recv(*(it->first), &buf, &size, NNG_FLAG_NONBLOCK | NNG_FLAG_ALLOC);
-		//nng_msg *msgp;
-		////printf("About to recvmsg()\n");
-		//int err = nng_recvmsg(*(it->first), &msgp, NNG_FLAG_NONBLOCK);
-		////printf("Done recvmsg()\n");
-		////printf("Got bytes: %d EAGAIN:%d\n",bytes,EAGAIN);
-		//if(err != 0 && err != NNG_EAGAIN){
-			//printf("Net error: %s\n\t err: %d\n\teagain:%d\n",nng_strerror(err),err,NNG_EAGAIN);
-			////lua_pushstring(L,"Failed to receive");
-			////lua_error(L);
-		//}else if(err == NNG_EAGAIN){
-			////printf("EAGAIN\n");
-			////do nothing
-		//}else{
-			//printf("Calling function with stream\n");
-			//char* buf = (char*)nng_msg_body(msgp);
-			//printf("Got msg body\n");
-			//size_t size = nng_msg_len(msgp);
-			//printf("Got msg size\n");
-			////find how long until the first null character
-			//struct stream* stream = stream_create();
-			//stream->length = size;
-			//stream->data = buf;
-			//stream_print(stream);
-			//int f = it->second;
-			//if(f == -1){//not set yet
-				//lua_pushstring(L,"Got message for a socket without a receiving function");
-				//lua_error(L);
-			//}
-			//lua_rawgeti(L,LUA_REGISTRYINDEX,f);//function(stream)
-			//lua_newtable(L);//function(stream),{}
-			//lua_pushlightuserdata(L,stream);//func,{},ud_stream
-			//lua_setfield(L,-2,"data");//func,{data=stream}
-			//luaL_getmetatable(L,"net.stream");//func,{data=stream}
-			//lua_setmetatable(L,-2);//func,{stream}
-			//lua_call(L,1,0);//
-			////printf("Finished calling gameloop, buf is %p, size is %zu\n",buf,size);
-			//nng_msg_free(msgp);
-			//printf("called nn_freemsg\n");
-			//free(stream);//We manually set stream->data so free_stream would crash here
-			//printf("Called free on stream\n");
-		//}
-	//}
 	//printf("Done with net game loop\n");
 }
 
@@ -542,7 +495,8 @@ int send(lua_State* L){
 	lua_call(L,1,0);//socket,
 	printf("Finished the stream call\n");
 	lua_pop(L,1);//
-	printf("About to nn_send\n\tfd:%p\n\t%s\n\t%ld\n",fd,s->data,s->length);
+	printf("About to nng_send\n\tfd:%p\n\t%s\n\t%ld\n",fd,s->data,s->length);
+	//int err = nng_send(*fd, s->data, s->length,0);
 	int err = nng_send(*fd, s->data, s->length,0);
 	printf("Finished nn_send\n");
 	stream_free(s);
diff --git a/src/shared/lua_api/load_phys.cpp b/src/shared/lua_api/load_phys.cpp
index db35f37..be5529c 100644
--- a/src/shared/lua_api/load_phys.cpp
+++ b/src/shared/lua_api/load_phys.cpp
@@ -1,17 +1,21 @@
 #include "load_phys.hpp"
 #include "phys/bphysbox.hpp"
 #include "phys/bhingeconstraint.hpp"
+#include "phys/bcharactercontroller.hpp"
 #include <btBulletDynamicsCommon.h>
 #include <shared/lua_api/common.hpp>
 
 void load_physfuncs(lua_State* L){
 	lua_newtable(L);//{}
 	lua_setglobal(L,"phys");//
-	lua_getglobal(L,"phys");
+	lua_getglobal(L,"phys");//{phys}
+	lua_newtable(L);//{phys},{}
+	lua_setfield(L,-2,"colliders");//{phys}
 	set_const(L,BT_DISABLE_WORLD_GRAVITY);
 	set_const(L,BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT);
 	set_const(L,BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD);
 	set_const(L,BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY);
 	bphysbox_register(L);
 	bhingeconstraint_register(L);
+	bcharactercontroller_register(L);
 }
diff --git a/src/shared/lua_api/phys/bcharactercontroller.cpp b/src/shared/lua_api/phys/bcharactercontroller.cpp
index 8030846..0f3096c 100644
--- a/src/shared/lua_api/phys/bcharactercontroller.cpp
+++ b/src/shared/lua_api/phys/bcharactercontroller.cpp
@@ -9,11 +9,14 @@ extern "C" {
   #include <lualib.h>
 }
 #include <btBulletDynamicsCommon.h>
+#include <BulletDynamics/Character/btKinematicCharacterController.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
 #include "bcharactercontroller.hpp"
 #include <shared/lua_api/common.hpp>
 
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
+extern std::list<btKinematicCharacterController*> Chars;
 /*
 static LBPhysNode* checkisbphysbox(lua_State* L, int index){
   void* ud = luaL_checkudata(L,index,"phys.physbox");
@@ -27,14 +30,16 @@ static LISceneNode* checkismesh(lua_State* L){
   return checkismesh(L,1);
 }
 */
-// ud_btRigidBody :: ({v3 size}, {v3 origin}, double mass)
-void makenewbphysbox(lua_State* L){
+// ud_character :: ({v3 size}, {v3 origin})
+void makenewbcharactercontroller(lua_State* L){
+	lua_pushstring(L,"Character controller is totally fucking broken for now\n");
+	lua_error(L);
 	double px,py,pz; //position
 	double sx,sy,sz; //size
-	double mass;
+	//double mass;
 	
-	mass = lua_tonumber(L,-1);//{v3_size},{v3_origin},mass
-	lua_pop(L,1);//{v3_size},{v3_origin}
+	//mass = lua_tonumber(L,-1);//{v3_size},{v3_origin},mass
+	//lua_pop(L,1);//{v3_size},{v3_origin}
 	//printf("Got mass: %f\n",mass);
 	
 	popvector3d(L,&px,&py,&pz);//{v3_size}
@@ -44,132 +49,100 @@ void makenewbphysbox(lua_State* L){
 	btVector3 vshape = btVector3(sx * 0.5f, sy * 0.5f, sz * 0.5f);
 	//printf("Got size: (%f,%f,%f)\n",sx,sy,sz);
 	btVector3 pos = btVector3(px,py,pz);
-
-	// Set the initial position of the object
 	btTransform transform = btTransform(btQuaternion(0,0,0,1),pos);
-	//transform.setIdentity();
-	//transform.setOrigin(pos);
-    
-	// Give it a default MotionState
-	btDefaultMotionState* motionstate = new btDefaultMotionState(transform);
-	if(!motionstate){
-		//printf("No motionstate\n");
-	}
+
 	// Create the shape
-	btCollisionShape* shape = new btBoxShape(vshape);
-	if(!shape){
-		//printf("no shape\n");
-	}
+	btConvexShape* cshape = new btBoxShape(vshape);
+
+
 
 	// Add mass
-	btVector3 localinertia = btVector3(0,0,0);
-	shape->calculateLocalInertia(mass, localinertia);
+	//btVector3 localinertia = btVector3(0,0,0);
+	//shape->calculateLocalInertia(mass, localinertia);
 
 	// Create the rigid body object
-	btRigidBody::btRigidBodyConstructionInfo cinfo = btRigidBody::btRigidBodyConstructionInfo(
-		mass,
-		motionstate,
-		shape,
-		localinertia
-	);
-	btKinematicCharacterController cc = btKinematicCharacterController(btPairCacheingGhostObject(), shape, 0.8, btVector3(0,1,0));
+	//btRigidBody::btRigidBodyConstructionInfo cinfo = btRigidBody::btRigidBodyConstructionInfo(
+		//mass,
+		//motionstate,
+		//shape,
+		//localinertia
+	//);
+	btPairCachingGhostObject *ghost = new btPairCachingGhostObject();
+	ghost->setWorldTransform(transform);
+	ghost->setCollisionShape(cshape);
+	ghost->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
+	btKinematicCharacterController *cc = new btKinematicCharacterController(ghost, cshape, 1, btVector3(0,1,0));
 	//cinfo.m_friction = 0;
 	//btRigidBody *rigidbody = new btRigidBody(cinfo);
-	if(!rigidbody){
-		//printf("No rigidbody\n");
-	}
     
 	// Add it to the world
-	World->addVehicle(cc);
+	World->addAction(cc);
+	//World->addVehicle(cc);
 	//printf("Added rigid body to world: %p\n",World);
-	Objects.push_back(cc);
+	Chars.push_back(cc);
 
-	lua_pushlightuserdata(L,rigidbody);//ud_rigidbody
+	lua_pushlightuserdata(L,cc);//ud_cc
 }
 
 // phys.newphysbox(vector3 size, vector3 origin, double mass)
-int newbphysbox(lua_State* L){
+int newbcharactercontroller(lua_State* L){
 	//printf("Createing bphysbox!\n");
 	//Create it's lua representation
-	makenewbphysbox(L);//ud_btRigidBody
-	btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);
+	makenewbcharactercontroller(L);//ud_cc
+	btKinematicCharacterController* r = (btKinematicCharacterController*)lua_touserdata(L,-1);
 	lua_pop(L,1);
 	lua_newtable(L);//{}
-	lua_pushlightuserdata(L,r);//ud_btRigidBody
-	lua_setfield(L,-2,"rigidbody");//{}
+	lua_pushlightuserdata(L,r);//ud_cc
+	lua_setfield(L,-2,"character");//{}
 
 	//Set it's metatable
-	luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
+	luaL_getmetatable(L, "phys.charactercontroller");//{},{phys.charactercontroller}
 	lua_setmetatable(L, -2);//{}
 
   	return 1;
 }
 
 //{phys.physbox}:delete()
-static int delbphysbox(lua_State* L){//self
+static int delbcharactercontroller(lua_State* L){//self
 	//printf("Attempting to delete physbox\n");
-	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
-	btRigidBody* r = (btRigidBody*)lua_touserdata(L,-1);//self,ud_rigidbody
-	delete r->getCollisionShape();
-	delete r->getMotionState();
+	lua_getfield(L,-1,"character");//self,ud_rigidbody
+	btKinematicCharacterController* r = (btKinematicCharacterController*)lua_touserdata(L,-1);//self,ud_rigidbody
+	lua_pop(L,2);
+	delete r->getGhostObject();
 	delete r;
-
 	return 0;
 }
 
-// physbox:setpos({v3 pos})
-static int bphyssetpos(lua_State *L){//self,{v3 pos}
-	double nx,ny,nz;
-	popvector3d(L,&nx,&ny,&nz);//self
-
-	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
-	btRigidBody* i = (btRigidBody*)lua_touserdata(L,-1);//self
-	btMotionState* ms = i->getMotionState();
-	btTransform bt;
-	ms->getWorldTransform(bt);
-
-	btVector3 to = btVector3(nx,ny,nz);
-	bt.setOrigin(to);
-	ms->setWorldTransform(bt);
-	i->activate();
-
-	lua_pop(L,1);//
+//{char},{v3_dir} ::
+int bcharsetwalkdirection(lua_State *L){
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);//{char}
+	lua_getfield(L,-1,"character");//{char},ud_cc
+	btKinematicCharacterController* cc = (btKinematicCharacterController*)lua_touserdata(L,-1);
+	lua_pop(L,2);
+	cc->setWalkDirection(btVector3(x,y,z));
 	return 0;
 }
 
-// {v3 pos} :: physbox:getpos()
-static int bphysgetpos(lua_State *L){//self
-	//printf("Physics box set pos called\n");
-	lua_getfield(L,-1,"rigidbody");//self,ud_rigidbody
-	btRigidBody* i = (btRigidBody*)lua_touserdata(L,-1);//self,ud_rigidbody
-	btTransform bt = i->getWorldTransform();
-	btVector3 bv = bt.getOrigin();
-	lua_pop(L,2);//
-	pushvector3d(L,bv.x(),bv.y(),bv.z());//{}
-
-	return 1;
-}
-
-static const luaL_reg bphysbox_m[] = {
-  {"getpos",               bphysgetpos},
-  {"setpos",               bphyssetpos},
-  {"delete", 		   delbphysbox},
-  {0, 0},
+static const luaL_reg bcharactercontroller_m[] = {
+	{"setwalkdir",          bcharsetwalkdirection},
+	{"remove",              delbcharactercontroller},
+	{0, 0},
 };
 
-void bphysbox_register(lua_State* L){//
+void bcharactercontroller_register(lua_State* L){//
 	//printf("Registered bphysbox\n");
 
-	luaL_newmetatable(L, "phys.physbox");//{phys.physbox}
+	luaL_newmetatable(L, "phys.charactercontroller");//{phys.physbox}
 	lua_newtable(L);//{phys.physbox},{}
-	luaL_register(L,NULL,bphysbox_m);//{phys.physbox},{}
+	luaL_register(L,NULL,bcharactercontroller_m);//{phys.physbox},{}
 	lua_setfield(L,-2,"__index");//{phys.physbox}
 
 	lua_pop(L,1);//
 
 	lua_getglobal(L,"phys");//{}
-	lua_pushcfunction(L,newbphysbox);//{},newbphysbox()
-	lua_setfield(L,-2,"newphysbox");//{}
+	lua_pushcfunction(L,newbcharactercontroller);//{},newbcharactercontroller()
+	lua_setfield(L,-2,"newcharactercontroller");//{}
 
 	lua_pop(L,1);
 }
diff --git a/src/shared/lua_api/phys/bcharactercontroller.hpp b/src/shared/lua_api/phys/bcharactercontroller.hpp
index 10d71df..d6048a5 100644
--- a/src/shared/lua_api/phys/bcharactercontroller.hpp
+++ b/src/shared/lua_api/phys/bcharactercontroller.hpp
@@ -8,3 +8,4 @@ extern "C" {
 #include <irrlicht.h>
 
 void bcharactercontroller_register(lua_State* L);
+void makenewbcharactercontroller(lua_State* L);
diff --git a/src/shared/lua_api/phys/bcollider.cpp b/src/shared/lua_api/phys/bcollider.cpp
new file mode 100644
index 0000000..356c504
--- /dev/null
+++ b/src/shared/lua_api/phys/bcollider.cpp
@@ -0,0 +1,44 @@
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include <shared/lua_api/common.hpp>
+#include "bcollider.hpp"
+
+
+/*Collider things from lua have the form of:
+{
+	type = "ghost" | "multi" | "rigidbody" | "softbody"
+	collider = ud_btCollisionObject,
+	node = ud_ISceneNode, --Optional, on client
+}
+*/
+btCollisionObject* popCollider(lua_State *L){
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *r = (btCollisionObject*)lua_touserdata(L,-1);
+	lua_pop(L,2);
+	return r;
+}
+
+/***
+Activates this object.
+If this object was sleeping, it will move again. If you are using
+applyforce or setvelocity, you will need to activate() the rigidbody for it
+to move.
+@function collider:activate()
+*/
+//collider:activate()
+int activate(lua_State *L){
+	btCollisionObject *r = popCollider(L);
+
+	r->activate();
+
+	return 0;
+}
+
+extern const luaL_reg bcollider_m[] = {
+	{"activate",         activate},
+	{NULL, NULL}
+};
diff --git a/src/shared/lua_api/phys/bcollider.hpp b/src/shared/lua_api/phys/bcollider.hpp
new file mode 100644
index 0000000..3882df6
--- /dev/null
+++ b/src/shared/lua_api/phys/bcollider.hpp
@@ -0,0 +1,7 @@
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+
+extern const luaL_reg bcollider_m[];
diff --git a/src/shared/lua_api/phys/bghostobject.cpp b/src/shared/lua_api/phys/bghostobject.cpp
new file mode 100644
index 0000000..da9406d
--- /dev/null
+++ b/src/shared/lua_api/phys/bghostobject.cpp
@@ -0,0 +1,185 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <list>
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <btBulletDynamicsCommon.h>
+#include "bghostobject.hpp"
+#include <shared/lua_api/common.hpp>
+
+extern btDiscreteDynamicsWorld* World;
+extern std::list<btCollisionObject*> Objects;
+//extern std::list<btGhostObject*> Ghosts;
+
+/*
+static LBPhysNode* checkisbphysbox(lua_State* L, int index){
+  void* ud = luaL_checkudata(L,index,"phys.physbox");
+  luaL_argcheck(L,ud != NULL, index, "'phys.physbox' expected");
+  return (LBPhysNode*) ud;
+}
+*/
+
+/*
+static LISceneNode* checkismesh(lua_State* L){
+  return checkismesh(L,1);
+}
+*/
+// ud_btGhostObject :: ({v3 size}, {v3 origin})
+void makeghostobject(lua_State* L){
+	double px,py,pz; //position
+	double sx,sy,sz; //size
+	
+	popvector3d(L,&px,&py,&pz);//{v3_size}
+	//printf("Got position: (%f,%f,%f)\n",px,py,pz);
+	popvector3d(L,&sx,&sy,&sz);//
+
+	btVector3 vshape = btVector3(sx * 0.5f, sy * 0.5f, sz * 0.5f);
+	//printf("Got size: (%f,%f,%f)\n",sx,sy,sz);
+	btVector3 pos = btVector3(px,py,pz);
+
+	// Set the initial position of the object
+	btTransform transform = btTransform(btQuaternion(0,0,0,1),pos);
+	//transform.setIdentity();
+	//transform.setOrigin(pos);
+    
+	// Create the shape
+	btCollisionShape* shape = new btBoxShape(vshape);
+	if(!shape){
+		//printf("no shape\n");
+	}
+
+	// Add mass
+	btVector3 localinertia = btVector3(0,0,0);
+	shape->calculateLocalInertia(1, localinertia);
+
+	//cinfo.m_friction = 0;
+	btGhostObject *ghost = new btGhostObject();
+	ghost->setCollisionShape(shape);
+	ghost->setWorldTransform(transform);
+	ghost->setCollisionFlags(
+			btCollisionObject::CollisionFlags::CF_NO_CONTACT_RESPONSE | 
+			btCollisionObject::CollisionFlags::CF_KINEMATIC_OBJECT
+			);
+	World->addCollisionObject(ghost, btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger);
+    
+	//printf("Added rigid body to world: %p\n",World);
+	Objects.push_back(ghost);
+
+	lua_pushlightuserdata(L,ghost);//ud_ghost
+}
+
+// phys.newghostobject(vector3 size, vector3 origin)
+int newghostobject(lua_State* L){
+	//printf("Createing bphysbox!\n");
+	//Create it's lua representation
+	makeghostobject(L);//ud_btGhostObject
+	btGhostObject* ghost = (btGhostObject*)lua_touserdata(L,-1);
+	lua_pop(L,1);
+	lua_newtable(L);//{}
+	lua_pushlightuserdata(L,ghost);//ud_btGhostObject
+	lua_setfield(L,-2,"collider");//{}
+
+	//Set it's metatable
+	luaL_getmetatable(L, "phys.ghost");//{},{phys.ghost}
+	lua_setmetatable(L, -2);//{}
+
+  	return 1;
+}
+
+//{phys.physbox}:delete()
+static int delbghostobject(lua_State* L){//self
+	//printf("Attempting to delete physbox\n");
+	lua_getfield(L,-1,"collider");//self,ud_rigidbody
+	btGhostObject* r = (btGhostObject*)lua_touserdata(L,-1);//self,ud_rigidbody
+	delete r->getCollisionShape();
+	delete r;
+
+	return 0;
+}
+
+// physbox:setpos({v3 pos})
+static int bghostsetpos(lua_State *L){//self,{v3 pos}
+	double nx,ny,nz;
+	popvector3d(L,&nx,&ny,&nz);//self
+
+	lua_getfield(L,-1,"collider");//self,ud_ghost
+	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//self
+	btTransform bt = ghost->getWorldTransform();
+
+	btVector3 to = btVector3(nx,ny,nz);
+	bt.setOrigin(to);
+	ghost->setWorldTransform(bt);
+	ghost->activate();
+
+	lua_pop(L,1);//
+	return 0;
+}
+
+// {v3 pos} :: physbox:getpos()
+static int bghostgetpos(lua_State *L){//self
+	//printf("Physics box set pos called\n");
+	lua_getfield(L,-1,"collider");//self,ud_ghost
+	btGhostObject* i = (btGhostObject*)lua_touserdata(L,-1);//self,ud_ghost
+	btTransform bt = i->getWorldTransform();
+	btVector3 bv = bt.getOrigin();
+	lua_pop(L,2);//
+	pushvector3d(L,bv.x(),bv.y(),bv.z());//{}
+
+	return 1;
+}
+
+//ghost:getoverlapping()
+int bghostoverlapping(lua_State *L){
+	lua_getfield(L,-1,"collider");//{ghost}
+	btGhostObject *ghost = (btGhostObject*)lua_touserdata(L,-1);//{ghost},ud_ghost
+	lua_pop(L,2);//
+	lua_newtable(L);//{}
+	btAlignedObjectArray<btCollisionObject *> ob = ghost->getOverlappingPairs();
+	printf("Getting %d overlapping object\n",ob.size());
+	for(int i = 0; i < ob.size(); i++){
+		printf("Looking at object %d\n",i);
+		btCollisionObject *co = ob[i];
+		lua_getglobal(L,"phys");//{},{phys}
+		lua_getfield(L,-1,"colliders");//{},{phys},{phys.colliders}
+		lua_pushnumber(L,i+1);//}{},{phys},{phys.colliders},i
+		lua_pushlightuserdata(L,co);//{},{phys},{phys.colliders},i,ud_co
+		lua_gettable(L,-3);//{},{phys},{phys.colliders},i,{collider=ud_co}
+		if(lua_isnil(L,-1)){
+			printf("Failed to find collider, failing...\n");
+			lua_pushstring(L,"Failed to find collider we are overlapping");
+			lua_error(L);
+		}
+		lua_settable(L,-5);//{i={collider=co}},{phys},{phys.colliders}
+		lua_pop(L,2);//{i={...}}
+	}
+	printf("Finished adding %d overlapping objects to array...\n",(int)lua_objlen(L,-1));
+	return 1;
+}
+
+static const luaL_reg bghost_m[] = {
+  {"getpos",               bghostgetpos},
+  {"setpos",               bghostsetpos},
+  {"getoverlapping",       bghostoverlapping},
+  {"delete", 		   delbghostobject},
+  {0, 0},
+};
+
+void bghostobject_register(lua_State* L){//
+	//printf("Registered bphysbox\n");
+
+	luaL_newmetatable(L, "phys.ghost");//{phys.physbox}
+	lua_newtable(L);//{phys.physbox},{}
+	luaL_register(L,NULL,bghost_m);//{phys.physbox},{}
+	lua_setfield(L,-2,"__index");//{phys.physbox}
+
+	lua_pop(L,1);//
+
+	lua_getglobal(L,"phys");//{}
+	lua_pushcfunction(L,newghostobject);//{},newghostobject()
+	lua_setfield(L,-2,"newghostbox");//{}
+
+	lua_pop(L,1);
+}
diff --git a/src/shared/lua_api/phys/bghostobject.hpp b/src/shared/lua_api/phys/bghostobject.hpp
new file mode 100644
index 0000000..5c96f7e
--- /dev/null
+++ b/src/shared/lua_api/phys/bghostobject.hpp
@@ -0,0 +1,13 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+extern "C" {
+  #include <lua.h>
+  #include <lauxlib.h>
+  #include <lualib.h>
+}
+#include <irrlicht.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
+
+void bghostobject_register(lua_State* L);
+void makeghostobject(lua_State* L);
diff --git a/src/shared/lua_api/phys/bphysbox.cpp b/src/shared/lua_api/phys/bphysbox.cpp
index 94b025e..a0ad15a 100644
--- a/src/shared/lua_api/phys/bphysbox.cpp
+++ b/src/shared/lua_api/phys/bphysbox.cpp
@@ -94,7 +94,15 @@ int newbphysbox(lua_State* L){
 	lua_pop(L,1);
 	lua_newtable(L);//{}
 	lua_pushlightuserdata(L,r);//ud_btRigidBody
-	lua_setfield(L,-2,"rigidbody");//{}
+	lua_setfield(L,-2,"collider");//{}
+
+	//Add it to the global list of colliders
+	lua_getglobal(L,"phys");//{rb},{phys}
+	lua_getfield(L,-1,"colliders");//{rb},{phys},{phys.colliders}
+	lua_pushlightuserdata(L,r);//{rb},{phys},{phys.colliders},ud_collider
+	lua_pushvalue(L,-4);//{rb},{phys},{phys.colliders},ud_collider,{rb}
+	lua_settable(L,-3);//{rb},{phys},{phys.colliders}
+	lua_pop(L,2);//{rb}
 
 	//Set it's metatable
 	luaL_getmetatable(L, "phys.physbox");//{},{phys.physbox}
diff --git a/src/shared/lua_api/phys/bphysgeneric.cpp b/src/shared/lua_api/phys/bphysgeneric.cpp
index 5faef2d..56320dd 100644
--- a/src/shared/lua_api/phys/bphysgeneric.cpp
+++ b/src/shared/lua_api/phys/bphysgeneric.cpp
@@ -6,6 +6,7 @@ extern "C" {
 }
 #include <btBulletDynamicsCommon.h>
 #include <shared/lua_api/common.hpp>
+#include <shared/phys/physcommon.hpp>
 
 /***
 @module phys
@@ -14,14 +15,34 @@ extern "C" {
 
 /*Physics things from lua have the form of:
 {
-	rigidbody = btRigidBody,
-	node = ISceneNode,
+	type = "rigidbody"
+	collider = btRigidBody,
+	node = ISceneNode, --optional, on client
 }
 */
 btRigidBody* popRigidBody(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
+	lua_getfield(L,-1,"type");//{rigidbody},"rigidbody"
+	if(lua_isnil(L,-1)){
+		printf("Could not get type\n");
+		lua_pushstring(L,"Tried to call a rigidbody method with something that did not have a \"type\"");
+		lua_error(L);
+	}
+	const char *s = lua_tostring(L,-1);
+	if(strcmp(s,"rigidbody") != 0){
+		printf("Tried to pop rigidbody when it was not a rigidbody!\n");
+		lua_pushstring(L,"Tried to call a rigidbody method on a ");
+		lua_pushstring(L,s);
+		lua_concat(L,2);
+		lua_error(L);
+	}
+	lua_getfield(L,-2,"collider");//{rigidbody},"rigidbody",ud_rigidbody
+	if(lua_isnil(L,-1)){
+		printf("Failed to get a \"collider\" field\n");
+		lua_pushstring(L,"Rigid body object was not set up correctly\n");
+		lua_error(L);
+	}
 	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	lua_pop(L,3);
 	return r;
 }
 /***
@@ -34,12 +55,8 @@ int setgravity(lua_State *L){
 	double x,y,z;
 	popvector3d(L,&x,&y,&z);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
-
+	btRigidBody *r = popRigidBody(L);
 	btVector3 v = btVector3(x,y,z);
-
 	r->setGravity(v);
 
 	return 0;
@@ -52,9 +69,7 @@ Gets the direction of gravity on this object.
 */
 //rigidbody:getgravity()
 int getgravity(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");//{rigidbody},ud_rigidbody
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);//
+	btRigidBody *r = popRigidBody(L);
 
 	btVector3 v = r->getGravity();
 	pushvector3d(L,v.x(),v.y(),v.z());
@@ -81,9 +96,7 @@ int applyforce(lua_State *L){
 	double x,y,z;
 	popvector3d(L,&x,&y,&z);//{phys}
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	btVector3 v = btVector3(x,y,z);
 	btVector3 o = btVector3(rx,ry,rz);
@@ -100,9 +113,7 @@ Gets the damping applied to this rigidbody
 */
 //rigidbody:getldamping()
 int getlineardamping(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	double damp = r->getLinearDamping();
 	lua_pushnumber(L,damp);
@@ -119,9 +130,7 @@ TODO:What does this actually do?
 int setangfactor(lua_State *L){
 	double x,y,z;
 	popvector3d(L,&x,&y,&z);
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 	r->setAngularFactor(btVector3(x,y,z));
 	return 0;
 }
@@ -133,9 +142,7 @@ Gets the angular damping applied to this rigidbody
 */
 //rigidbody:getadamping()
 int getangulardamping(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	double damp = r->getAngularDamping();
 	lua_pushnumber(L,damp);
@@ -151,8 +158,7 @@ Gets the velocity of this object
 //rigidbody:getvelocity()
 int getvelocity(lua_State *L){
 	btVector3 vel;
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
+	btRigidBody *r = popRigidBody(L);
 
 	vel = r->getLinearVelocity();
 	pushvector3d(L,(double)vel.x(),(double)vel.y(),(double)vel.z());
@@ -171,32 +177,13 @@ int setvelocity(lua_State *L){
 	popvector3d(L,&x,&y,&z);
 	btVector3 newvel = btVector3(x,y,z);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setLinearVelocity(newvel);
 
 	return 0;
 }
 
-/***
-Activates this object.
-If this object was sleeping, it will move again. If you are using
-applyforce or setvelocity, you will need to activate() the rigidbody for it
-to move.
-@function rigidbody:activate()
-*/
-//rigidbody:activate()
-int activate(lua_State *L){
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
-
-	r->activate();
-
-	return 0;
-}
 
 /***
 Sets the damping of this object.
@@ -211,9 +198,7 @@ int setdamping(lua_State *L){
 	ldamp = lua_tonumber(L,-2);
 	lua_pop(L,2);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setDamping(adamp,ldamp);
 
@@ -229,9 +214,7 @@ int setflags(lua_State *L){
 	int flags = lua_tonumber(L,-1);
 	lua_pop(L,1);
 
-	lua_getfield(L,-1,"rigidbody");
-	btRigidBody *r = (btRigidBody*)lua_touserdata(L,-1);
-	lua_pop(L,2);
+	btRigidBody *r = popRigidBody(L);
 
 	r->setFlags(flags);
 
@@ -252,6 +235,60 @@ int applyimpulse(lua_State *L){
 	return 0;
 }
 
+//collider:setpos({x,y,z})
+int setpos(lua_State *L){
+	double x,y,z;
+	popvector3d(L,&x,&y,&z);
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *c = (btCollisionObject*)lua_touserdata(L,-1);
+	lua_pop(L,1);
+	btTransform t = c->getWorldTransform();
+	t.setOrigin(btVector3(x,y,z));
+	c->setWorldTransform(t);
+	c->activate();
+	return 0;
+}
+
+//collider:getpos() :: {x,y,z}
+int getpos(lua_State *L){
+	lua_getfield(L,-1,"collider");
+	btCollisionObject *c = (btCollisionObject*)lua_touserdata(L,-1);
+	btTransform t = c->getWorldTransform();
+	btVector3 o = t.getOrigin();
+	pushvector3d(L,o.x(), o.y(), o.z());
+	return 1;
+}
+
+/*
+A callback used to detect collisions
+*/
+//class BContactResult : public ContactResultCallback
+//{
+	//public:
+		//~BContactResult(){
+			//printf("Contact result being destroyed\n");
+		//}
+		//bool needsCollision(){
+			//return true;
+		//}
+		//btScalar addSingleResult(btManifoldPoint point,
+					 //btCollisionObjectWrapper *wrap1, int part1, int index1,
+					 //btCollisionObjectWrapper *wrap2, int part2, int index2
+					//){
+			//printf("Got single result\n");
+			//return 1;
+		//}
+//};
+
+//rigidbody:contacttest()
+//int testcontact(lua_State *L){//{rigibody}
+	//printf("Testing contact\n");
+	//btRigidBody *r = popRigidBody(L);//
+	//ContactResultCallback *cr = new BContactResult();
+	//World->contactTest(r,cr);
+	//return 0;
+//}
+
 extern const luaL_reg brigidbody_m[] = {
 	{"setgravity",       setgravity},
 	{"applyforce",       applyforce},
@@ -259,10 +296,13 @@ extern const luaL_reg brigidbody_m[] = {
 	{"getldamping",      getlineardamping},
 	{"getadamping",      getangulardamping},
 	{"setdamping",       setdamping},
-	{"activate",         activate},
+	{"getpos",           getpos},
+	{"setpos",           setpos},
+	//{"activate",         activate},
 	{"getvelocity",      getvelocity},
 	{"setvelocity",      setvelocity},
 	{"setangfactor",     setangfactor},
 	{"setflags",         setflags},
+	//{"testcontact",      testcontact},
 	{NULL, NULL}
 };
diff --git a/src/shared/lua_api/phys/bphysmodel.cpp b/src/shared/lua_api/phys/bphysmodel.cpp
index e9fecbf..55039ba 100644
--- a/src/shared/lua_api/phys/bphysmodel.cpp
+++ b/src/shared/lua_api/phys/bphysmodel.cpp
@@ -19,39 +19,27 @@ extern "C" {
 extern btDiscreteDynamicsWorld* World;
 extern std::list<btRigidBody*> Objects;
 
-//newbphysmodel("graphicfile","physicfile",mass,[,{position}][,{lookat}])
-static int newbphysmodel(lua_State* L){
-	printf("Creating bphysmodel\n");
+//"physicfile",mass[,position][,lookat] :: ud_rigidbody
+void makebphysmodel(lua_State *L){
+	printf("making bphysmodel\n");
 	int nargs = lua_gettop(L);
 	double lx,ly,lz;
 	double x,y,z;
-	if(nargs > 4){
-		//"graphicsfile","physicsfile",{position},{lookat}
+	if(nargs > 3){
+		//"physicsfile",{position},{lookat}
 		popvector3d(L,&lx,&ly,&lz);
 	}
-	if(nargs > 3){
-		//"graphicsfile","physicsfile",{position}
+	if(nargs > 2){
+		//"physicsfile",{position}
 		popvector3d(L,&x,&y,&z);
 	}
-	//"graphicsfile","physicsfile"
+	printf("got arguments for bphysmodel\n");
+	//"physicsfile"
 
 	double mass = lua_tonumber(L,-1);
 	const char *ppath = lua_tostring(L,-2);
-	//const char *gpath = lua_tostring(L,-3);
-	lua_pop(L,3);
-
-	//ISceneManager *smgr = device->getSceneManager();
+	lua_pop(L,2);
 	
-	//printf("bphysnode, creating the scene node\n");
-
-	////Create the scene node
-	//IMesh *gmesh = smgr->getMesh(gpath);
-	//ISceneNode *node = smgr->addMeshSceneNode(gmesh,0,-1,vector3df(x,y,z));
-
-	printf("bphysnode, createing the physics body\n");
-	//Create the physics body
-	//IMesh *pmesh = smgr->getMesh(ppath);
-	//printf("We have %d mesh buffers\n",pmesh->getMeshBufferCount());
 	tinyobj_attrib_t attrib;
 	tinyobj_shape_t *shapes = NULL;
 	size_t meshcount;
@@ -62,43 +50,59 @@ static int newbphysmodel(lua_State* L){
 	FILE *objfile = fopen(ppath,"rb");
 	fseek(objfile,0,SEEK_END);
 	data_len = ftell(objfile);
+	printf("model data is %d long\n",(int)data_len);
 	fseek(objfile,0,SEEK_SET);
 	char *objdata = (char*)malloc(sizeof(char)*data_len);
 	fread(objdata, sizeof(char), data_len, objfile);
 	fclose(objfile);
-	int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, 0);
+	printf("About to tinyobj_parse_obj\n");
+	int err = tinyobj_parse_obj(&attrib, &shapes, &meshcount, &materials, &num_materials, objdata, data_len, TINYOBJ_FLAG_TRIANGULATE);
 	if(err != TINYOBJ_SUCCESS){
 		printf("Tinyobj failed to load model:%s\n",ppath);
 	}
 	//u32 meshcount = pmesh->getMeshBufferCount();
 	btTriangleMesh* trimesh = new btTriangleMesh();
-	size_t numverts = attrib.num_face_num_verts;
-	//size_t stride = 9; //9 = 3 position floats + 3 normal floats + 3 color floats
-	size_t face_offset = 0;
-	for(size_t i = 0; i < numverts; i++){
-		for(size_t j = 0; j < (size_t)attrib.face_num_verts[i] / 3; j++){
-			float v[3][3]; //this tri
-			tinyobj_vertex_index_t idx0, idx1, idx2;
-			idx0 = attrib.faces[face_offset + 3 * j + 0];
-			idx1 = attrib.faces[face_offset + 3 * j + 1];
-			idx2 = attrib.faces[face_offset + 3 * j + 2];
-			for(short k = 0; k < 3; k++){
-				int f0, f1, f2;
-				f0 = idx0.v_idx;
-				f1 = idx1.v_idx;
-				f2 = idx2.v_idx;
-				v[0][k] = attrib.vertices[3 * (size_t)f0 + k];
-				v[1][k] = attrib.vertices[3 * (size_t)f1 + k];
-				v[2][k] = attrib.vertices[3 * (size_t)f2 + k];
-			}
-			btVector3 b1,b2,b3;
-			b1 = btVector3(v[0][0],v[0][1],v[0][2]);
-			b2 = btVector3(v[1][0],v[1][1],v[1][2]);
-			b3 = btVector3(v[2][0],v[2][1],v[2][2]);
-			trimesh->addTriangle(b1,b2,b3);
-		}
-		face_offset += (size_t)attrib.face_num_verts[i];
+	for(size_t i = 0; i < attrib.num_vertices; i++){
+		float *vs =  attrib.vertices + (sizeof(float)*3*i);//3 floats per vertex
+		float v1 = vs[0];
+		float v2 = vs[1];
+		float v3 = vs[2];
+		trimesh->findOrAddVertex(btVector3(v1,v2,v3),true);
 	}
+	for(size_t i = 0; i < attrib.num_faces; i+= 3){
+		tinyobj_vertex_index_t i1,i2,i3;
+		i1 = attrib.faces[i];
+		i2 = attrib.faces[i+1];
+		i3 = attrib.faces[i+2];
+		trimesh->addTriangleIndices(i1.v_idx,i2.v_idx,i3.v_idx);
+	}
+	//size_t numverts = attrib.num_face_num_verts;
+	////size_t stride = 9; //9 = 3 position floats + 3 normal floats + 3 color floats
+	//size_t face_offset = 0;
+	//for(size_t i = 0; i < numverts; i++){
+		//for(size_t j = 0; j < (size_t)attrib.face_num_verts[i] / 3; j++){
+			//float v[3][3]; //this tri
+			//tinyobj_vertex_index_t idx0, idx1, idx2;
+			//idx0 = attrib.faces[face_offset + 3 * j + 0];
+			//idx1 = attrib.faces[face_offset + 3 * j + 1];
+			//idx2 = attrib.faces[face_offset + 3 * j + 2];
+			//for(short k = 0; k < 3; k++){
+				//int f0, f1, f2;
+				//f0 = idx0.v_idx;
+				//f1 = idx1.v_idx;
+				//f2 = idx2.v_idx;
+				//v[0][k] = attrib.vertices[3 * (size_t)f0 + k];
+				//v[1][k] = attrib.vertices[3 * (size_t)f1 + k];
+				//v[2][k] = attrib.vertices[3 * (size_t)f2 + k];
+			//}
+			//btVector3 b1,b2,b3;
+			//b1 = btVector3(v[0][0],v[0][1],v[0][2]);
+			//b2 = btVector3(v[1][0],v[1][1],v[1][2]);
+			//b3 = btVector3(v[2][0],v[2][1],v[2][2]);
+			//trimesh->addTriangle(b1,b2,b3);
+		//}
+		//face_offset += (size_t)attrib.face_num_verts[i];
+	//}
 	printf("Done building trimesh\n");
 	btCollisionShape *shape = new btBvhTriangleMeshShape(trimesh,true);
 	btTransform tr;
@@ -109,15 +113,66 @@ static int newbphysmodel(lua_State* L){
 	btVector3 li;
 	shape->calculateLocalInertia(mass, li);
 	btRigidBody *rb = new btRigidBody(mass,ms,shape,li);
-	//rb->setUserPointer((void*) node);
 	World->addRigidBody(rb);
 	Objects.push_back(rb);
 	printf("Rigid body finished\n");
+	lua_pushlightuserdata(L,rb);//ud_rigidbody
+}
+
+//newbphysmodel("graphicfile","physicfile",mass[,position][,lookat]) :: ud_rigidbody
+static int newbphysmodel(lua_State* L){
+	printf("Creating bphysmodel\n");
+	int nargs = lua_gettop(L);
+	double lx,ly,lz;
+	double x,y,z;
+	if(nargs > 4){
+		//"graphicsfile","physicsfile",{position},{lookat}
+		popvector3d(L,&lx,&ly,&lz);
+	}else{
+		lx = 1; ly = 1; lz = 1;
+	}
+	if(nargs > 3){
+		//"graphicsfile","physicsfile",{position}
+		popvector3d(L,&x,&y,&z);
+	}else{
+		x = 0; y = 0; z = 0;
+	}
+	//"graphicsfile","physicsfile"
+
+	double mass = lua_tonumber(L,-1);
+	const char *ppath = lua_tostring(L,-2);
+	//const char *gpath = lua_tostring(L,-3);
+	lua_pop(L,3);//
+
+	lua_pushstring(L,ppath);//"phys_path"
+	lua_pushnumber(L,mass);//"phys_path",double_mass
+	pushvector3d(L,x,y,z);//"phys_path",double_mass,{position}
+	pushvector3d(L,lx,ly,lz);//"phys_path",double_mass,{position},{lookat}
+	printf("Starting makeing bphysmodel\n");
+	makebphysmodel(L);//ud_rigidbody
+	printf("Done making bphysmodel\n");
+	btRigidBody *rb = (btRigidBody*)lua_touserdata(L,-1);
+	printf("bphysnode, createing the physics body\n");
 
 	//Create the lua representation
-	lua_newtable(L);
-	lua_pushlightuserdata(L,rb);
-	lua_setfield(L,-2,"rigidbody");
+	lua_newtable(L);//{}
+	lua_pushlightuserdata(L,rb);//{},ud_rigidbody
+	lua_setfield(L,-2,"collider");//{collider=ud_rigidbody}
+	lua_pushstring(L,"rigidbody");//{collider=ud_rigidbody},"rigidbody"
+	lua_setfield(L,-2,"type");//{rb}
+	
+	printf("Added collider to lua rep.\n");
+
+	//Add it to the global list of colliders
+	lua_getglobal(L,"phys");//{rb},{phys}
+	lua_getfield(L,-1,"colliders");//{rb},{phys},{phys.colliders}
+	lua_pushlightuserdata(L,rb);//{rb},{phys},{phys.colliders},ud_collider
+	lua_pushvalue(L,-4);//{rb},{phys},{phys.colliders},ud_collider,{rb}
+	lua_settable(L,-3);//{rb},{phys},{phys.colliders}
+	lua_pop(L,2);//{rb}
+
+	printf("Added collider to phys.colliders\n");
+
 	//lua_pushlightuserdata(L,node);
 	//lua_setfield(L,-2,"node");
 	luaL_getmetatable(L,"phys.physmodel");
diff --git a/src/shared/lua_api/phys/bphysmodel.hpp b/src/shared/lua_api/phys/bphysmodel.hpp
index 50645cc..1d1cd77 100644
--- a/src/shared/lua_api/phys/bphysmodel.hpp
+++ b/src/shared/lua_api/phys/bphysmodel.hpp
@@ -8,4 +8,5 @@ extern "C" {
 }
 
 int bphysmodel_register(lua_State* L);
+void makebphysmodel(lua_State *L);
 #endif
diff --git a/src/shared/phys/physcommon.cpp b/src/shared/phys/physcommon.cpp
index 783f282..b588b23 100644
--- a/src/shared/phys/physcommon.cpp
+++ b/src/shared/phys/physcommon.cpp
@@ -9,11 +9,10 @@
 using namespace std::chrono;
 
 btDiscreteDynamicsWorld* World;
-std::list<btRigidBody*> Objects;
+std::list<btCollisionObject*> Objects;
 std::list<btKinematicCharacterController*> Chars;
 
-extern void dropRigidBody(btRigidBody* b);
-extern void dropChar(btKinematicCharacterController* a);
+extern void dropCollisionObject(btCollisionObject* b);
 
 // Removes all objects from the world
 //void ClearObjects(btDiscreteDynamicsWorld* wr, std::list<btRigidBody*> objs, void(*f)(btRigidBody*)) {
@@ -32,30 +31,22 @@ extern void dropChar(btKinematicCharacterController* a);
 	//objs.clear();
 //}
 void ClearObjects(){
-	for(std::list<btRigidBody *>::iterator itr = Objects.begin(); itr != Objects.end(); ++itr){
-		dropRigidBody(*itr);
-		World->removeRigidBody(*itr);
+	for(std::list<btCollisionObject*>::iterator itr = Objects.begin(); itr != Objects.end(); ++itr){
+		dropCollisionObject(*itr);
+		World->removeCollisionObject(*itr);
 		delete *itr;
 	}
 	Objects.clear();
 }
 
-void ClearChars(){
-	for(std::list<btKinematicCharacterController *>::iterator itr = Chars.begin(); itr != Chars.end(); ++itr){
-		dropChar(*itr);
-		World->removeVehicle(*itr);
-		delete *itr;
-	}
-	Chars.clear();
-}
-
-btBroadphaseInterface* BroadPhase;
+btBroadphaseInterface* broadphase;
 btDefaultCollisionConfiguration* CollisionConfiguration;
 btCollisionDispatcher* Dispatcher;
 btSequentialImpulseConstraintSolver* Solver;
 
 void phys_genesis(){
-	BroadPhase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000));
+	broadphase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000));
+	broadphase ->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
 	//printf("Broadphase\n");
 	CollisionConfiguration = new btDefaultCollisionConfiguration();
 	//printf("Collision config\n");
@@ -63,7 +54,7 @@ void phys_genesis(){
 	//printf("Dispatcher\n");
 	Solver = new btSequentialImpulseConstraintSolver();
 	//printf("Solver\n");
-	World = new btDiscreteDynamicsWorld(Dispatcher, BroadPhase, Solver, CollisionConfiguration);
+	World = new btDiscreteDynamicsWorld(Dispatcher, broadphase, Solver, CollisionConfiguration);
 	//printf("Physics world init ok.\n");
 	World->setGravity(btVector3(0,-10,0));
 	//printf("Created physics world: %p\n",World);
@@ -71,9 +62,8 @@ void phys_genesis(){
 
 void phys_shutdown(){
 	ClearObjects();
-	ClearChars();
 	printf("cleared objects\n");
-	delete BroadPhase;
+	delete broadphase;
 	printf("deleted broadphase\n");
 	delete CollisionConfiguration;
 	printf("deleted collision config\n");
@@ -90,18 +80,20 @@ void phys_shutdown(){
 
 // Runs the physics simulation.
 // - TDeltaTime tells the simulation how much time has passed since the last frame so the simulation can run independently of the frame rate. Optionally pass in an argument that will be called on every rigidbody in the world
-void UpdatePhysics(double TDeltaTime, void(*f)(btRigidBody*)) {
+void UpdatePhysics(double TDeltaTime, void(*f)(btCollisionObject *)) {
+	//printf("Pre step simulation\n");
 	World->stepSimulation(TDeltaTime * 0.2f, 60);
+	//printf("Done step simulation\n");
 	if(f){
 		// Relay the object's orientation to irrlicht
-		for(std::list<btRigidBody *>::iterator it = Objects.begin(); it != Objects.end(); ++it) {
+		for(std::list<btCollisionObject *>::iterator it = Objects.begin(); it != Objects.end(); ++it) {
 			(*f)(*it);
 		}
 	}
 }
 
 high_resolution_clock::time_point t1 = high_resolution_clock::now();
-void gameloop_phys(void(*f)(btRigidBody*)){
+void gameloop_phys(void(*f)(btCollisionObject *)){
 	//printf("Doing phys gameloop\n");
 	high_resolution_clock::time_point now = high_resolution_clock::now();
 	duration<double> delta = now-t1;
diff --git a/src/shared/phys/physcommon.hpp b/src/shared/phys/physcommon.hpp
index dd5fe14..559683f 100644
--- a/src/shared/phys/physcommon.hpp
+++ b/src/shared/phys/physcommon.hpp
@@ -1,7 +1,9 @@
 #ifndef _shared_physcommon_
+#define _shared_physcommon_
 #include <BulletDynamics/Character/btKinematicCharacterController.h>
 #include <BulletCollision/CollisionDispatch/btGhostObject.h>
-void gameloop_phys(void(*f)(btRigidBody*));
+void gameloop_phys(void(*f)(btCollisionObject *));
 void phys_genesis();
 void phys_shutdown();
+extern btDiscreteDynamicsWorld* World;
 #endif