diff --git a/OpenGLEngine/OpenGLEngine/BungeeComponent.h b/OpenGLEngine/OpenGLEngine/BungeeComponent.h
new file mode 100644
index 0000000..2be08a5
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BungeeComponent.h
@@ -0,0 +1,19 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct BungeeComponent
+	{
+		BungeeComponent(float _springConstant = 10.0f, float _restLength = 10.0f, ECSEntity _connectedEntityA = ECSEntity(), ECSEntity _connectedEntityB = ECSEntity())
+			: springConstant(_springConstant), restLength(_restLength), connectedEntityA(_connectedEntityA), connectedEntityB(_connectedEntityB)
+		{
+
+		}
+
+		float springConstant;
+		float restLength;
+		ECSEntity connectedEntityA;
+		ECSEntity connectedEntityB;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/BungeeSystem.cpp b/OpenGLEngine/OpenGLEngine/BungeeSystem.cpp
new file mode 100644
index 0000000..9da196a
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BungeeSystem.cpp
@@ -0,0 +1,50 @@
+#include "BungeeSystem.h"
+#include "TransformComponent.h"
+#include "ForceAccumulatorComponent.h"
+#include "InputEventSystem.h"
+
+namespace Reality
+{
+	BungeeSystem::BungeeSystem()
+	{
+		requireComponent<BungeeComponent>();
+	}
+
+	void BungeeSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& bungee = e.getComponent<BungeeComponent>();
+
+			if (bungee.connectedEntityA.hasComponent<TransformComponent>()
+				&& bungee.connectedEntityB.hasComponent<TransformComponent>())
+			{
+				auto& transformA = bungee.connectedEntityA.getComponent<TransformComponent>();
+
+				auto& transformB = bungee.connectedEntityB.getComponent<TransformComponent>();
+
+				Vector3 relativePosition = transformA.position - transformB.position;
+
+				float length = glm::length(relativePosition);
+
+				if (!(length < bungee.restLength))
+				{
+					float deltaL = length - bungee.restLength;
+					Vector3 force = -glm::normalize(relativePosition);
+					force *= bungee.springConstant * deltaL;
+
+					if (bungee.connectedEntityA.hasComponent<ForceAccumulatorComponent>())
+						bungee.connectedEntityA.getComponent<ForceAccumulatorComponent>().AddForce(force);
+
+					if (bungee.connectedEntityB.hasComponent<ForceAccumulatorComponent>())
+						bungee.connectedEntityB.getComponent<ForceAccumulatorComponent>().AddForce(-force);
+
+					if (DEBUG_LOG_LEVEL > 0)
+					{
+						getWorld().data.renderUtil->DrawLine(transformA.position, transformB.position, deltaL > 0 ? Color::Red : Color::Green);
+					}
+				}
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/BungeeSystem.h b/OpenGLEngine/OpenGLEngine/BungeeSystem.h
new file mode 100644
index 0000000..3cae8fa
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BungeeSystem.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "ECSConfig.h"
+#include "TransformComponent.h"
+#include "BungeeComponent.h"
+
+namespace Reality
+{
+	class BungeeSystem : public ECSSystem
+	{
+	public:
+		BungeeSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/BuoyancyComponent.h b/OpenGLEngine/OpenGLEngine/BuoyancyComponent.h
new file mode 100644
index 0000000..65f1016
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BuoyancyComponent.h
@@ -0,0 +1,19 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct BuoyancyComponent
+	{
+		BuoyancyComponent(float _maxDepth = 10.0f, float _volume = 10.0f, float _waterHeight = 0.0f, float _liquidDensity = 1000.0f)
+			: maxDepth(_maxDepth), volume(_volume), waterHeight(_waterHeight), liquidDensity(_liquidDensity)
+		{
+
+		}
+
+		float maxDepth;
+		float volume;
+		float waterHeight;
+		float liquidDensity;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/BuoyancySystem.cpp b/OpenGLEngine/OpenGLEngine/BuoyancySystem.cpp
new file mode 100644
index 0000000..1e9e65a
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BuoyancySystem.cpp
@@ -0,0 +1,107 @@
+#include "BuoyancySystem.h"
+#include "TransformComponent.h"
+#include "ForceAccumulatorComponent.h"
+#include "ParticleComponent.h"
+#include "GravityForceComponent.h"
+namespace Reality
+{
+	BuoyancySystem::BuoyancySystem()
+	{
+		requireComponent<BuoyancyComponent>();
+		requireComponent<ForceAccumulatorComponent>();
+	}
+
+	void BuoyancySystem::Update(float deltaTime)
+	{
+		if (glfwGetKey(getWorld().data.renderUtil->window->glfwWindow, GLFW_KEY_UP) == GLFW_PRESS)
+		{
+			for (auto e : getEntities())
+			{
+				if (e.hasComponent<BuoyancyComponent>())
+				{
+					e.getComponent<BuoyancyComponent>().liquidDensity += 5;
+
+					if (e.getComponent<BuoyancyComponent>().liquidDensity >= 10000)
+					{
+						e.getComponent<BuoyancyComponent>().liquidDensity = 10000;
+					}
+
+					currentBuoyancyValue = e.getComponent<BuoyancyComponent>().liquidDensity;
+				}
+			}
+		}
+
+		if (glfwGetKey(getWorld().data.renderUtil->window->glfwWindow, GLFW_KEY_DOWN) == GLFW_PRESS)
+		{
+			for (auto e : getEntities())
+			{
+				if (e.hasComponent<BuoyancyComponent>())
+				{
+					e.getComponent<BuoyancyComponent>().liquidDensity -= 5;
+
+					if (e.getComponent<BuoyancyComponent>().liquidDensity <= 10)
+					{
+						e.getComponent<BuoyancyComponent>().liquidDensity = 10;
+					}
+
+					currentBuoyancyValue = e.getComponent<BuoyancyComponent>().liquidDensity;
+				}
+			}
+		}
+			
+		for (auto e : getEntities())
+		{
+			auto& buoyancy = e.getComponent<BuoyancyComponent>();
+			auto& forceAcc = e.getComponent<ForceAccumulatorComponent>();
+
+			currentBuoyancyValue = buoyancy.liquidDensity;
+
+			if (e.hasComponent<TransformComponent>())
+			{
+				auto& transform = e.getComponent<TransformComponent>();
+
+				float depth = transform.position.y;
+
+				if (DEBUG_LOG_LEVEL > 0)
+				{
+					getWorld().data.renderUtil->DrawCube(Vector3(0, (buoyancy.waterHeight - buoyancy.maxDepth) / 2, -50), Vector3(width * 2, buoyancy.maxDepth, length * 2) , Quaternion(Vector3(1, 1, 1), Vector3(1, 1, 1) ), Color::Blue);
+				}
+
+				if (depth >= buoyancy.waterHeight || (transform.position.x >= width + 50 || transform.position.x <= -width - 50) || (transform.position.z >= length + 50 || transform.position.z <= -length - 50))
+				{
+
+				}
+				else
+				{
+					Vector3 force(0, 0, 0);
+
+					if (depth <= buoyancy.waterHeight - buoyancy.maxDepth)
+					{
+						force.y = buoyancy.liquidDensity * buoyancy.volume;
+						cout << force.y << endl;
+
+						forceAcc.AddForce(force);
+						if (DEBUG_LOG_LEVEL > 0)
+						{
+							getWorld().data.renderUtil->DrawLine(Vector3(transform.position.x, buoyancy.waterHeight, transform.position.z), transform.position, Color::Red);
+						}
+					}
+					else
+					{
+						float scale = depth + buoyancy.maxDepth <= 1 ? 1 : depth + buoyancy.maxDepth;
+
+						force.y = buoyancy.liquidDensity / (scale - buoyancy.waterHeight) * buoyancy.volume;
+						cout << force.y << endl;
+
+						forceAcc.AddForce(force);
+
+						if (DEBUG_LOG_LEVEL > 0)
+						{
+							getWorld().data.renderUtil->DrawLine(Vector3(transform.position.x, buoyancy.waterHeight, transform.position.z), transform.position, Color::Green);
+						}
+					}
+				}
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/BuoyancySystem.h b/OpenGLEngine/OpenGLEngine/BuoyancySystem.h
new file mode 100644
index 0000000..e5fc0ae
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/BuoyancySystem.h
@@ -0,0 +1,19 @@
+#pragma once
+#include "ECSConfig.h"
+#include "TransformComponent.h"
+#include "BuoyancyComponent.h"
+
+namespace Reality
+{
+	class BuoyancySystem : public ECSSystem
+	{
+	public:
+		BuoyancySystem();
+		void Update(float deltaTime);
+
+		bool spawning = true;
+		float currentBuoyancyValue;
+		float width = 50;
+		float length = 50;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/CableComponent.h b/OpenGLEngine/OpenGLEngine/CableComponent.h
index 07d09c6..87972d5 100644
--- a/OpenGLEngine/OpenGLEngine/CableComponent.h
+++ b/OpenGLEngine/OpenGLEngine/CableComponent.h
@@ -1,11 +1,21 @@
 #pragma once
 #include "ECSConfig.h"
+
 namespace Reality
 {
 	struct CableComponent
 	{
-		CableComponent(ECSEntity a = ECSEntity(), ECSEntity b = ECSEntity(), float _maxLength = 10, float _restitution = 1.0f)
-			: entityA(a), entityB(b), maxLength(_maxLength), restitution(_restitution){}
+		CableComponent(ECSEntity a = ECSEntity(),
+			ECSEntity b = ECSEntity(),
+			float _maxLength = 10,
+			float _restitution = 1)
+			: entityA(a),
+			entityB(b),
+			maxLength(_maxLength),
+			restitution(_restitution)
+		{
+
+		}
 		ECSEntity entityA;
 		ECSEntity entityB;
 		float maxLength;
diff --git a/OpenGLEngine/OpenGLEngine/CableSystem.cpp b/OpenGLEngine/OpenGLEngine/CableSystem.cpp
new file mode 100644
index 0000000..4aa3143
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/CableSystem.cpp
@@ -0,0 +1,49 @@
+#include "CableSystem.h"
+#include "TransformComponent.h"
+#include "ParticleContactEvent.h"
+
+namespace Reality
+{
+	CableSystem::CableSystem()
+	{
+		requireComponent<CableComponent>();
+	}
+
+	void CableSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& cable = e.getComponent<CableComponent>();
+
+			if (cable.entityA.hasComponent<TransformComponent>() &&
+				cable.entityB.hasComponent<TransformComponent>())
+			{
+				auto& transformA = cable.entityA.getComponent<TransformComponent>();
+				auto& transformB = cable.entityB.getComponent<TransformComponent>();
+
+				Vector3 relativePos = transformA.position - transformB.position;
+				float length = glm::length(relativePos);
+
+				if (length > cable.maxLength)
+				{
+					Vector3 normal = -glm::normalize(relativePos);
+					float penetration = length - cable.maxLength;
+
+					getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+						cable.entityA,
+						cable.entityB,
+						cable.restitution,
+						normal,
+						penetration
+						);
+				}
+
+				getWorld().data.renderUtil->DrawLine(
+					transformA.position,
+					transformB.position,
+					Color::Magenta
+				);
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/CableSystem.h b/OpenGLEngine/OpenGLEngine/CableSystem.h
new file mode 100644
index 0000000..a888363
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/CableSystem.h
@@ -0,0 +1,13 @@
+#pragma once
+#include "ECSConfig.h"
+#include "CableComponent.h"
+
+namespace Reality
+{
+	class CableSystem : public ECSSystem
+	{
+	public:
+		CableSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/DragForceComponent.h b/OpenGLEngine/OpenGLEngine/DragForceComponent.h
new file mode 100644
index 0000000..dec367f
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/DragForceComponent.h
@@ -0,0 +1,16 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct DragForceComponent
+	{
+		DragForceComponent(float _k1 = 0.0f, float _k2 = 0.0f)
+			: k1(_k1), k2(_k2)
+		{
+
+		}
+		float k1;
+		float k2;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/DragForceSystem.cpp b/OpenGLEngine/OpenGLEngine/DragForceSystem.cpp
new file mode 100644
index 0000000..591e326
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/DragForceSystem.cpp
@@ -0,0 +1,29 @@
+#include "DragForceSystem.h"
+
+namespace Reality
+{
+	DragForceSystem::DragForceSystem()
+	{
+		requireComponent<ParticleComponent>();
+		requireComponent<ForceAccumulatorComponent>();
+		requireComponent<DragForceComponent>();
+	}
+
+	void DragForceSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& particle = e.getComponent<ParticleComponent>();
+			auto& forceAcc = e.getComponent<ForceAccumulatorComponent>();
+			auto& drag = e.getComponent<DragForceComponent>();
+
+			float speed = glm::length(particle.velocity);
+			if (speed > 0)
+			{
+				Vector3 force = -glm::normalize(particle.velocity);
+				force *= drag.k1 * speed + drag.k2 * pow(speed, 2);
+				forceAcc.AddForce(force);
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/DragForceSystem.h b/OpenGLEngine/OpenGLEngine/DragForceSystem.h
new file mode 100644
index 0000000..d3f21e8
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/DragForceSystem.h
@@ -0,0 +1,15 @@
+#pragma once
+#include "ECSConfig.h"
+#include "ParticleComponent.h"
+#include "ForceAccumulatorComponent.h"
+#include "DragForceComponent.h"
+
+namespace Reality
+{
+	class DragForceSystem : public ECSSystem
+	{
+	public:
+		DragForceSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ECSConfig.h b/OpenGLEngine/OpenGLEngine/ECSConfig.h
index dee62f8..08fdbcd 100644
--- a/OpenGLEngine/OpenGLEngine/ECSConfig.h
+++ b/OpenGLEngine/OpenGLEngine/ECSConfig.h
@@ -4,6 +4,7 @@
 #include <glm/gtc/matrix_transform.hpp>
 #include <glm/gtc/type_ptr.hpp>
 #define RANDOM_FLOAT(LO, HI) LO + static_cast <float> (rand()) / (static_cast <float> (RAND_MAX / (HI - LO)))
+#define DEBUG_LOG_LEVEL 3
 
 namespace Reality
 {
diff --git a/OpenGLEngine/OpenGLEngine/FireworksComponent.h b/OpenGLEngine/OpenGLEngine/FireworksComponent.h
new file mode 100644
index 0000000..f988802
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/FireworksComponent.h
@@ -0,0 +1,20 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct FireworksComponent
+	{
+		FireworksComponent(int _numberOfParticles = 6, int _generation = 3, float _spawnTime = 3, float _velocityScale = 10.0f, Color _color = Color::Green)
+			:numberOfParticles(_numberOfParticles), generation(_generation), spawnTime(_spawnTime), velocityScale(_velocityScale),color(_color), timer(0.0f)
+		{
+
+		}
+		int numberOfParticles;
+		int generation;
+		float spawnTime;
+		float timer;
+		float velocityScale;
+		Color color;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/FireworksSystem.cpp b/OpenGLEngine/OpenGLEngine/FireworksSystem.cpp
new file mode 100644
index 0000000..3d24430
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/FireworksSystem.cpp
@@ -0,0 +1,60 @@
+#include "FireworksSystem.h"
+#include "ParticleComponent.h"
+#include "ForceAccumulatorComponent.h"
+#include "GravityForceComponent.h"
+
+namespace Reality
+{
+	FireworksSystem::FireworksSystem()
+	{
+		requireComponent<TransformComponent>();
+		requireComponent<FireworksComponent>();
+	}
+
+	void FireworksSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& transform = e.getComponent<TransformComponent>();
+			auto& fireworks = e.getComponent<FireworksComponent>();
+
+			fireworks.timer += deltaTime;
+			if (fireworks.timer > fireworks.spawnTime)
+			{
+				if (fireworks.generation > 0)
+				{
+					float deltaAngle = 2 * AI_MATH_PI / fireworks.numberOfParticles;
+					for (int i = 0; i < fireworks.numberOfParticles; i++)
+					{
+						auto particle = getWorld().createEntity();
+						particle.addComponent<TransformComponent>(transform.position);
+						float angle = i * deltaAngle;
+						Vector3 velocity = Vector3(0, 1, 0);
+						velocity.x = cos(angle);
+						velocity.z = sin(angle);
+						velocity *= fireworks.velocityScale;
+						particle.addComponent<ParticleComponent>(velocity);
+						particle.addComponent<ForceAccumulatorComponent>();
+						particle.addComponent<GravityForceComponent>();
+						float colorAlpha = (float)i / (float)fireworks.numberOfParticles;
+						particle.addComponent<FireworksComponent>(
+							fireworks.numberOfParticles,
+							fireworks.generation - 1,
+							fireworks.spawnTime + RANDOM_FLOAT(-0.3f, 0.3f),
+							fireworks.velocityScale,
+							Color(colorAlpha, 0, 1 - colorAlpha)
+							);
+
+					}
+				}
+				e.kill();
+			}
+
+
+			if (DEBUG_LOG_LEVEL > 0)
+			{
+				getWorld().data.renderUtil->DrawSphere(transform.position, 1.0f, fireworks.color);
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/FireworksSystem.h b/OpenGLEngine/OpenGLEngine/FireworksSystem.h
new file mode 100644
index 0000000..c8bdc7f
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/FireworksSystem.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "ECSConfig.h"
+#include "TransformComponent.h"
+#include "FireworksComponent.h"
+
+namespace Reality
+{
+	class FireworksSystem : public ECSSystem
+	{
+	public:
+		FireworksSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/FixedSpringComponent.h b/OpenGLEngine/OpenGLEngine/FixedSpringComponent.h
index b8b312b..dabd2d8 100644
--- a/OpenGLEngine/OpenGLEngine/FixedSpringComponent.h
+++ b/OpenGLEngine/OpenGLEngine/FixedSpringComponent.h
@@ -5,10 +5,17 @@ namespace Reality
 {
 	struct FixedSpringComponent
 	{
-		FixedSpringComponent(float _springConstant = 10, float _restLength = 10, ECSEntity e = ECSEntity())
-			:springConstant(_springConstant), restLength(_restLength), entity(e){}
+		FixedSpringComponent(float _springConstant = 10.0f,
+			float _restLength = 10.0f,
+			ECSEntity _connectedEntity = ECSEntity())
+			: springConstant(_springConstant),
+			restLength(_restLength),
+			connectedEntity(_connectedEntity)
+		{
+
+		}
 		float springConstant;
 		float restLength;
-		ECSEntity entity;
+		ECSEntity connectedEntity;
 	};
 }
diff --git a/OpenGLEngine/OpenGLEngine/FixedSpringSystem.cpp b/OpenGLEngine/OpenGLEngine/FixedSpringSystem.cpp
new file mode 100644
index 0000000..ae5a0f6
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/FixedSpringSystem.cpp
@@ -0,0 +1,55 @@
+#include "FixedSpringSystem.h"
+#include "ForceAccumulatorComponent.h"
+
+namespace Reality
+{
+	FixedSpringSystem::FixedSpringSystem()
+	{
+		requireComponent<TransformComponent>();
+		requireComponent<FixedSpringComponent>();
+	}
+
+	void FixedSpringSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& springTransform = e.getComponent<TransformComponent>();
+			auto& spring = e.getComponent<FixedSpringComponent>();
+
+			if (spring.connectedEntity.hasComponent<ForceAccumulatorComponent>()
+				&& spring.connectedEntity.hasComponent<TransformComponent>())
+			{
+				auto& forceAcc = spring.connectedEntity.getComponent<ForceAccumulatorComponent>();
+				auto& transform = spring.connectedEntity.getComponent<TransformComponent>();
+
+				Vector3 relativePosition = transform.position - springTransform.position;
+				float length = glm::length(relativePosition);
+				if (length > 0)
+				{
+					float deltaL = length - spring.restLength;
+					Vector3 force = -glm::normalize(relativePosition);
+					force *= spring.springConstant * deltaL;
+					forceAcc.AddForce(force);
+
+					float g = 1.0f / (1.0f + pow(abs(deltaL), 0.5f));
+					float r = 1 - g;
+
+					Color col = Color(r, g, 0, 1);
+
+					float deltaLength = length / 10.0f;
+					Vector3 direction = -glm::normalize(relativePosition);
+					for (int i = 0; i < 10; i++)
+					{
+						getWorld().data.renderUtil->DrawCube(
+							transform.position + (float)i * deltaLength * direction,
+							Vector3(1.0f, 1.0f, 1.0f) * min((spring.restLength / 20.0f), 100.0f), Vector3(0, 0, 0), col);
+					}
+
+					getWorld().data.renderUtil->DrawLine(springTransform.position, transform.position,
+						col);
+				}
+
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/FixedSpringSystem.h b/OpenGLEngine/OpenGLEngine/FixedSpringSystem.h
new file mode 100644
index 0000000..89968b1
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/FixedSpringSystem.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "ECSConfig.h"
+#include "TransformComponent.h"
+#include "FixedSpringComponent.h"
+
+namespace Reality
+{
+	class FixedSpringSystem : public ECSSystem
+	{
+	public:
+		FixedSpringSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ForceAccumulatorComponent.h b/OpenGLEngine/OpenGLEngine/ForceAccumulatorComponent.h
new file mode 100644
index 0000000..62ca949
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ForceAccumulatorComponent.h
@@ -0,0 +1,30 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct ForceAccumulatorComponent
+	{
+		ForceAccumulatorComponent(float _mass = 1.0f)
+			: inverseMass(1.0f / _mass), forceAccumulator(Vector3(0, 0, 0))
+		{
+
+		}
+		float inverseMass;
+
+		inline void AddForce(Vector3 force)
+		{
+			forceAccumulator += force;
+		}
+		inline void ResetAccumulator()
+		{
+			forceAccumulator = Vector3(0, 0, 0);
+		}
+		inline Vector3 GetAccumulatedForce()
+		{
+			return forceAccumulator;
+		}
+	private:
+		Vector3 forceAccumulator;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.cpp b/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.cpp
index d1bbb3d..b4f7c21 100644
--- a/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.cpp
+++ b/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.cpp
@@ -1,21 +1,22 @@
 #include "ForceAccumulatorSystem.h"
 
-
 namespace Reality
 {
 	ForceAccumulatorSystem::ForceAccumulatorSystem()
 	{
 		requireComponent<ParticleComponent>();
+		requireComponent<ForceAccumulatorComponent>();
 	}
 
-
 	void ForceAccumulatorSystem::Update(float deltaTime)
 	{
 		for (auto e : getEntities())
 		{
-			auto &particle = e.getComponent<ParticleComponent>();
-			particle.accelaration = particle.GetForce() * particle.inverseMass;
-			particle.ResetForceAccumulator();
+			auto& particle = e.getComponent<ParticleComponent>();
+			auto& forceAcc = e.getComponent<ForceAccumulatorComponent>();
+
+			particle.acceleration = forceAcc.GetAccumulatedForce() * forceAcc.inverseMass;
+			forceAcc.ResetAccumulator();
 		}
 	}
 }
diff --git a/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.h b/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.h
index ff375ad..ce612ed 100644
--- a/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.h
+++ b/OpenGLEngine/OpenGLEngine/ForceAccumulatorSystem.h
@@ -1,6 +1,7 @@
 #pragma once
 #include "ECSConfig.h"
 #include "ParticleComponent.h"
+#include "ForceAccumulatorComponent.h"
 
 namespace Reality
 {
@@ -11,4 +12,3 @@ namespace Reality
 		void Update(float deltaTime);
 	};
 }
-
diff --git a/OpenGLEngine/OpenGLEngine/GravityForceComponent.h b/OpenGLEngine/OpenGLEngine/GravityForceComponent.h
new file mode 100644
index 0000000..09ad65b
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/GravityForceComponent.h
@@ -0,0 +1,15 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct GravityForceComponent
+	{
+		GravityForceComponent(float _gravityScale = 1.0f)
+			: gravityScale(_gravityScale)
+		{
+
+		}
+		float gravityScale;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/GravityForceSystem.cpp b/OpenGLEngine/OpenGLEngine/GravityForceSystem.cpp
new file mode 100644
index 0000000..07d38d6
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/GravityForceSystem.cpp
@@ -0,0 +1,24 @@
+#include "GravityForceSystem.h"
+
+namespace Reality
+{
+	GravityForceSystem::GravityForceSystem()
+	{
+		requireComponent<ForceAccumulatorComponent>();
+		requireComponent<GravityForceComponent>();
+	}
+
+	void GravityForceSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& forceAcc = e.getComponent<ForceAccumulatorComponent>();
+			auto& gravity = e.getComponent<GravityForceComponent>();
+
+			if (forceAcc.inverseMass > 0)
+			{
+				forceAcc.AddForce(worldGravity * gravity.gravityScale / forceAcc.inverseMass);
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/GravityForceSystem.h b/OpenGLEngine/OpenGLEngine/GravityForceSystem.h
new file mode 100644
index 0000000..850e359
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/GravityForceSystem.h
@@ -0,0 +1,15 @@
+#pragma once
+#include "ECSConfig.h"
+#include "ForceAccumulatorComponent.h"
+#include "GravityForceComponent.h"
+
+namespace Reality
+{
+	class GravityForceSystem : public ECSSystem
+	{
+	public:
+		GravityForceSystem();
+		void Update(float deltaTime);
+		Vector3 worldGravity = Vector3(0.0f, -9.8f, 0.0f);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/Main.cpp b/OpenGLEngine/OpenGLEngine/Main.cpp
index 91a5161..1c20986 100644
--- a/OpenGLEngine/OpenGLEngine/Main.cpp
+++ b/OpenGLEngine/OpenGLEngine/Main.cpp
@@ -1,651 +1,766 @@
-//#define STB_IMAGE_IMPLEMENTATION
-#include "UpdateTransformMatricesSystem.h"
-#include "RenderingSystem.h"
-#include "RenderingSystemV2.h"
-#include "InputEventSystem.h"
-#include "RotateSystem.h"
-#include "ParticleSystem.h"
-#include "ParticleSpawnerSystem.h"
-#include "GravityForceGeneratorSystem.h"
-#include "FixedSpringForceGeneratorSystem.h"
-#include "ForceAccumulatorSystem.h"
-#include "PairedSpringForceGeneratorSystem.h"
-#include "SphereContactGeneratorSystem.h"
-#include "ParticleContactResolutionSystem.h"
-#include "CableComponentSystem.h"
-#include "RodSystem.h"
-#include "ForceAndTorqueAccumulatorSystem.h"
-#include "RigidBodySystem.h"
-#include "RigidbodyGravityForceGeneratorSystem.h"
-#include "ContactGenerationSystem.h"
-#include "ContactResolutionSystem.h"
-#include "SphereColliderSystem.h"
-#include "BoxColliderSystem.h"
-#include "MoveInBoundsSystem.h"
-#include "FPSControlSystem.h"
-#include "DynamicDirectionalLightSystem.h"
-#include "DynamicPointLightSystem.h"
-#include "DynamicSpotLightSystem.h"
-#include "FlightSimulatorSystem.h"
-#include "FollowCameraSystem.h"
-#include "InfiniteSpawnSystem.h"
-#include "InfiniteSpawnTargetSystem.h"
-#include "AeroControlSystem.h"
-#include "SetAerodynamicTensorSystem.h"
-#include "AeroSystem.h"
-#include "CameraLookSystem.h"
-#include "LifeTimeSystem.h"
-#include <string>
-#include <stdlib.h>     
-#include <time.h>      
-
-#define DEBUG_LOG_LEVEL 3
-
-using namespace Reality;
-
-void LoadShaders(ECSWorld& world);
-void LoadModels(ECSWorld& world);
-void MakeABunchaObjects(ECSWorld& world);
-void MakeABunchaSprings(ECSWorld& world);
-void MakeABunchaSpheres(ECSWorld& world);
-void MakeACable(ECSWorld& world);
-void MakeCablesAndRods(ECSWorld& world);
-void MakeFlight(ECSWorld& world);
-void TestContacts(ECSWorld& world);
-void TestCollision(ECSWorld& world);
-void SetupLights(ECSWorld& world);
-
-int main()
-{
-	ECSWorld world;
-
-	// Init and Load
-	world.data.InitRendering();
-	//LoadAssets(world);
-	
-	world.data.renderUtil->camera.Position = Vector3(0, 15.0f, 100.0f);
-	world.data.renderUtil->SetFOV(60);
-	// Create entities
-
-	// Make a player controller
-	auto e = world.createEntity();
-	e.addComponent<FPSControlComponent>();
-
-	//auto wall = world.createEntity();
-	//wall.addComponent<TransformComponent>(Vector3(0, -3.0f, 0.0f), Vector3(0.1f, 0.1f, 0.1f), Vector3(0, 270, 0));
-	//// Add mesh
-	//wall.addComponent<ModelComponent>("Resources/Models/Sponza-master/sponza.obj");
-
-	SetupLights(world);
-	//MakeABunchaObjects(world);
-	//MakeABunchaSpheres(world);
-	//MakeABunchaSprings(world);
-	//MakeACable(world);
-	//akeCablesAndRods(world);
-	//MakeFlight(world);
-	//TestContacts(world);
-	TestCollision(world);
-
-	// Create Systems
-	world.getSystemManager().addSystem<UpdateTransformMatricesSystem>();
-	world.getSystemManager().addSystem<RenderingSystem>();
-	world.getSystemManager().addSystem<RenderingSystemV2>();
-	world.getSystemManager().addSystem<InputEventSystem>();
-	world.getSystemManager().addSystem<RotateSystem>();
-	world.getSystemManager().addSystem<ParticleSystem>();
-	world.getSystemManager().addSystem<ParticleSpawnerSystem>();
-	world.getSystemManager().addSystem<GravityForceGeneratorSystem>();
-	world.getSystemManager().addSystem<FixedSpringForceGeneratorSystem>();
-	world.getSystemManager().addSystem<PairedSpringForceGeneratorSystem>();
-	world.getSystemManager().addSystem<SphereContactGeneratorSystem>();
-	world.getSystemManager().addSystem<CableComponentSystem>();
-	world.getSystemManager().addSystem<RodSystem>();
-	world.getSystemManager().addSystem<ParticleContactResolutionSystem>();
-	world.getSystemManager().addSystem<ForceAccumulatorSystem>();
-	world.getSystemManager().addSystem<ForceAndTorqueAccumulatorSystem>();
-	world.getSystemManager().addSystem<FlightSimulatorSystem>();
-	world.getSystemManager().addSystem<FPSControlSystem>();
-	world.getSystemManager().addSystem<FollowCameraSystem>();
-	world.getSystemManager().addSystem<CameraLookSystem>();
-	world.getSystemManager().addSystem<InfiniteSpawnSystem>();
-	world.getSystemManager().addSystem<InfiniteSpawnTargetSystem>();
-	world.getSystemManager().addSystem<AeroControlSystem>();
-	world.getSystemManager().addSystem<SetAerodynamicTensorSystem>();
-	world.getSystemManager().addSystem<AeroSystem>();
-	world.getSystemManager().addSystem<LifeTimeSystem>();
-	world.getSystemManager().addSystem<MoveInBoundsSystem>();
-	world.getSystemManager().addSystem<DynamicDirectionalLightSystem>();
-	world.getSystemManager().addSystem<DynamicPointLightSystem>();
-	world.getSystemManager().addSystem<DynamicSpotLightSystem>();
-
-	// Rigidbody Physics
-	rp3d::CollisionWorld rp3dWorld;
-	world.getSystemManager().addSystem<RigidBodySystem>(rp3dWorld);
-	world.getSystemManager().addSystem<ContactGenerationSystem>(rp3dWorld);
-	world.getSystemManager().addSystem<ContactResolutionSystem>(rp3dWorld);
-	world.getSystemManager().addSystem<SphereColliderSystem>(rp3dWorld);
-	world.getSystemManager().addSystem<BoxColliderSystem>(rp3dWorld);
-	world.getSystemManager().addSystem<RigidbodyGravityForceGeneratorSystem>();
-
-
-	float time = glfwGetTime();
-	float stepTime = glfwGetTime();
-	float deltaTime = 0;
-	float elapsedDeltaTime = 0;
-	float logicDelta = 0;
-	float debugDelta = 0;
-
-	LoadShaders(world);
-	bool shadersLoaded = false;
-	bool modelsLoadStarted = false;
-	// game loop
-	// -----------
-	while (!glfwWindowShouldClose(world.data.renderUtil->window->glfwWindow))
-	{
-		float current = glfwGetTime();
-		deltaTime = current - time;
-		deltaTime = 1 / 60.0f;
-		time = glfwGetTime();
-
-		world.update();
-
-		// Poll OpenGl events
-		glfwPollEvents();
-
-		world.data.renderUtil->ClearDisplay(world.data.renderUtil->window->glfwWindow);
-
-		// Load
-		if (!shadersLoaded)
-		{
-			shadersLoaded = world.data.assetLoader->ShadersLoaded();
-		}
-		if(shadersLoaded && !modelsLoadStarted)
-		{
-			LoadModels(world);
-			modelsLoadStarted = true;
-		}
-		// Update View
-		world.data.renderUtil->UpdateViewMatrix();
-		// Process Input
-		world.getSystemManager().getSystem<InputEventSystem>().Update(deltaTime);
-
-		// Game Logic Update
-		world.getSystemManager().getSystem<FPSControlSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<RotateSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<ParticleSpawnerSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<MoveInBoundsSystem>().Update(deltaTime);
-
-		//Flight Sim
-		world.getSystemManager().getSystem<FlightSimulatorSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<FollowCameraSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<CameraLookSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<InfiniteSpawnTargetSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<InfiniteSpawnSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<AeroControlSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<SetAerodynamicTensorSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<LifeTimeSystem>().Update(deltaTime);
-
-		// Update Transform
-		world.getSystemManager().getSystem<UpdateTransformMatricesSystem>().Update(deltaTime);
-		// Physics
-		float fixedDeltaTime = glfwGetKey(world.data.renderUtil->window->glfwWindow, GLFW_KEY_SPACE) == GLFW_PRESS ? 1 / 60.0f : 0;		
-		//float fixedDeltaTime = 1 / 60.0f;
-		world.getSystemManager().getSystem<AeroSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<AeroSystem>().Update(fixedDeltaTime);
-		// Particle Force Generators
-		world.getSystemManager().getSystem<GravityForceGeneratorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<FixedSpringForceGeneratorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<PairedSpringForceGeneratorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<ForceAccumulatorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<ParticleSystem>().Update(fixedDeltaTime);
-		// Rigiidbody Force Generators and collisions
-		world.getSystemManager().getSystem<RigidbodyGravityForceGeneratorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<ForceAndTorqueAccumulatorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<RigidBodySystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<SphereColliderSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<BoxColliderSystem>().Update(fixedDeltaTime);
-		// Physics Solvers
-		world.getSystemManager().getSystem<SphereContactGeneratorSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<CableComponentSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<RodSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<ParticleContactResolutionSystem>().Update(fixedDeltaTime);
-
-		world.getSystemManager().getSystem<ContactGenerationSystem>().Update(fixedDeltaTime);
-		world.getSystemManager().getSystem<ContactResolutionSystem>().Update(fixedDeltaTime);
-
-		// Rendering Update
-		world.getSystemManager().getSystem<DynamicDirectionalLightSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<DynamicPointLightSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<DynamicSpotLightSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<RenderingSystem>().Update(deltaTime);
-		world.getSystemManager().getSystem<RenderingSystemV2>().Update(deltaTime);
-
-		elapsedDeltaTime = glfwGetTime() - time;
-		logicDelta = elapsedDeltaTime - world.data.renderUtil->GetRenderDelta();
-		stepTime = glfwGetTime();
-
-		// Debug
-		if (DEBUG_LOG_LEVEL > 0)
-		{
-			world.data.renderUtil->RenderText("FPS : " + std::to_string((int)round(1.0f / deltaTime)), 1810.0f, 1060.0f, 0.5f, Color(0, 1, 1, 1));
-		}
-		if (DEBUG_LOG_LEVEL > 1)
-		{
-			int logic = (int)round(logicDelta * 100.0f / deltaTime);
-			std::string logicString = logic < 10 ? " " + std::to_string(logic) : std::to_string(logic);
-			int render = (int)round(world.data.renderUtil->GetRenderDelta() * 100.0f / deltaTime);
-			std::string renderString = logic < 10 ? " " + std::to_string(render) : std::to_string(render);
-			int debug = (int)round(debugDelta * 100.0f / deltaTime);
-			std::string debugString = logic < 10 ? " " + std::to_string(debug) : std::to_string(debug);
-			
-			world.data.renderUtil->RenderText("Logic : " + logicString + "%" +
-				//+ " | Physics : " + std::to_string((int)round(physicsDelta * 100.0f / deltaTime)) + "%" +
-				+ " | Rendering : " + renderString + "%" +
-				+ " | Debug : " + debugString + "%"
-				, 1680.0f, 1040.0f, 0.25f, Color(0, 1, 1, 1));
-		}
-		if (DEBUG_LOG_LEVEL > 2)
-		{
-			world.data.renderUtil->RenderText("Draw Calls : " + std::to_string(world.data.renderUtil->GetDrawCalls())
-				+ " | Verts : " + std::to_string(world.data.renderUtil->GetVerts())
-				+ " | Tris : " + std::to_string(world.data.renderUtil->GetTris())
-				+ " | Lines : " + std::to_string(world.data.renderUtil->GetLines())
-				, 1610.0f, 1020.0f, 0.25f, Color(0, 1, 1, 1));
-		}
-
-		// Update debug delta
-		debugDelta = glfwGetTime() - stepTime;
-		stepTime = glfwGetTime();
-
-		world.data.renderUtil->SwapBuffers(world.data.renderUtil->window->glfwWindow);
-
-		// Show FPS in console
-		//std::cout << "FPS : " << 1.0f / deltaTime << std::endl;
-	}
-
-	// glfw: terminate, clearing all previously allocated GLFW resources.
-	// ------------------------------------------------------------------
-	glfwTerminate();
-	return 0;
-}
-
-void LoadShaders(ECSWorld& world)
-{
-	world.data.assetLoader->StartShaderLoading({ {"Shaders/Lighting_Maps.vs", "Shaders/Lighting_Maps.fs"} });
-}
-void LoadModels(ECSWorld& world)
-{
-	world.data.assetLoader->StartModelLoading({
-		//ModelData("Resources/Models/snowy-mountain-terrain/SnowyMountainMesh.obj"),
-		//ModelData("Resources/Models/Sponza-master/sponza.obj"),
-		//ModelData("Resources/Models/nanosuit/nanosuit.obj"),*/
-		ModelData("Resources/Models/supermarine-spitfire/spitfire.fbx",
-			{{"spitfire_d.png"}})
-		});
-}
-
-void MakeABunchaObjects(ECSWorld& world)
-{
-	auto e = world.createEntity();
-	e.addComponent<TransformComponent>(Vector3(4, 10.0f, 48), Vector3(0.10f, 0.1f, 0.1f), Vector3(-90, 180, 0));
-	// Add mesh
-	e.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx");
-	e.addComponent<RotateComponent>(0, 40, 0);
-
-	e = world.createEntity();
-	e.addComponent<TransformComponent>(Vector3(4, 10.0f, -62), Vector3(0.1f, 0.1f, 0.1f), Vector3(-90, 0, 0));
-	// Add mesh
-	e.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx");
-	e.addComponent<RotateComponent>(0, 40, 0);
-}
-
-void MakeABunchaSprings(ECSWorld& world)
-{
-	auto e = world.createEntity();
-	float yOffset = 30;
-	e.addComponent<TransformComponent>(Vector3(-2.5f, -5 + yOffset, -3), Vector3(1.0f, 1.0f, 1.0f));
-	e.addComponent<ParticleComponent>();
-	// Add mesh
-	e.addComponent<ModelComponent>("Resources/Models/nanosuit/nanosuit.obj");
-
-	auto springEntinty = world.createEntity();
-	springEntinty.addComponent<TransformComponent>(Vector3(-2.5f, 0 + yOffset, 3));
-	springEntinty.addComponent<FixedSpringComponent>(8, 2, e);
-
-	auto e2 = world.createEntity();
-	e2.addComponent<TransformComponent>(Vector3(2.5f, -5 + yOffset, -1), Vector3(1.0f, 1.0f, 1.0f));
-	e2.addComponent<ParticleComponent>();
-	// Add mesh
-	e2.addComponent<ModelComponent>("Resources/Models/nanosuit/nanosuit.obj");
-
-	auto springEntinty2 = world.createEntity();
-	springEntinty2.addComponent<TransformComponent>(Vector3(2.5f, 0 + yOffset, 1));
-	springEntinty2.addComponent<FixedSpringComponent>(5, 5, e2);
-
-	auto pairedSpring = world.createEntity();
-	pairedSpring.addComponent<PairedSpringComponent>(100, 5.0f, e, e2);
-
-	auto e3 = world.createEntity();
-	e3.addComponent<TransformComponent>(Vector3(-7.5f, -7.5f + yOffset, 1), Vector3(1.0f, 1.0f, 1.0f));
-	e3.addComponent<ParticleComponent>();
-	// Add mesh
-	e3.addComponent<ModelComponent>("Resources/Models/nanosuit/nanosuit.obj");
-
-	auto springEntinty3 = world.createEntity();
-	springEntinty3.addComponent<TransformComponent>(Vector3(-7.5f, -10 + yOffset, -1));
-	springEntinty3.addComponent<FixedSpringComponent>(7, 7, e3);
-
-	auto e4 = world.createEntity();
-	e4.addComponent<TransformComponent>(Vector3(7.5f, -7.5f + yOffset, 3), Vector3(1.0f, 1.0f, 1.0f));
-	e4.addComponent<ParticleComponent>();
-	// Add mesh
-	e4.addComponent<ModelComponent>("Resources/Models/nanosuit/nanosuit.obj");
-
-	auto springEntinty4 = world.createEntity();
-	springEntinty4.addComponent<TransformComponent>(Vector3(7.5f, -10 + yOffset, -3));
-	springEntinty4.addComponent<FixedSpringComponent>(5, 0, e4);
-
-	auto pairedSpring2 = world.createEntity();
-	pairedSpring2.addComponent<PairedSpringComponent>(100, 5.2f, e, e3);
-
-	auto pairedSpring3 = world.createEntity();
-	pairedSpring3.addComponent<PairedSpringComponent>(100, 5.2f, e2, e4);
-
-	auto pairedSpring4 = world.createEntity();
-	pairedSpring4.addComponent<PairedSpringComponent>(100, 10.0f, e3, e4);
-}
-
-void MakeABunchaSpheres(ECSWorld& world)
-{
-	for (int i = 0; i < 30; i++)
-	{
-		auto e = world.createEntity();
-		//e.addComponent<TransformComponent>(Vector3(RANDOM_FLOAT(-1, 1), 20,0));
-
-		e.addComponent<TransformComponent>(Vector3(RANDOM_FLOAT(-15.0f, 15.0f), RANDOM_FLOAT(6.0f, 34.0f), RANDOM_FLOAT(-15.0f, 15.0f)));
-		e.addComponent<ParticleComponent>(1, Vector3(RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5)));
-		e.addComponent<SphereComponent>(1);
-		Color col = Color(0, RANDOM_FLOAT(0.0f, 1.0f), RANDOM_FLOAT(0.0f, 1.0f));
-		//e.addComponent<DynamicPointLightComponent>(20.0f, col, col, col);
-	}
-
-	auto ref = world.createEntity();
-	ref.addComponent<TransformComponent>(Vector3(0, 20, 0), Vector3(0.3f, 0.3f, 0.3f), Vector3(0, 180, 0));
-	// Add mesh
-	ref.addComponent<ModelComponent>("Resources/Models/nanosuit/nanosuit.obj");
-	ref.addComponent<RotateComponent>(0, 40, 0);
-}
-
-void MakeACable(ECSWorld& world)
-{
-	auto e1 = world.createEntity();
-	e1.addComponent<TransformComponent>(Vector3(0, 40, 0));
-	//e1.addComponent<ParticleComponent>(1, Vector3(0,0,0), 0);
-
-	auto e2 = world.createEntity();
-	e2.addComponent<TransformComponent>(Vector3(0, 30, 0));
-	e2.addComponent<ParticleComponent>(1);
-	
-	auto e = world.createEntity();
-	e.addComponent<CableComponent>(e1, e2, 20);
-}
-
-void MakeCablesAndRods(ECSWorld& world)
-{
-	auto eFixed = world.createEntity();
-	eFixed.addComponent<TransformComponent>(Vector3(10, 40, 0));
-	//e1.addComponent<ParticleComponent>(1, Vector3(0,0,0), 0);
-
-	auto eFixed2 = world.createEntity();
-	eFixed2.addComponent<TransformComponent>(Vector3(20, 10, 0));
-
-	auto eFixed3 = world.createEntity();
-	eFixed3.addComponent<TransformComponent>(Vector3(-20, 10, 0));
-
-	auto e1 = world.createEntity();
-	e1.addComponent<TransformComponent>(Vector3(0, 30, 0));
-	e1.addComponent<ParticleComponent>(10);
-
-	auto e2 = world.createEntity();
-	e2.addComponent<TransformComponent>(Vector3(-10, 20, 0));
-	e2.addComponent<ParticleComponent>(10);
-
-	auto e3 = world.createEntity();
-	e3.addComponent<TransformComponent>(Vector3(0, 10, 0));
-	e3.addComponent<ParticleComponent>(10);
-
-	auto e4 = world.createEntity();
-	e4.addComponent<TransformComponent>(Vector3(10, 20, 0));
-	e4.addComponent<ParticleComponent>(10);
-
-	auto eCable = world.createEntity();
-	eCable.addComponent<CableComponent>(eFixed, e1, 20);
-
-	auto eCable2 = world.createEntity();
-	eCable2.addComponent<PairedSpringComponent>(1000, 20, eFixed2, e4);
-
-	auto eCable3 = world.createEntity();
-	eCable3.addComponent<PairedSpringComponent>(1000, 20, eFixed3, e2);
-
-	auto eRod1 = world.createEntity();
-	eRod1.addComponent<RodComponent>(e1, e2, 10 * sqrt(2));
-	auto eRod2 = world.createEntity();
-	eRod2.addComponent<RodComponent>(e2, e3, 10 * sqrt(2));
-	auto eRod3 = world.createEntity();
-	eRod3.addComponent<RodComponent>(e3, e4, 10 * sqrt(2));
-	auto eRod4 = world.createEntity();
-	eRod4.addComponent<RodComponent>(e4, e1, 10 * sqrt(2));
-
-	auto eRodDiagonal1 = world.createEntity();
-	eRodDiagonal1.addComponent<RodComponent>(e1, e3, 20);
-	auto eRodDiagonal2 = world.createEntity();
-	eRodDiagonal2.addComponent<RodComponent>(e2, e4, 20);
-}
-
-void MakeFlight(ECSWorld& world)
-{
-	auto e = world.createEntity();
-	glm::vec3 rotationInRads = glm::vec3(glm::radians(-90.0f),
-		glm::radians(180.0f), glm::radians(0.0f));
-	Quaternion orientation = glm::quat(rotationInRads);
-	e.addComponent<TransformComponentV2>(Vector3(0, 350.0f, 0), Vector3(0.10f, 0.1f, 0.1f));
-	// Add mesh
-	e.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx", Vector3(0, -50, 20), Vector3(-90, 0, 0));
-	e.addComponent<RigidBodyComponent>(10.0f ,0.3f, 0.5f);
-	e.addComponent<FlighSimulatorComponent>();
-	e.addComponent<FollowCameraComponent>(Vector3(0.0f, 15.0f, 40.0f));
-	e.addComponent<CameraLookComponent>();
-	e.addComponent<InfiniteSpawnTargetComponent>();
-
-	std::vector<int> p1 { GLFW_KEY_E };
-	std::vector<int> n1 { GLFW_KEY_Q };
-	//Right Wing
-	auto RW = world.createEntity();
-	RW.addComponent<AeroControlComponent>(p1, n1);
-	RW.addComponent<AeroMinMaxComponent>(Mat3(0, 0, 0, 0, 0.000f, 0, 0, -0.0005f, 0),
-		Mat3(0, 0, 0, 0, 0, 0, 0, 0, 0),
-		Mat3(0, 0, 0, 0, -0.000f, 0, 0, 0.0005f, 0));
-	RW.addComponent<AeroComponent>(e, Mat3(1.0f), Vector3(100.0f, 0, 50.0f));
-
-	//Left Wing
-	auto LW = world.createEntity();
-	LW.addComponent<AeroControlComponent>(n1, p1);
-	LW.addComponent<AeroMinMaxComponent>(Mat3(0, 0, 0, 0, 0.000f, 0, 0, -0.0005f, 0),
-		Mat3(0, 0, 0, 0, 0, 0, 0, 0, 0),
-		Mat3(0, 0, 0, 0, -0.000f, 0, 0, 0.0005f, 0));
-	LW.addComponent<AeroComponent>(e, Mat3(1.0f), Vector3(-100.0f, 0, 50.0f));
-
-	//Rudder 
-	std::vector<int> pR = { GLFW_KEY_A };
-	std::vector<int> nR = { GLFW_KEY_D };
-	auto R = world.createEntity();
-	R.addComponent<AeroControlComponent>(pR, nR);
-	R.addComponent<AeroMinMaxComponent>(Mat3(0, 0, 0, 0, 0, 0, 0.002f, 0, 0),
-		Mat3(0, 0, 0, 0, 0, 0, 0.00f, 0, 0),
-		Mat3(0, 0, 0, 0, 0, 0, -0.002f, 0, 0));
-	R.addComponent<AeroComponent>(e, Mat3(1.0f), Vector3(0, 0, -200.0f));
-
-	//Back Wing
-	std::vector<int> p2{ GLFW_KEY_W };
-	std::vector<int> n2{ GLFW_KEY_S };
-	auto RW2 = world.createEntity();
-	RW2.addComponent<AeroControlComponent>(p2, n2);
-	RW2.addComponent<AeroMinMaxComponent>(Mat3(0, 0, 0, 0, 0, 0, 0, -0.0015f, 0),
-		Mat3(0, 0, 0, 0, 0, 0, 0, 0, 0),
-		Mat3(0, 0, 0, 0, 0, 0, 0, 0.0015f, 0));
-	RW2.addComponent<AeroComponent>(e, Mat3(1.0f), Vector3(0.0f, 0, -200.0f));
-
-	for (int i = -40; i <= 40; i++)
-	{
-		auto buildingR = world.createEntity();
-		buildingR.addComponent<TransformComponentV2>(Vector3(100.0f, 0.0f, 50.0f * i));
-		buildingR.addComponent<InfiniteSpawnComponent>(RANDOM_FLOAT(100.0f, 500.0f));
-
-		auto buildingL = world.createEntity();
-		buildingL.addComponent<TransformComponentV2>(Vector3(-100.0f, 0.0f, 50.0f * i));
-		buildingL.addComponent<InfiniteSpawnComponent>(RANDOM_FLOAT(100.0f, 500.0f));
-	}
-}
-
-void TestContacts(ECSWorld& world)
-{
-	for (int i = 0; i < 30; i++)
-	{
-		auto e = world.createEntity();
-		e.addComponent<TransformComponentV2>(Vector3(RANDOM_FLOAT(-200.0f, 200.0f), RANDOM_FLOAT(-200.0f, 200.0f), RANDOM_FLOAT(-200.0f, 200.0f)),
-			Vector3(1, 1, 1),
-			Vector3(RANDOM_FLOAT(-180.0f, 180.0f), RANDOM_FLOAT(-180.0f, 180.0f), RANDOM_FLOAT(-180.0f, 180.0f)));
-		e.addComponent<RigidBodyComponent>();
-		e.addComponent<MoveInBoundsComponent>(Vector3(RANDOM_FLOAT(-10.0f, 10.0f), RANDOM_FLOAT(-10.0f, 10.0f), RANDOM_FLOAT(-10.0f, 10.0f)),
-			Vector3(200, 200, 200));
-		auto col = world.createEntity();
-		if ((RANDOM_FLOAT(0.0f, 1.0f) >= 0.5f))
-		{
-			col.addComponent<SphereColliderComponent>(e, RANDOM_FLOAT(10.0f, 50.0f));
-		}
-		else
-		{
-			col.addComponent<BoxColliderComponent>(e, Vector3(RANDOM_FLOAT(30.0f, 70.0f), RANDOM_FLOAT(30.0f, 70.0f), RANDOM_FLOAT(30.0f, 70.0f)));
-		}
-	}
-	/*for (int i = 0; i < 2; i++)
-	{
-		auto e = world.createEntity();
-		e.addComponent<TransformComponentV2>(Vector3(50 * ( i % 2 == 0 ? -1 : 1), 0, 0));
-		e.addComponent<RigidBodyComponent>();
-		e.addComponent<MoveInBoundsComponent>(Vector3(10 * (i % 2 == 0 ? 1 : -1), 0, 0), Vector3(100, 100, 100));
-		auto col = world.createEntity();
-		col.addComponent<SphereColliderComponent>(e, 30);
-	}*/
-}
-
-void TestCollision(ECSWorld& world)
-{
-	// Floor 1
-	auto floor1 = world.createEntity();
-	floor1.addComponent<TransformComponentV2>(Vector3(0, -50, 0), Vector3(1, 1, 1), Vector3(0, 0, 0));
-	floor1.addComponent<RigidBodyComponent>(100000.0f, 0.4f, 0.3f, Vector3(0, 0, 0), Vector3(0, 0, 0), 0);
-	auto floorCol1 = world.createEntity();
-	floorCol1.addComponent<BoxColliderComponent>(floor1, Vector3(1000, 10, 1000));
-
-	// Floor 2
-	/*auto floor2 = world.createEntity();
-	floor2.addComponent<TransformComponentV2>(Vector3(80, -50, 0), Vector3(1, 1, 1), Vector3(0, 0, 30));
-	floor2.addComponent<RigidBodyComponent>(10000.0f, 0.0f, 0.0f, Vector3(0, 0, 0), Vector3(0, 0, 0), 0);
-	auto floorCol2 = world.createEntity();
-	floorCol2.addComponent<BoxColliderComponent>(floor2, Vector3(300, 10, 300));*/
-
-	//// Object 1
-	//auto object1 = world.createEntity();
-	//object1.addComponent<TransformComponentV2>(Vector3(-30, 50, 0));
-	//object1.addComponent<RigidBodyComponent>();
-	//auto objectCol1 = world.createEntity();
-	//objectCol1.addComponent<SphereColliderComponent>(object1, 10);
-
-	// Object 2
-	for (int i = 0; i < 40; i++)
-	{
-		auto object2 = world.createEntity();
-		object2.addComponent<TransformComponentV2>(Vector3(RANDOM_FLOAT(-50.0f, 50.0f), 50, RANDOM_FLOAT(-50.0f, 50.0f)), Vector3(1, 1, 1), Vector3(RANDOM_FLOAT(0, 180), RANDOM_FLOAT(0, 180), RANDOM_FLOAT(0, 180)));
-		object2.addComponent<RigidBodyComponent>(10.0f, 0.1f, 0.1f, Vector3(0, 0, 0), Vector3(0, 0, 0), 5);
-		auto objectCol2 = world.createEntity();
-		objectCol2.addComponent<BoxColliderComponent>(object2, Vector3(10, 10, 10));
-	}
-}
-
-void SetupLights(ECSWorld& world)
-{
-	auto l = world.createEntity();
-	l.addComponent<TransformComponent>(Vector3(0, 0, 0), Vector3(0, 0, 0), Vector3(90, 0, 0));
-	l.addComponent<DynamicDirectionalLightComponent>(Color(0.00, 0.0, 0), Color::White, Color::Orange);
-
-	// Lanterns
-	auto pl1 = world.createEntity();
-	pl1.addComponent<TransformComponent>(Vector3(22, 14, 48.5f));
-	pl1.addComponent<DynamicPointLightComponent>(100.0f, Color(0.1, 0, 0), Color(1.0f, 0.0f, 0.0f), Color(1.0f, 0.0f, 0.0f));
-	pl1.addComponent<ParticleComponent>();
-	auto hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(23, 15, 48.0f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl1);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(22, 13.5f, 50.5f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl1);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(21, 12.5f, 47.5f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl1);
-
-	auto pl2 = world.createEntity();
-	pl2.addComponent<TransformComponent>(Vector3(-14.5f, 14, 49.0f));
-	pl2.addComponent<DynamicPointLightComponent>(100.0f, Color(0, 0, 0.1f), Color(0.0f, 0.0f, 1.0f), Color(0.0f, 0.0f, 1.0f));
-	pl2.addComponent<ParticleComponent>();
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f + 1, 14 - 1, 49.0f - 1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl2);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f - 0.5f, 14 + 1, 49.0f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl2);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f, 14 - 1, 49.0f + 1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl2);
-	
-	auto pl3 = world.createEntity();
-	pl3.addComponent<TransformComponent>(Vector3(22, 14, -62.0f));
-	pl3.addComponent<DynamicPointLightComponent>(100.0f, Color(0, 0.1f, 0), Color(0.0f, 1.0f, 0.0f), Color(0.0f, 1.0f, 0.0f));
-	pl3.addComponent<ParticleComponent>();
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(22 - 1, 14 - 1, -62.0f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl3);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(22, 14 + 0.5f, -62.0f - 1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl3);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(22 + 1, 14, -62.0f + 0.5f));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl3);
-
-	auto pl4 = world.createEntity();
-	pl4.addComponent<TransformComponent>(Vector3(-14.5f, 14, -61.5f));
-	pl4.addComponent<DynamicPointLightComponent>(100.0f, Color(0.1, 0.05, 0), Color(1.0f, 0.55f, 0.0f), Color(1.0f, 0.55f, 0.0f));
-	pl4.addComponent<ParticleComponent>();
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f - 1, 14, -61.5f -1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl4);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f - 0.25f, 14 - 0.5f, -61.5f + 1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl4);
-	hook = world.createEntity();
-	hook.addComponent<TransformComponent>(Vector3(-14.5f + 0.5f, 14+ 1, -61.5f + 1));
-	hook.addComponent<FixedSpringComponent>(5, 1, pl4);
-
-	// Spears
-	std::vector<Color> cols = { Color(1,0,0), Color(0,1,0), Color(0,0,1), Color(0.7f,0.55f,0) };
-	for (int i = 1; i < 3; i++)
-	{
-		for (int j = 0; j < 4; j++)
-		{
-			pl1 = world.createEntity();
-			pl1.addComponent<TransformComponent>(Vector3((i % 2 == 0 ? 8 : -1), 85, 49.5f - 37 * j), Vector3(1, 1, 1), Vector3(180, 0, 0));
-			pl1.addComponent<DynamicSpotLightComponent>(10.0f, 100, Color(0, 0, 0), cols[3 - j], cols[3 - j], 5);
-			pl1.addComponent<RotateComponent>((i % 2 == 0 ? 1 : -1) * 100,100,100);
-		}
-	}
+//#define STB_IMAGE_IMPLEMENTATION
+#include "RenderingSystem.h"
+#include "RenderingSystemV2.h"
+#include "InputEventSystem.h"
+#include "FPSControlSystem.h"
+#include "RotateSystem.h"
+#include "RotateSystemV2.h"
+#include "FireworksSystem.h"
+#include "GravityForceSystem.h"
+#include "DragForceSystem.h"
+#include "FixedSpringSystem.h"
+#include "PairedSpringSystem.h"
+#include "ParticleSphereSystem.h"
+#include "CableSystem.h"
+#include "RodSystem.h"
+#include "PlaneSystem.h"
+#include "ParticleContactResolutionSystem.h"
+#include "ResetPenetrationDeltaMoveSystem.h"
+#include "ForceAccumulatorSystem.h"
+#include "ParticleSystem.h"
+#include "DynamicDirectionalLightSystem.h"
+#include "DynamicPointLightSystem.h"
+#include "DynamicSpotLightSystem.h"
+#include <string>
+#include <stdlib.h>     
+#include <time.h>      
+
+using namespace Reality;
+
+void LoadShaders(ECSWorld& world);
+void LoadModels(ECSWorld& world);
+void SetupLights(ECSWorld& world);
+void MakeABunchaObjects(ECSWorld& world);
+void MakeFireworks(ECSWorld& world);
+void Make3Particles(ECSWorld& world);
+void MakeABunchaSprings(ECSWorld& world);
+void MakeABunchaSpheres(ECSWorld& world);
+void MakeABunchaCablesAndRods(ECSWorld& world);
+void MakeARopeBridge(ECSWorld& world);
+void MakeABunchaObjectsV2(ECSWorld& world);
+
+int main()
+{
+	ECSWorld world;
+
+	// Init and Load
+	world.data.InitRendering();
+	//LoadAssets(world);
+	
+	world.data.renderUtil->camera.Position = Vector3(0, 0.0f, 50.0f);
+	world.data.renderUtil->SetFOV(60);
+	// Create entities
+
+	// Make a player controller
+	auto e = world.createEntity();
+	e.addComponent<FPSControlComponent>();
+
+	SetupLights(world);
+	//MakeABunchaObjects(world);
+	//MakeFireworks(world);
+	//Make3Particles(world);
+	//MakeABunchaSprings(world);
+	//MakeABunchaSpheres(world);
+	//MakeABunchaCablesAndRods(world);
+	MakeARopeBridge(world);
+	//MakeABunchaObjectsV2(world);
+
+	// Create Systems
+	world.getSystemManager().addSystem<RenderingSystem>();
+	world.getSystemManager().addSystem<RenderingSystemV2>();
+	world.getSystemManager().addSystem<InputEventSystem>();
+	world.getSystemManager().addSystem<FPSControlSystem>();
+	world.getSystemManager().addSystem<RotateSystem>();
+	world.getSystemManager().addSystem<RotateSystemV2>();
+	world.getSystemManager().addSystem<FireworksSystem>();
+	world.getSystemManager().addSystem<GravityForceSystem>();
+	world.getSystemManager().addSystem<DragForceSystem>();
+	world.getSystemManager().addSystem<FixedSpringSystem>();
+	world.getSystemManager().addSystem<PairedSpringSystem>();
+	world.getSystemManager().addSystem<ParticleSphereSystem>();
+	world.getSystemManager().addSystem<CableSystem>();
+	world.getSystemManager().addSystem<RodSystem>();
+	world.getSystemManager().addSystem<PlaneSystem>();
+	world.getSystemManager().addSystem<ParticleContactResolutionSystem>();
+	world.getSystemManager().addSystem<ResetPenetrationDeltaMoveSystem>();
+	world.getSystemManager().addSystem<ForceAccumulatorSystem>();
+	world.getSystemManager().addSystem<ParticleSystem>();
+	world.getSystemManager().addSystem<DynamicDirectionalLightSystem>();
+	world.getSystemManager().addSystem<DynamicPointLightSystem>();
+	world.getSystemManager().addSystem<DynamicSpotLightSystem>();
+
+	float time = glfwGetTime();
+	float stepTime = glfwGetTime();
+	float deltaTime = 0;
+	float elapsedDeltaTime = 0;
+	float logicDelta = 0;
+	float debugDelta = 0;
+
+	LoadShaders(world);
+	bool shadersLoaded = false;
+	bool modelsLoadStarted = false;
+	// game loop
+	// -----------
+	while (!glfwWindowShouldClose(world.data.renderUtil->window->glfwWindow))
+	{
+		float current = glfwGetTime();
+		deltaTime = current - time;
+		deltaTime = 1 / 60.0f;
+		time = glfwGetTime();
+
+		world.update();
+
+		// Poll OpenGl events
+		glfwPollEvents();
+
+		world.data.renderUtil->ClearDisplay(world.data.renderUtil->window->glfwWindow);
+
+		// Load
+		if (!shadersLoaded)
+		{
+			shadersLoaded = world.data.assetLoader->ShadersLoaded();
+		}
+		if(shadersLoaded && !modelsLoadStarted)
+		{
+			LoadModels(world);
+			modelsLoadStarted = true;
+		}
+		// Update View
+		world.data.renderUtil->UpdateViewMatrix();
+		// Process Input
+		world.getSystemManager().getSystem<InputEventSystem>().Update(deltaTime);
+
+		// Game Logic Update
+		world.getSystemManager().getSystem<FPSControlSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<RotateSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<RotateSystemV2>().Update(deltaTime);
+		world.getSystemManager().getSystem<FireworksSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<ParticleSphereSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<CableSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<RodSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<PlaneSystem>().Update(deltaTime);
+
+		// Update Transform
+
+		// Physics
+		//float fixedDeltaTime = glfwGetKey(world.data.renderUtil->window->glfwWindow, GLFW_KEY_SPACE) == GLFW_PRESS ? 1 / 60.0f : 0;		
+		float fixedDeltaTime = 1 / 60.0f;
+		// Force Generator
+		world.getSystemManager().getSystem<GravityForceSystem>().Update(fixedDeltaTime);
+		world.getSystemManager().getSystem<DragForceSystem>().Update(fixedDeltaTime);
+		world.getSystemManager().getSystem<FixedSpringSystem>().Update(fixedDeltaTime);
+		world.getSystemManager().getSystem<PairedSpringSystem>().Update(fixedDeltaTime);
+
+		// Force Accumulator
+		world.getSystemManager().getSystem<ForceAccumulatorSystem>().Update(fixedDeltaTime);
+
+		// Contact Resolution
+		world.getSystemManager().getSystem<ParticleContactResolutionSystem>().Update(fixedDeltaTime);
+		world.getSystemManager().getSystem<ResetPenetrationDeltaMoveSystem>().Update(fixedDeltaTime);
+
+		// Integrator
+		world.getSystemManager().getSystem<ParticleSystem>().Update(fixedDeltaTime);
+
+		// Rendering Update
+		///*** HACK: For the last DrawCall not working on some systems
+		world.data.renderUtil->DrawCube(Vector3(0, 0, 0), Vector3(0, 0, 0));
+		///*** HACK: For the last DrawCall not working on some systems
+		world.getSystemManager().getSystem<DynamicDirectionalLightSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<DynamicPointLightSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<DynamicSpotLightSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<RenderingSystem>().Update(deltaTime);
+		world.getSystemManager().getSystem<RenderingSystemV2>().Update(deltaTime);
+
+		elapsedDeltaTime = glfwGetTime() - time;
+		logicDelta = elapsedDeltaTime - world.data.renderUtil->GetRenderDelta();
+		stepTime = glfwGetTime();
+
+		// Debug
+		if (DEBUG_LOG_LEVEL > 0)
+		{
+			world.data.renderUtil->RenderText("FPS : " + std::to_string((int)round(1.0f / deltaTime)), 1810.0f, 1060.0f, 0.5f, Color(0, 1, 1, 1));
+		}
+		if (DEBUG_LOG_LEVEL > 1)
+		{
+			int logic = (int)round(logicDelta * 100.0f / deltaTime);
+			std::string logicString = logic < 10 ? " " + std::to_string(logic) : std::to_string(logic);
+			int render = (int)round(world.data.renderUtil->GetRenderDelta() * 100.0f / deltaTime);
+			std::string renderString = logic < 10 ? " " + std::to_string(render) : std::to_string(render);
+			int debug = (int)round(debugDelta * 100.0f / deltaTime);
+			std::string debugString = logic < 10 ? " " + std::to_string(debug) : std::to_string(debug);
+			
+			world.data.renderUtil->RenderText("Logic : " + logicString + "%" +
+				//+ " | Physics : " + std::to_string((int)round(physicsDelta * 100.0f / deltaTime)) + "%" +
+				+ " | Rendering : " + renderString + "%" +
+				+ " | Debug : " + debugString + "%"
+				, 1680.0f, 1040.0f, 0.25f, Color(0, 1, 1, 1));
+		}
+		if (DEBUG_LOG_LEVEL > 2)
+		{
+			world.data.renderUtil->RenderText("Draw Calls : " + std::to_string(world.data.renderUtil->GetDrawCalls())
+				+ " | Verts : " + std::to_string(world.data.renderUtil->GetVerts())
+				+ " | Tris : " + std::to_string(world.data.renderUtil->GetTris())
+				+ " | Lines : " + std::to_string(world.data.renderUtil->GetLines())
+				, 1610.0f, 1020.0f, 0.25f, Color(0, 1, 1, 1));
+		}
+
+		// Update debug delta
+		debugDelta = glfwGetTime() - stepTime;
+		stepTime = glfwGetTime();
+
+		world.data.renderUtil->SwapBuffers(world.data.renderUtil->window->glfwWindow);
+
+		// Show FPS in console
+		//std::cout << "FPS : " << 1.0f / deltaTime << std::endl;
+	}
+
+	// glfw: terminate, clearing all previously allocated GLFW resources.
+	// ------------------------------------------------------------------
+	glfwTerminate();
+	return 0;
+}
+
+void LoadShaders(ECSWorld& world)
+{
+	world.data.assetLoader->StartShaderLoading({ {"Shaders/Lighting_Maps.vs", "Shaders/Lighting_Maps.fs"} });
+}
+void LoadModels(ECSWorld& world)
+{
+	world.data.assetLoader->StartModelLoading({
+		//ModelData("Resources/Models/snowy-mountain-terrain/SnowyMountainMesh.obj"),
+		ModelData("Resources/Models/Sponza-master/sponza.obj"),
+		ModelData("Resources/Models/nanosuit/nanosuit.obj"),
+		ModelData("Resources/Models/supermarine-spitfire/spitfire.fbx",
+			{{"spitfire_d.png"}})
+		});
+}
+
+void MakeABunchaObjects(ECSWorld& world)
+{
+	auto castle = world.createEntity();
+	castle.addComponent<TransformComponent>(Vector3(0, -3.0f, 0.0f), Vector3(0.1f, 0.1f, 0.1f), Vector3(0, 270, 0));
+	// Add mesh
+	castle.addComponent<ModelComponent>("Resources/Models/Sponza-master/sponza.obj");
+
+	//auto flight = world.createEntity();
+	//flight.addComponent<TransformComponent>(Vector3(0, 30, -50), Vector3(0.1f, 0.1f, 0.1f), Vector3(270, 0, 0));
+	//// Add mesh
+	//flight.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx");
+	//flight.addComponent<RotateComponent>(Vector3(0, 90, 0));
+	//flight.addComponent<ParticleComponent>(Vector3(0, 30, 0));
+	//flight.addComponent<ForceAccumulatorComponent>();
+	//flight.addComponent<GravityForceComponent>();
+
+}
+
+void MakeFireworks(ECSWorld & world)
+{
+	for (int i = 0; i < 3; i++)
+	{
+		auto fireworks = world.createEntity();
+		fireworks.addComponent<TransformComponent>(Vector3(-100 + 100 * i, 30 + RANDOM_FLOAT(-10, 10), -50));
+		fireworks.addComponent<ParticleComponent>(Vector3(0, 100, 0));
+		fireworks.addComponent<ForceAccumulatorComponent>();
+		fireworks.addComponent<GravityForceComponent>();
+		fireworks.addComponent<FireworksComponent>(6, 3, 3 + RANDOM_FLOAT(-1, 1));
+	}
+	
+}
+
+void Make3Particles(ECSWorld & world)
+{
+	auto particle1 = world.createEntity();
+	particle1.addComponent<TransformComponent>(Vector3(-10, 60, -50));
+	particle1.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	particle1.addComponent<ForceAccumulatorComponent>();
+	particle1.addComponent<GravityForceComponent>();
+	particle1.addComponent<DragForceComponent>(0, 0);
+
+	auto particle2 = world.createEntity();
+	particle2.addComponent<TransformComponent>(Vector3(0, 60, -50));
+	particle2.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	particle2.addComponent<ForceAccumulatorComponent>();
+	particle2.addComponent<GravityForceComponent>();
+	particle2.addComponent<DragForceComponent>(1, 0);
+
+	auto particle3 = world.createEntity();
+	particle3.addComponent<TransformComponent>(Vector3(10, 60, -50));
+	particle3.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	particle3.addComponent<ForceAccumulatorComponent>();
+	particle3.addComponent<GravityForceComponent>();
+	particle3.addComponent<DragForceComponent>(1, 1);
+}
+
+void MakeABunchaSprings(ECSWorld & world)
+{
+	auto particle1 = world.createEntity();
+	particle1.addComponent<TransformComponent>(Vector3(0, 20, -50));
+	particle1.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	particle1.addComponent<ForceAccumulatorComponent>();
+	particle1.addComponent<GravityForceComponent>();
+
+	auto particle2= world.createEntity();
+	particle2.addComponent<TransformComponent>(Vector3(-10, 0, -50));
+	particle2.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	particle2.addComponent<ForceAccumulatorComponent>();
+	particle2.addComponent<GravityForceComponent>();
+
+	auto spring1 = world.createEntity();
+	spring1.addComponent<TransformComponent>(Vector3(10, 60, -50));
+	spring1.addComponent<FixedSpringComponent>(20.0f, 20.0f, particle1);
+
+	auto spring2 = world.createEntity();
+	spring2.addComponent<TransformComponent>(Vector3(-10, 60, -50));
+	spring2.addComponent<FixedSpringComponent>(20.0f, 15.0f, particle1);
+
+	auto pairedSpring = world.createEntity();
+	pairedSpring.addComponent<PairedSpringComponent>(20.0f, 20.0f, particle1, particle2);
+
+}
+
+void MakeABunchaSpheres(ECSWorld & world)
+{
+	for (int i = 0; i < 40; i++)
+	{
+		auto sphere = world.createEntity();
+		sphere.addComponent<TransformComponent>(Vector3(RANDOM_FLOAT(-10, 10), RANDOM_FLOAT(-10, 10), RANDOM_FLOAT(-10, 10)));
+		sphere.addComponent<ParticleComponent>(Vector3(RANDOM_FLOAT(-40, 40), RANDOM_FLOAT(-40, 40), RANDOM_FLOAT(-40, 40)));
+		sphere.addComponent<ForceAccumulatorComponent>(1.0f);
+		sphere.addComponent<GravityForceComponent>();
+		sphere.addComponent<ParticleSphereComponent>(RANDOM_FLOAT(1, 3));
+	}
+}
+
+void CreateParticleArchetype(ECSEntity e)
+{
+	e.addComponent<ParticleComponent>();
+	e.addComponent<ForceAccumulatorComponent>();
+	e.addComponent<GravityForceComponent>();
+	//e.addComponent<ParticleSphereComponent>();
+	e.addComponent<PenetrationDeltaMoveComponent>();
+}
+
+void MakeARopeBridge(ECSWorld & world)
+{
+	auto ePivot1 = world.createEntity();
+	ePivot1.addComponent<TransformComponent>(Vector3(3, 10, 5));
+	
+	auto e1 = world.createEntity();
+	e1.addComponent<TransformComponent>(Vector3(0, 3, 5));
+	CreateParticleArchetype(e1);
+	
+	auto ePivot2 = world.createEntity();
+	ePivot2.addComponent<TransformComponent>(Vector3(3, 10, -5));
+	
+	auto e2 = world.createEntity();
+	e2.addComponent<TransformComponent>(Vector3(0, 3, -5));
+	CreateParticleArchetype(e2);
+	
+	auto rod1 = world.createEntity();
+	rod1.addComponent<RodComponent>(e1, e2, 10);
+	
+	auto cable1 = world.createEntity();
+	cable1.addComponent<CableComponent>(ePivot1, e1, 18, 0.5);
+	
+	auto cable2 = world.createEntity();
+	cable2.addComponent<CableComponent>(ePivot2, e2, 18, 0.5);
+	
+	// 2
+	auto ePivot3 = world.createEntity();
+	ePivot3.addComponent<TransformComponent>(Vector3(3 + 10, 10, 5));
+	
+	auto e3 = world.createEntity();
+	e3.addComponent<TransformComponent>(Vector3(0 + 10, 0, 5));
+	CreateParticleArchetype(e3);
+	
+	auto ePivot4 = world.createEntity();
+	ePivot4.addComponent<TransformComponent>(Vector3(3 + 10, 10, -5));
+	
+	auto e4 = world.createEntity();
+	e4.addComponent<TransformComponent>(Vector3(0 + 10, 0, -5));
+	CreateParticleArchetype(e4);
+	
+	auto rod2 = world.createEntity();
+	rod2.addComponent<RodComponent>(e3, e4, 10);
+	
+	auto cable3 = world.createEntity();
+	cable3.addComponent<CableComponent>(ePivot3, e3, 15, 0.5);
+	
+	auto cable4 = world.createEntity();
+	cable4.addComponent<CableComponent>(ePivot4, e4, 15, 0.5);
+	
+	auto sphere1 = world.createEntity();
+	sphere1.addComponent<TransformComponent>(Vector3(5, 10, -4));
+	sphere1.addComponent<ParticleComponent>(Vector3(0, 0, 0));
+	sphere1.addComponent<ForceAccumulatorComponent>(1.0f);
+	sphere1.addComponent<GravityForceComponent>();
+	sphere1.addComponent<ParticleSphereComponent>(1.0f);
+
+	auto plane1 = world.createEntity();
+	plane1.addComponent<PlaneComponent>(e1, e2, e3, e4);
+	
+	// 3
+	auto ePivot5 = world.createEntity();
+	ePivot5.addComponent<TransformComponent>(Vector3(3 - 10, 10, 5));
+	
+	auto e5 = world.createEntity();
+	e5.addComponent<TransformComponent>(Vector3(0 - 10, -3, 5));
+	CreateParticleArchetype(e5);
+	
+	auto ePivot6 = world.createEntity();
+	ePivot6.addComponent<TransformComponent>(Vector3(3 - 10, 10, -5));
+	
+	auto e6 = world.createEntity();
+	e6.addComponent<TransformComponent>(Vector3(0 - 10, -3, -5));
+	CreateParticleArchetype(e6);
+	
+	auto rod3 = world.createEntity();
+	rod3.addComponent<RodComponent>(e5, e6, 10);
+	
+	auto cable5 = world.createEntity();
+	cable5.addComponent<CableComponent>(ePivot5, e5, 21, 0.5);
+	
+	auto cable6 = world.createEntity();
+	cable6.addComponent<CableComponent>(ePivot6, e6, 21, 0.5);
+	
+	auto plane2 = world.createEntity();
+	plane2.addComponent<PlaneComponent>(e5, e6, e1, e2);
+
+	// 
+	auto ePivot7 = world.createEntity();
+	ePivot7.addComponent<TransformComponent>(Vector3(3 - 20, 10, 5));
+
+	auto e7 = world.createEntity();
+	e7.addComponent<TransformComponent>(Vector3(0 - 20, -5, 5));
+	CreateParticleArchetype(e7);
+
+	auto ePivot8 = world.createEntity();
+	ePivot8.addComponent<TransformComponent>(Vector3(3 - 20, 10, -5));
+
+	auto e8 = world.createEntity();
+	e8.addComponent<TransformComponent>(Vector3(0 - 20, -5, -5));
+	CreateParticleArchetype(e8);
+
+	auto rod4 = world.createEntity();
+	rod4.addComponent<RodComponent>(e7, e8, 10);
+
+	auto cable7 = world.createEntity();
+	cable7.addComponent<CableComponent>(ePivot7, e7, 23, 0.5);
+
+	auto cable8 = world.createEntity();
+	cable8.addComponent<CableComponent>(ePivot8, e8, 23, 0.5);
+
+	auto plane3 = world.createEntity();
+	plane3.addComponent<PlaneComponent>(e7, e8, e5, e6);
+
+	//
+
+	// 
+	auto ePivot9 = world.createEntity();
+	ePivot9.addComponent<TransformComponent>(Vector3(3 - 30, 10, 5));
+
+	auto e9 = world.createEntity();
+	e9.addComponent<TransformComponent>(Vector3(0 - 30, -3, 5));
+	CreateParticleArchetype(e9);
+
+	auto ePivot10 = world.createEntity();
+	ePivot10.addComponent<TransformComponent>(Vector3(3 - 30, 10, -5));
+
+	auto e10 = world.createEntity();
+	e10.addComponent<TransformComponent>(Vector3(0 - 30, -3, -5));
+	CreateParticleArchetype(e10);
+
+	auto rod5 = world.createEntity();
+	rod5.addComponent<RodComponent>(e9, e10, 10);
+
+	auto cable9 = world.createEntity();
+	cable9.addComponent<CableComponent>(ePivot9, e9, 21, 0.5);
+
+	auto cable10 = world.createEntity();
+	cable10.addComponent<CableComponent>(ePivot10, e10, 21, 0.5);
+
+	auto plane4 = world.createEntity();
+	plane4.addComponent<PlaneComponent>(e9, e10, e7, e8);
+
+	//
+
+	// 
+	auto ePivot11 = world.createEntity();
+	ePivot11.addComponent<TransformComponent>(Vector3(3 - 40, 10, 5));
+
+	auto e11 = world.createEntity();
+	e11.addComponent<TransformComponent>(Vector3(0 - 40, 0, 5));
+	CreateParticleArchetype(e11);
+
+	auto ePivot12 = world.createEntity();
+	ePivot12.addComponent<TransformComponent>(Vector3(3 - 40, 10, -5));
+
+	auto e12 = world.createEntity();
+	e12.addComponent<TransformComponent>(Vector3(0 - 40, 0, -5));
+	CreateParticleArchetype(e12);
+	
+	auto rod6 = world.createEntity();
+	rod5.addComponent<RodComponent>(e11, e12, 10);
+
+	auto cable11 = world.createEntity();
+	cable11.addComponent<CableComponent>(ePivot11, e11, 18, 0.5);
+
+	auto cable12 = world.createEntity();
+	cable12.addComponent<CableComponent>(ePivot12, e12, 18, 0.5);
+
+	auto plane5 = world.createEntity();
+	plane5.addComponent<PlaneComponent>(e11, e12, e9, e10);
+
+	//
+
+	// 
+	auto ePivot13 = world.createEntity();
+	ePivot13.addComponent<TransformComponent>(Vector3(3 - 50, 10, 5));
+
+	auto e13 = world.createEntity();
+	e13.addComponent<TransformComponent>(Vector3(0 - 50, 3, 5));
+	CreateParticleArchetype(e13);
+
+	auto ePivot14 = world.createEntity();
+	ePivot14.addComponent<TransformComponent>(Vector3(3 - 50, 10, -5));
+
+	auto e14 = world.createEntity();
+	e14.addComponent<TransformComponent>(Vector3(0 - 50, 3, -5));
+	CreateParticleArchetype(e14);
+
+	auto rod7 = world.createEntity();
+	rod5.addComponent<RodComponent>(e13, e14, 10);
+
+	auto cable13 = world.createEntity();
+	cable13.addComponent<CableComponent>(ePivot13, e13, 15, 0.5);
+
+	auto cable14 = world.createEntity();
+	cable14.addComponent<CableComponent>(ePivot14, e14, 15, 0.5);
+
+	auto plane6 = world.createEntity();
+	plane6.addComponent<PlaneComponent>(e13, e14, e11, e12);
+
+	//
+
+	// rods
+	auto rod8 = world.createEntity();
+	rod8.addComponent<RodComponent>(e1, e3, 10);
+	auto rod9 = world.createEntity();
+	rod9.addComponent<RodComponent>(e2, e4, 10);
+	auto rod10 = world.createEntity();
+	rod10.addComponent<RodComponent>(e5, e1, 10);
+	auto rod11 = world.createEntity();
+	rod11.addComponent<RodComponent>(e6, e2, 10);
+	
+	auto rod12 = world.createEntity();
+	rod12.addComponent<RodComponent>(e7, e5, 10);
+	auto rod13 = world.createEntity();
+	rod13.addComponent<RodComponent>(e8, e6, 10);
+	auto rod14 = world.createEntity();
+	rod14.addComponent<RodComponent>(e9, e7, 10);
+	auto rod15 = world.createEntity();
+	rod15.addComponent<RodComponent>(e10, e8, 10);
+
+	auto rod16 = world.createEntity();
+	rod16.addComponent<RodComponent>(e11, e9, 10);
+	auto rod17 = world.createEntity();
+	rod17.addComponent<RodComponent>(e12, e10, 10);
+	auto rod18 = world.createEntity();
+	rod18.addComponent<RodComponent>(e13, e11, 10);
+	auto rod19 = world.createEntity();
+	rod19.addComponent<RodComponent>(e14, e12, 10);
+
+	// diagonal rods
+	auto rod20 = world.createEntity();
+	rod20.addComponent<RodComponent>(e1, e4, 10 * pow(2.0f, 0.5f));
+	auto rod21 = world.createEntity();
+	rod21.addComponent<RodComponent>(e2, e3, 10 * pow(2.0f, 0.5f));
+	auto rod22 = world.createEntity();
+	rod22.addComponent<RodComponent>(e6, e1, 10 * pow(2.0f, 0.5f));
+	auto rod23 = world.createEntity();
+	rod23.addComponent<RodComponent>(e5, e2, 10 * pow(2.0f, 0.5f));
+
+	auto rod24 = world.createEntity();
+	rod24.addComponent<RodComponent>(e5, e8, 10 * pow(2.0f, 0.5f));
+	auto rod25 = world.createEntity();
+	rod25.addComponent<RodComponent>(e6, e7, 10 * pow(2.0f, 0.5f));
+	auto rod26 = world.createEntity();
+	rod26.addComponent<RodComponent>(e7, e10, 10 * pow(2.0f, 0.5f));
+	auto rod27 = world.createEntity();
+	rod27.addComponent<RodComponent>(e8, e9, 10 * pow(2.0f, 0.5f));
+
+	auto rod28 = world.createEntity();
+	rod28.addComponent<RodComponent>(e9, e12, 10 * pow(2.0f, 0.5f));
+	auto rod29 = world.createEntity();
+	rod29.addComponent<RodComponent>(e10, e11, 10 * pow(2.0f, 0.5f));
+	auto rod30 = world.createEntity();
+	rod30.addComponent<RodComponent>(e11, e14, 10 * pow(2.0f, 0.5f));
+	auto rod31 = world.createEntity();
+	rod31.addComponent<RodComponent>(e12, e13, 10 * pow(2.0f, 0.5f));
+}
+
+void MakeABunchaObjectsV2(ECSWorld & world)
+{
+	//auto flightV1 = world.createEntity();
+	//flightV1.addComponent<TransformComponent>(Vector3(0, 30, -50), Vector3(0.1f, 0.1f, 0.1f), Vector3(270, 0, 0));
+	//// Add mesh
+	//flightV1.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx");
+	//flightV1.addComponent<RotateComponent>(Vector3(0, 90, 0));
+
+	auto flightV2 = world.createEntity();
+	flightV2.addComponent<TransformComponentV2>(Vector3(0, 30, -50), Vector3(0.1f, 0.1f, 0.1f), Vector3(270, 0, 0));
+	// Add mesh
+	flightV2.addComponent<ModelComponent>("Resources/Models/supermarine-spitfire/spitfire.fbx");
+	flightV2.addComponent<RotateComponentV2>(Vector3(0, 45, 0));
+
+}
+
+void MakeABunchaCablesAndRods(ECSWorld & world)
+{
+	auto ePivot = world.createEntity();
+	ePivot.addComponent<TransformComponent>(Vector3(3, 10, 0));
+
+	auto e1 = world.createEntity();
+	e1.addComponent<TransformComponent>(Vector3(0, 10, 0));
+	e1.addComponent<ParticleComponent>();
+	e1.addComponent<ForceAccumulatorComponent>();
+	e1.addComponent<GravityForceComponent>();
+	e1.addComponent<ParticleSphereComponent>();
+	e1.addComponent<PenetrationDeltaMoveComponent>();
+
+	auto e2 = world.createEntity();
+	e2.addComponent<TransformComponent>(Vector3(5, 5, 0));
+	e2.addComponent<ParticleComponent>();
+	e2.addComponent<ForceAccumulatorComponent>();
+	e2.addComponent<GravityForceComponent>();
+	e2.addComponent<ParticleSphereComponent>();
+	e2.addComponent<PenetrationDeltaMoveComponent>();
+
+	auto e3 = world.createEntity();
+	e3.addComponent<TransformComponent>(Vector3(0, 0, 0));
+	e3.addComponent<ParticleComponent>();
+	e3.addComponent<ForceAccumulatorComponent>();
+	e3.addComponent<GravityForceComponent>();
+	e3.addComponent<ParticleSphereComponent>();
+	e3.addComponent<PenetrationDeltaMoveComponent>();
+
+	auto e4 = world.createEntity();
+	e4.addComponent<TransformComponent>(Vector3(-5, 5, 0));
+	e4.addComponent<ParticleComponent>();
+	e4.addComponent<ForceAccumulatorComponent>();
+	e4.addComponent<GravityForceComponent>();
+	e4.addComponent<ParticleSphereComponent>();
+	e4.addComponent<PenetrationDeltaMoveComponent>();
+
+	auto cable1 = world.createEntity();
+	//cable.addComponent<CableComponent>(ePivot, e1, 5, 1);
+	cable1.addComponent<PairedSpringComponent>(50, 2, ePivot, e1);
+
+	auto cable2 = world.createEntity();
+	//cable.addComponent<CableComponent>(ePivot, e1, 5, 1);
+	cable2.addComponent<PairedSpringComponent>(50, 25, ePivot, e2);
+
+	auto cable3 = world.createEntity();
+	cable3.addComponent<CableComponent>(ePivot, e3, 15, 1);
+	//cable3.addComponent<PairedSpringComponent>(50, 20, ePivot, e3);
+
+	auto rod1 = world.createEntity();
+	rod1.addComponent<RodComponent>(e1, e2, 5 * pow(2, 0.5f));
+
+	auto rod2 = world.createEntity();
+	rod2.addComponent<RodComponent>(e2, e3, 5 * pow(2, 0.5f));
+
+	auto rod3 = world.createEntity();
+	rod3.addComponent<RodComponent>(e3, e4, 5 * pow(2, 0.5f));
+
+	auto rod4 = world.createEntity();
+	rod4.addComponent<RodComponent>(e4, e1, 5 * pow(2, 0.5f));
+
+	auto rod5 = world.createEntity();
+	rod5.addComponent<RodComponent>(e1, e3, 10);
+
+	auto rod6 = world.createEntity();
+	rod6.addComponent<RodComponent>(e2, e4, 10);
+
+	//for (int i = 0; i < 20; i++)
+	//{
+	//	auto e1 = world.createEntity();
+	//	e1.addComponent<TransformComponent>(Vector3(RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5)));
+	//	e1.addComponent<ParticleComponent>();
+	//	e1.addComponent<ForceAccumulatorComponent>();
+	//	e1.addComponent<GravityForceComponent>();
+	//	e1.addComponent<ParticleSphereComponent>(RANDOM_FLOAT(0.5, 1.5));
+	//	e1.addComponent<PenetrationDeltaMoveComponent>();
+
+	//	auto e2 = world.createEntity();
+	//	e2.addComponent<TransformComponent>(Vector3(RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5), RANDOM_FLOAT(-5, 5)));
+	//	e2.addComponent<ParticleComponent>();
+	//	e2.addComponent<ForceAccumulatorComponent>();
+	//	e2.addComponent<GravityForceComponent>();
+	//	e2.addComponent<ParticleSphereComponent>(RANDOM_FLOAT(0.5, 1.5));
+	//	e2.addComponent<PenetrationDeltaMoveComponent>();
+
+	//	auto rod = world.createEntity();
+	//	rod.addComponent<RodComponent>(e1, e2, RANDOM_FLOAT(6, 10));
+	//}
+}
+
+void SetupLights(ECSWorld& world)
+{
+	auto l = world.createEntity();
+	l.addComponent<TransformComponent>(Vector3(0, 0, 0), Vector3(0, 0, 0), Vector3(90, 0, 0));
+	l.addComponent<DynamicDirectionalLightComponent>(Color(0.0, 0.1, 0.1), Color(0.0, 0.1, 0.1), Color(0.0, 0.1, 0.1));
+
+	// Lanterns
+	auto pl1 = world.createEntity();
+	pl1.addComponent<TransformComponent>(Vector3(22, 14, 48.5f));
+	pl1.addComponent<DynamicPointLightComponent>(100.0f, Color(0.1, 0, 0), Color(1.0f, 0.0f, 0.0f), Color(1.0f, 0.0f, 0.0f));
+	auto hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(23, 15, 48.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(22, 13.5f, 50.5f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(21, 12.5f, 47.5f));
+
+	auto pl2 = world.createEntity();
+	pl2.addComponent<TransformComponent>(Vector3(-14.5f, 14, 49.0f));
+	pl2.addComponent<DynamicPointLightComponent>(100.0f, Color(0, 0, 0.1f), Color(0.0f, 0.0f, 1.0f), Color(0.0f, 0.0f, 1.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f + 1, 14 - 1, 49.0f - 1));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f - 0.5f, 14 + 1, 49.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f, 14 - 1, 49.0f + 1));
+	
+	auto pl3 = world.createEntity();
+	pl3.addComponent<TransformComponent>(Vector3(22, 14, -62.0f));
+	pl3.addComponent<DynamicPointLightComponent>(100.0f, Color(0, 0.1f, 0), Color(0.0f, 1.0f, 0.0f), Color(0.0f, 1.0f, 0.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(22 - 1, 14 - 1, -62.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(22, 14 + 0.5f, -62.0f - 1));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(22 + 1, 14, -62.0f + 0.5f));
+
+	auto pl4 = world.createEntity();
+	pl4.addComponent<TransformComponent>(Vector3(-14.5f, 14, -61.5f));
+	pl4.addComponent<DynamicPointLightComponent>(100.0f, Color(0.1, 0.05, 0), Color(1.0f, 0.55f, 0.0f), Color(1.0f, 0.55f, 0.0f));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f - 1, 14, -61.5f -1));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f - 0.25f, 14 - 0.5f, -61.5f + 1));
+	hook = world.createEntity();
+	hook.addComponent<TransformComponent>(Vector3(-14.5f + 0.5f, 14+ 1, -61.5f + 1));
+
+	// Spears
+	std::vector<Color> cols = { Color(1,0,0), Color(0,1,0), Color(0,0,1), Color(0.7f,0.55f,0) };
+	for (int i = 1; i < 3; i++)
+	{
+		for (int j = 0; j < 4; j++)
+		{
+			pl1 = world.createEntity();
+			pl1.addComponent<TransformComponent>(Vector3((i % 2 == 0 ? 8 : -1), 85, 49.5f - 37 * j), Vector3(1, 1, 1), Vector3(180, 0, 0));
+			pl1.addComponent<DynamicSpotLightComponent>(10.0f, 100, Color(0, 0, 0), cols[3 - j], cols[3 - j], 5);
+		}
+	}
 }
\ No newline at end of file
diff --git a/OpenGLEngine/OpenGLEngine/NBodyComponent.h b/OpenGLEngine/OpenGLEngine/NBodyComponent.h
new file mode 100644
index 0000000..600f829
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/NBodyComponent.h
@@ -0,0 +1,16 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct NBodyComponent
+	{
+		NBodyComponent(float _mass = 1.0f)
+			: mass(_mass)
+		{
+
+		}
+
+		float mass;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/NBodySystem.cpp b/OpenGLEngine/OpenGLEngine/NBodySystem.cpp
new file mode 100644
index 0000000..4622bd9
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/NBodySystem.cpp
@@ -0,0 +1,93 @@
+#include "NBodySystem.h"
+#include "TransformComponent.h"
+#include "ForceAccumulatorComponent.h"
+
+namespace Reality
+{
+	NBodySystem::NBodySystem()
+	{
+		requireComponent<NBodyComponent>();
+	}
+
+	void NBodySystem::Update(float deltaTime)
+	{
+		for (auto e1 : getEntities())
+		{
+			if (e1.hasComponent<TransformComponent>())
+			{
+				auto& transform1 = e1.getComponent<TransformComponent>();
+				auto& nBody1 = e1.getComponent<NBodyComponent>();
+		
+				for (auto e2 : getEntities())
+				{
+					if (e1 != e2)
+					{
+						if (e2.hasComponent<TransformComponent>())
+						{
+							auto& transform2 = e2.getComponent<TransformComponent>();
+							auto& nBody2 = e2.getComponent<NBodyComponent>();
+		
+							Vector3 relativePosition = transform1.position - transform2.position;
+		
+							float length = glm::length(relativePosition);
+		
+							float forceN;
+		
+							forceN = nGravity * ((nBody1.mass * nBody2.mass) / length);
+		
+		
+							if (e2.hasComponent<ForceAccumulatorComponent>())
+							{
+								e2.getComponent<ForceAccumulatorComponent>().AddForce(relativePosition * forceN);
+							}
+		
+							if (DEBUG_LOG_LEVEL > 0)
+							{
+								getWorld().data.renderUtil->DrawSphere(transform1.position, nBody1.mass > 100 ? 5 : nBody1.mass / 5, Color());
+							}
+						}
+					}
+				}
+			}
+		}
+		//if (getEntities().size() > 1)
+		//{
+		//	for (int i = 0; i < getEntities().size() - 1; i++)
+		//	{
+		//		if (getEntities()[i].hasComponent<TransformComponent>())
+		//		{
+		//			auto& transform1 = getEntities()[i].getComponent<TransformComponent>();
+		//			auto& nBody1 = getEntities()[i].getComponent<NBodyComponent>();
+		//
+		//			for (int j = i + 1; j < getEntities().size(); j++)
+		//			{
+		//				if (getEntities()[j].hasComponent<TransformComponent>())
+		//				{
+		//					auto& transform2 = getEntities()[j].getComponent<TransformComponent>();
+		//					auto& nBody2 = getEntities()[j].getComponent<NBodyComponent>();
+		//
+		//					Vector3 relativePosition = transform1.position - transform2.position;
+		//
+		//					float length = glm::length(relativePosition);
+		//
+		//					float forceN;
+		//
+		//					forceN = nGravity * ((nBody1.mass * nBody2.mass) / length);
+		//
+		//					if (getEntities()[j].hasComponent<ForceAccumulatorComponent>())
+		//					{
+		//						getEntities()[j].getComponent<ForceAccumulatorComponent>().AddForce(relativePosition * forceN);
+		//					}
+		//
+		//					if (DEBUG_LOG_LEVEL > 0)
+		//					{
+		//						getWorld().data.renderUtil->DrawSphere(transform1.position, nBody1.mass > 100 ? 5 : nBody1.mass / 20, Color::Red);
+		//					}
+		//				}
+		//
+		//			}
+		//		}
+		//	}
+		//}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/NBodySystem.h b/OpenGLEngine/OpenGLEngine/NBodySystem.h
new file mode 100644
index 0000000..e7c74ee
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/NBodySystem.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "ECSConfig.h"
+#include "NBodyComponent.h"
+
+namespace Reality
+{
+	class NBodySystem : public ECSSystem
+	{
+	public:
+		NBodySystem();
+		void Update(float deltaTime);
+		float nGravity = 1.0f;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj b/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj
index dbb8b45..b20c8c8 100644
--- a/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj
+++ b/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj
@@ -1,480 +1,414 @@
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-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
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-    <RootNamespace>OpenGLEngine</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
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+      <Filter>Physics\Particles\ForceGenerators\FixedSpring</Filter>
+    </ClInclude>
+    <ClInclude Include="FixedSpringSystem.h">
+      <Filter>Physics\Particles\ForceGenerators\FixedSpring</Filter>
+    </ClInclude>
+    <ClInclude Include="PairedSpringComponent.h">
+      <Filter>Physics\Particles\PairedSpring</Filter>
+    </ClInclude>
+    <ClInclude Include="PairedSpringSystem.h">
+      <Filter>Physics\Particles\PairedSpring</Filter>
+    </ClInclude>
+    <ClInclude Include="ParticleContactEvent.h">
+      <Filter>Physics\Particles</Filter>
+    </ClInclude>
+    <ClInclude Include="ParticleContactResolutionSystem.h">
+      <Filter>Physics\Particles</Filter>
+    </ClInclude>
+    <ClInclude Include="ParticleSphereComponent.h">
+      <Filter>TestCS\ParticleSphereDemo</Filter>
+    </ClInclude>
+    <ClInclude Include="ParticleSphereSystem.h">
+      <Filter>TestCS\ParticleSphereDemo</Filter>
+    </ClInclude>
+    <ClInclude Include="CableComponent.h">
+      <Filter>TestCS\CablesAndRods</Filter>
+    </ClInclude>
+    <ClInclude Include="CableSystem.h">
+      <Filter>TestCS\CablesAndRods</Filter>
+    </ClInclude>
+    <ClInclude Include="RodComponent.h">
+      <Filter>TestCS\CablesAndRods</Filter>
+    </ClInclude>
+    <ClInclude Include="RodSystem.h">
+      <Filter>TestCS\CablesAndRods</Filter>
+    </ClInclude>
+    <ClInclude Include="PenetrationDeltaMoveComponent.h">
+      <Filter>Physics\Particles</Filter>
+    </ClInclude>
+    <ClInclude Include="ResetPenetrationDeltaMoveSystem.h">
+      <Filter>Physics\Particles</Filter>
+    </ClInclude>
+    <ClInclude Include="TransformComponentV2.h">
+      <Filter>ComponentsCore</Filter>
+    </ClInclude>
+    <ClInclude Include="RenderingSystemV2.h">
+      <Filter>Rendering</Filter>
+    </ClInclude>
+    <ClInclude Include="RotateComponentV2.h">
+      <Filter>TestCS</Filter>
+    </ClInclude>
+    <ClInclude Include="RotateSystemV2.h">
+      <Filter>TestCS</Filter>
+    </ClInclude>
+    <ClInclude Include="PlaneComponent.h">
+      <Filter>TestCS</Filter>
+    </ClInclude>
+    <ClInclude Include="PlaneSystem.h">
+      <Filter>TestCS</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Shaders\Lighting_Maps.vs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\Lighting_Maps.fs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\Lamp.vs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\Lamp.fs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\vertexDefault.vs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\fragmentDefault.fs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\FragmentConstant.fs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="Shaders\SimpleVertex.vs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="text.vs">
+      <Filter>Shaders</Filter>
+    </None>
+    <None Include="text.fs">
+      <Filter>Shaders</Filter>
+    </None>
+  </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj.user b/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj.user
new file mode 100644
index 0000000..6e2aec7
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/OpenGLEngine.vcxproj.user
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>
\ No newline at end of file
diff --git a/OpenGLEngine/OpenGLEngine/PairedSpringComponent.h b/OpenGLEngine/OpenGLEngine/PairedSpringComponent.h
index 88bf9a9..0511892 100644
--- a/OpenGLEngine/OpenGLEngine/PairedSpringComponent.h
+++ b/OpenGLEngine/OpenGLEngine/PairedSpringComponent.h
@@ -5,11 +5,20 @@ namespace Reality
 {
 	struct PairedSpringComponent
 	{
-		PairedSpringComponent(float _springConstant = 10, float _restLength = 10, ECSEntity a = ECSEntity(), ECSEntity b = ECSEntity())
-			:springConstant(_springConstant), restLength(_restLength), entityA(a), entityB(b) {}
+		PairedSpringComponent(float _springConstant = 10.0f,
+			float _restLength = 10.0f,
+			ECSEntity _connectedEntityA = ECSEntity(),
+			ECSEntity _connectedEntityB = ECSEntity())
+			: springConstant(_springConstant),
+			restLength(_restLength),
+			connectedEntityA(_connectedEntityA),
+			connectedEntityB(_connectedEntityB)
+		{
+
+		}
 		float springConstant;
 		float restLength;
-		ECSEntity entityA;
-		ECSEntity entityB;
+		ECSEntity connectedEntityA;
+		ECSEntity connectedEntityB;
 	};
-}
\ No newline at end of file
+}
diff --git a/OpenGLEngine/OpenGLEngine/PairedSpringSystem.cpp b/OpenGLEngine/OpenGLEngine/PairedSpringSystem.cpp
new file mode 100644
index 0000000..70e7b38
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PairedSpringSystem.cpp
@@ -0,0 +1,61 @@
+#include "PairedSpringSystem.h"
+#include "TransformComponent.h"
+#include "ForceAccumulatorComponent.h"
+
+namespace Reality
+{
+	PairedSpringSystem::PairedSpringSystem()
+	{
+		requireComponent<PairedSpringComponent>();
+	}
+
+	void PairedSpringSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& spring = e.getComponent<PairedSpringComponent>();
+
+			if (spring.connectedEntityA.hasComponent<TransformComponent>()
+				&& spring.connectedEntityB.hasComponent<TransformComponent>())
+			{
+				auto& transformA = spring.connectedEntityA.getComponent<TransformComponent>();
+				auto& transformB = spring.connectedEntityB.getComponent<TransformComponent>();
+
+				Vector3 relativePosition = transformA.position - transformB.position;
+				float length = glm::length(relativePosition);
+				if (length > 0)
+				{
+					float deltaL = length - spring.restLength;
+					Vector3 force = -glm::normalize(relativePosition);
+					force *= spring.springConstant * deltaL;
+					
+					if (spring.connectedEntityA.hasComponent<ForceAccumulatorComponent>())
+					{
+						spring.connectedEntityA.getComponent<ForceAccumulatorComponent>().AddForce(force);
+					}
+					if (spring.connectedEntityB.hasComponent<ForceAccumulatorComponent>())
+					{
+						spring.connectedEntityB.getComponent<ForceAccumulatorComponent>().AddForce(-force);
+					}
+
+					float g = 1.0f / (1.0f + pow(abs(deltaL), 0.5f));
+					float r = 1 - g;
+
+					Color col = Color(r, g, 0, 1);
+
+					float deltaLength = length / 10.0f;
+					Vector3 direction = glm::normalize(relativePosition);
+					for (int i = 0; i < 10; i++)
+					{
+						getWorld().data.renderUtil->DrawCube(
+							transformB.position + (float)i * deltaLength * direction,
+							Vector3(1.0f, 1.0f, 1.0f) * min((spring.restLength / 20.0f), 100.0f), Vector3(0, 0, 0), col);
+					}
+					getWorld().data.renderUtil->DrawLine(transformA.position, transformB.position,
+						col);
+				}
+
+			}
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/PairedSpringSystem.h b/OpenGLEngine/OpenGLEngine/PairedSpringSystem.h
new file mode 100644
index 0000000..5cf0204
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PairedSpringSystem.h
@@ -0,0 +1,13 @@
+#pragma once
+#include "ECSConfig.h"
+#include "PairedSpringComponent.h"
+
+namespace Reality
+{
+	class PairedSpringSystem : public ECSSystem
+	{
+	public:
+		PairedSpringSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ParticleComponent.h b/OpenGLEngine/OpenGLEngine/ParticleComponent.h
index 3c7e057..2580c48 100644
--- a/OpenGLEngine/OpenGLEngine/ParticleComponent.h
+++ b/OpenGLEngine/OpenGLEngine/ParticleComponent.h
@@ -5,30 +5,12 @@ namespace Reality
 {
 	struct ParticleComponent
 	{
-		ParticleComponent(float mass = 1.0f, Vector3 _velocity = Vector3(0,0,0), float _gravityScale = 1) :
-			velocity(_velocity), gravityScale(_gravityScale)
+		ParticleComponent(Vector3 _velocity = Vector3(0, 0, 0))
+			:velocity(_velocity), acceleration(Vector3(0, 0, 0))
 		{
-			inverseMass = 1 / mass;
-			accelaration = Vector3(0, 0, 0);
-			forceAccumulator = Vector3(0, 0, 0);
+
 		}
+		Vector3 acceleration;
 		Vector3 velocity;
-		Vector3 accelaration;
-		float inverseMass;
-		float gravityScale;
-		inline void AddForce(Vector3 force)
-		{
-			forceAccumulator += force;
-		}
-		inline Vector3 GetForce()
-		{
-			return forceAccumulator;
-		}
-		inline void ResetForceAccumulator()
-		{
-			forceAccumulator = Vector3(0, 0, 0);
-		}
-	private:
-		Vector3 forceAccumulator;
 	};
 }
diff --git a/OpenGLEngine/OpenGLEngine/ParticleContactEvent.h b/OpenGLEngine/OpenGLEngine/ParticleContactEvent.h
new file mode 100644
index 0000000..0d7074e
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ParticleContactEvent.h
@@ -0,0 +1,27 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct ParticleContactEvent
+	{
+		ParticleContactEvent(ECSEntity _entityA = ECSEntity(), 
+			ECSEntity _entityB = ECSEntity(), 
+			float _restitution = 1.0f,
+			Vector3 _normal = Vector3(0, 1.0f, 0),
+			float _penetration = 0.0f)
+			: entityA(_entityA),
+			entityB(_entityB),
+			restitution(_restitution),
+			normal(_normal),
+			penetration(_penetration)
+		{
+
+		}
+		ECSEntity entityA;
+		ECSEntity entityB;
+		float restitution;
+		Vector3 normal;
+		float penetration;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.cpp b/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.cpp
index 42c892a..0b53901 100644
--- a/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.cpp
+++ b/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.cpp
@@ -1,186 +1,185 @@
 #include "ParticleContactResolutionSystem.h"
 #include "ParticleComponent.h"
+#include "ForceAccumulatorSystem.h"
 #include "TransformComponent.h"
+#include "PenetrationDeltaMoveComponent.h"
 
 namespace Reality
 {
 	ParticleContactResolutionSystem::ParticleContactResolutionSystem()
 	{
-		requireComponent<ParticleContactComponent>();
+
 	}
 
-	float ParticleContactResolutionSystem::CalculateSeparatingVelocity(ParticleContactComponent& contact)
+	void ParticleContactResolutionSystem::Update(float deltaTime)
 	{
-		Vector3 velocityA = contact.entityA.hasComponent<ParticleComponent>() ? contact.entityA.getComponent<ParticleComponent>().velocity : Vector3(0, 0, 0);
-		Vector3 velocityB = contact.entityB.hasComponent<ParticleComponent>() ? contact.entityB.getComponent<ParticleComponent>().velocity : Vector3(0, 0, 0);
-		Vector3 relativeVel = velocityA - velocityB;
-		return glm::dot(relativeVel, contact.normal);
+		auto contactEvents = getWorld().getEventManager().getEvents<ParticleContactEvent>();
+		if (contactEvents.size() > 0)
+		{
+			for (int i = 0; i < velocityIterations; i++)
+			{
+				// Sort from highest incoming OR most negetive separting velocity to least
+				std::sort(contactEvents.begin(), contactEvents.end(), 
+					[this](auto a, auto b)
+					{
+						return CalculateSeparationVelocity(a) < CalculateSeparationVelocity(b);
+					});
+				ResolveVelocity(contactEvents[0], deltaTime);
+			}
+			for (int i = 0; i < positionIterations; i++)
+			{
+				// Sort from highest penetration to the least
+				std::sort(contactEvents.begin(), contactEvents.end(),
+					[this](auto a, auto b)
+					{
+						return CalculateActualPenetration(a) > CalculateActualPenetration(b);
+					});
+				ResolveInterPenetration(contactEvents[0]);
+			}
+		}
+		//for (auto& contact : contactEvents)
+		//{
+		//	ResolveVelocity(contact, deltaTime);
+		//	ResolveInterPenetration(contact);
+		//}
 	}
 
-	void ParticleContactResolutionSystem::ResolveVelocity(ParticleContactComponent& contact, float deltaTime)
+	float ParticleContactResolutionSystem::CalculateSeparationVelocity(ParticleContactEvent & contact)
 	{
-		float separatingVelocity = CalculateSeparatingVelocity(contact);
+		Vector3 velocityA = contact.entityA.hasComponent<ParticleComponent>() ?
+			contact.entityA.getComponent<ParticleComponent>().velocity : Vector3(0, 0, 0);
 
-		if (separatingVelocity > 0)
-		{
-			return;
-		}
+		Vector3 velocityB = contact.entityB.hasComponent<ParticleComponent>() ?
+			contact.entityB.getComponent<ParticleComponent>().velocity : Vector3(0, 0, 0);
 
-		bool isAvalid = contact.entityA.hasComponent<ParticleComponent>();
-		bool isBvalid = contact.entityB.hasComponent<ParticleComponent>();
-		float invM1 = isAvalid ? contact.entityA.getComponent<ParticleComponent>().inverseMass : 0;
-		float invM2 = isBvalid ? contact.entityB.getComponent<ParticleComponent>().inverseMass : 0;
+		Vector3 separationVelocity = velocityA - velocityB;
 
+		return glm::dot(separationVelocity, contact.normal);
+	}
 
-		float newSeparatingVelocity = -separatingVelocity * contact.restitution;
+	float ParticleContactResolutionSystem::CalculateActualPenetration(ParticleContactEvent & contact)
+	{
+		float actualPenetration = contact.penetration;
 
-		// Check the velocity build up due to accelaration only
-		Vector3 accCausedVelocity = Vector3(0, 0, 0);
-		if (isAvalid)
-		{
-			accCausedVelocity += contact.entityA.getComponent<ParticleComponent>().accelaration;
-		}
-		if (isBvalid)
+		if (contact.entityA.hasComponent<PenetrationDeltaMoveComponent>())
 		{
-			accCausedVelocity -= contact.entityB.getComponent<ParticleComponent>().accelaration;
+			Vector3 deltaMove = contact.entityA.getComponent<PenetrationDeltaMoveComponent>().deltaMove;
+			actualPenetration -= glm::dot(deltaMove, contact.normal);
 		}
-		float accCausedSepVelocity = glm::dot(accCausedVelocity, contact.normal) * deltaTime;
 
-		// If we have a closing velocity due to accelaration build up, 
-		// remove it from new separating velocity
-		if (accCausedSepVelocity < 0)
+		if (contact.entityB.hasComponent<PenetrationDeltaMoveComponent>())
 		{
-			newSeparatingVelocity += contact.restitution * accCausedSepVelocity;
-			if (newSeparatingVelocity < 0)
-			{
-				newSeparatingVelocity = 0;
-			}
+			Vector3 deltaMove = contact.entityB.getComponent<PenetrationDeltaMoveComponent>().deltaMove;
+			actualPenetration += glm::dot(deltaMove, contact.normal);
 		}
 
-		float deltaVelocity = newSeparatingVelocity - separatingVelocity;
+		return actualPenetration;
+	}
 
-		float totalInverseMass = invM1 + invM2;
+	void ParticleContactResolutionSystem::ResolveVelocity(ParticleContactEvent & contact, float deltaTime)
+	{
+		float initialVelocity = CalculateSeparationVelocity(contact);
 
-		if (totalInverseMass <= 0)
+		if (initialVelocity > 0)
 		{
 			return;
 		}
 
-		float impulse = deltaVelocity / totalInverseMass;
-
-		Vector3 impulsePerIMass = contact.normal * impulse;
+		float finalVelocity = -initialVelocity * contact.restitution;
 
-		if (isAvalid)
+		Vector3 relativeAccelaration = Vector3(0, 0, 0);
+		if (contact.entityA.hasComponent<ParticleComponent>())
 		{
-			contact.entityA.getComponent<ParticleComponent>().velocity += impulsePerIMass * invM1;
+			relativeAccelaration += contact.entityA.getComponent<ParticleComponent>().acceleration;
 		}
-		if (isBvalid)
+		if (contact.entityB.hasComponent<ParticleComponent>())
 		{
-			contact.entityB.getComponent<ParticleComponent>().velocity -= impulsePerIMass * invM2;
+			relativeAccelaration -= contact.entityB.getComponent<ParticleComponent>().acceleration;
 		}
-	}
 
-	void ParticleContactResolutionSystem::ResolveInterpenetration(ParticleContactComponent& contact)
-	{
-		if (contact.penetration <= 0)
+		float accCausedSepVelocity = glm::dot(relativeAccelaration, contact.normal) * deltaTime;
+
+		if (accCausedSepVelocity < 0)
 		{
-			return;
+			finalVelocity += contact.restitution * accCausedSepVelocity;
+
+			if (finalVelocity < 0)
+			{
+				finalVelocity = 0;
+			}
 		}
 
- 		bool isAvalid = contact.entityA.hasComponent<ParticleComponent>();
-		bool isBvalid = contact.entityB.hasComponent<ParticleComponent>();
-		float invM1 = isAvalid ? contact.entityA.getComponent<ParticleComponent>().inverseMass : 0;
-		float invM2 = isBvalid ? contact.entityB.getComponent<ParticleComponent>().inverseMass : 0;
+		float deltaVelocity = finalVelocity - initialVelocity;
+
+		float invMA = contact.entityA.hasComponent<ForceAccumulatorComponent>() ?
+			contact.entityA.getComponent<ForceAccumulatorComponent>().inverseMass : 0;
+
+		float invMB = contact.entityB.hasComponent<ForceAccumulatorComponent>() ?
+			contact.entityB.getComponent<ForceAccumulatorComponent>().inverseMass : 0;
 
-		float totalInverseMass = invM1 + invM2;
+		float totalInverseMass = invMA + invMB;
 
 		if (totalInverseMass <= 0)
 		{
 			return;
 		}
 
-		Vector3 movePerMass = contact.normal * (-contact.penetration / totalInverseMass);
-		contact.deltaMovePerMass = movePerMass;
-		if (isAvalid)
+		float impulse = deltaVelocity / totalInverseMass;
+		Vector3 impulsePerIMass = impulse * contact.normal;
+
+		if (contact.entityA.hasComponent<ParticleComponent>())
 		{
-			contact.entityA.getComponent<TransformComponent>().position -= movePerMass * invM1;
+			contact.entityA.getComponent<ParticleComponent>().velocity += impulsePerIMass * invMA;
 		}
 
-		if (isBvalid)
+		if (contact.entityB.hasComponent<ParticleComponent>())
 		{
-			contact.entityB.getComponent<TransformComponent>().position += movePerMass * invM2;
+			contact.entityB.getComponent<ParticleComponent>().velocity -= impulsePerIMass * invMB;
 		}
-		//contact.penetration = 0;
 	}
-
-	void ParticleContactResolutionSystem::UpdateInterpenetration(ParticleContactComponent & bestContact, ParticleContactComponent & contact)
+	void ParticleContactResolutionSystem::ResolveInterPenetration(ParticleContactEvent & contact)
 	{
-		bool isAvalid = contact.entityA.hasComponent<ParticleComponent>();
-		bool isBvalid = contact.entityB.hasComponent<ParticleComponent>();
-		float invM1 = isAvalid ? contact.entityA.getComponent<ParticleComponent>().inverseMass : 0;
-		float invM2 = isBvalid ? contact.entityB.getComponent<ParticleComponent>().inverseMass : 0;
-		if (bestContact.entityA == contact.entityA || bestContact.entityB == contact.entityA)
+		float actualPenetration = CalculateActualPenetration(contact);
+
+		if (actualPenetration < 0)
 		{
-			float mult = bestContact.entityA == contact.entityA ? -1 : 1;
-			Vector3 deltaMove = mult * bestContact.deltaMovePerMass * invM1;
-			float deltaPenetration = glm::dot(deltaMove, contact.normal);
-			contact.penetration -= deltaPenetration;
+			return;
 		}
-		if (bestContact.entityB == contact.entityB || bestContact.entityA == contact.entityB)
+
+		float invMassA = contact.entityA.hasComponent<ForceAccumulatorComponent>() ?
+			contact.entityA.getComponent<ForceAccumulatorComponent>().inverseMass : 0;
+
+		float invMassB = contact.entityB.hasComponent<ForceAccumulatorComponent>() ?
+			contact.entityB.getComponent<ForceAccumulatorComponent>().inverseMass : 0;
+
+		float totalInverseMass = invMassA + invMassB;
+
+		if (totalInverseMass <= 0)
 		{
-			float mult = bestContact.entityA == contact.entityB ? -1 : 1;
-			Vector3 deltaMove = mult * bestContact.deltaMovePerMass * invM2;
-			float deltaPenetration = glm::dot(deltaMove, contact.normal);
-			contact.penetration += deltaPenetration;
+			return;
 		}
-	}
 
-	void ParticleContactResolutionSystem::Update(float deltaTime)
-	{
-		iterationsUsed = 0;
-		iterations = getEntities().size() * 2;
+		Vector3 movePerUnitIMass = contact.normal * (actualPenetration / totalInverseMass);
 
-		if (getEntities().size() > 0)
+		if (contact.entityA.hasComponent<TransformComponent>())
 		{
-			unsigned int bestContactIndex = 0;
-			unsigned int lastBest = 0;
-			while (iterationsUsed < iterations)
+			Vector3 deltaMove = movePerUnitIMass * invMassA;
+			contact.entityA.getComponent<TransformComponent>().position += deltaMove;
+			if (contact.entityA.hasComponent<PenetrationDeltaMoveComponent>())
 			{
-				// Find the contact with the largest closing velocity
-				float max = 0;
-				for (int i = 0; i < getEntities().size(); i++)
-				{
-					auto e = getEntities()[i];
-					auto &contact = e.getComponent<ParticleContactComponent>();
-					if (iterationsUsed > 0)
-					{
-						UpdateInterpenetration(getEntities()[lastBest].getComponent<ParticleContactComponent>(), contact);
-					}
-					float sepVel = CalculateSeparatingVelocity(contact);
-					if (sepVel < max)
-					{
-						max = sepVel;
-						bestContactIndex = i;
-					}
-				}
-				if (max >= 0)
-				{
-					break;
-				}
-				auto& bestContact = getEntities()[bestContactIndex].getComponent<ParticleContactComponent>();
-				ResolveVelocity(bestContact, deltaTime);
-				ResolveInterpenetration(bestContact);
-				lastBest = bestContactIndex;
-				iterationsUsed++;
+				contact.entityA.getComponent<PenetrationDeltaMoveComponent>().deltaMove += deltaMove;
 			}
+		}
 
-			for (auto e : getEntities())
+		if (contact.entityB.hasComponent<TransformComponent>())
+		{
+			Vector3 deltaMove = movePerUnitIMass * invMassB;
+			contact.entityB.getComponent<TransformComponent>().position -= movePerUnitIMass * invMassB;
+			if (contact.entityB.hasComponent<PenetrationDeltaMoveComponent>())
 			{
-				e.kill();
+				contact.entityB.getComponent<PenetrationDeltaMoveComponent>().deltaMove -= deltaMove;
 			}
 		}
 
-
-
 	}
 }
diff --git a/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.h b/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.h
index ff0daa1..a203f9b 100644
--- a/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.h
+++ b/OpenGLEngine/OpenGLEngine/ParticleContactResolutionSystem.h
@@ -1,6 +1,6 @@
 #pragma once
 #include "ECSConfig.h"
-#include "ParticleContactComponent.h"
+#include "ParticleContactEvent.h"
 
 namespace Reality
 {
@@ -9,13 +9,12 @@ namespace Reality
 	public:
 		ParticleContactResolutionSystem();
 		void Update(float deltaTime);
-		unsigned int iterations = 1;
 	private:
-		float CalculateSeparatingVelocity(ParticleContactComponent& contact);
-		void ResolveVelocity(ParticleContactComponent& contact, float deltaTime);
-		void ResolveInterpenetration(ParticleContactComponent& contact);
-		void UpdateInterpenetration(ParticleContactComponent& bestContact, ParticleContactComponent& contact);
-		unsigned int iterationsUsed = 0;
+		float CalculateSeparationVelocity(ParticleContactEvent& contact);
+		float CalculateActualPenetration(ParticleContactEvent& contact);
+		void ResolveVelocity(ParticleContactEvent& contact, float deltaTime);
+		void ResolveInterPenetration(ParticleContactEvent& contact);
+		int velocityIterations = 4;
+		int positionIterations = 8;
 	};
 }
-
diff --git a/OpenGLEngine/OpenGLEngine/ParticleSphereComponent.h b/OpenGLEngine/OpenGLEngine/ParticleSphereComponent.h
new file mode 100644
index 0000000..556ba9a
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ParticleSphereComponent.h
@@ -0,0 +1,16 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct ParticleSphereComponent
+	{
+		ParticleSphereComponent(float _radius = 1.0f)
+			: radius(_radius)
+		{
+
+		}
+
+		float radius;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.cpp b/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.cpp
new file mode 100644
index 0000000..7ea6bf6
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.cpp
@@ -0,0 +1,145 @@
+#include "ParticleSphereSystem.h"
+#include "ParticleContactEvent.h"
+
+namespace Reality
+{
+	ParticleSphereSystem::ParticleSphereSystem()
+	{
+		requireComponent<TransformComponent>();
+		requireComponent<ParticleSphereComponent>();
+	}
+
+	void ParticleSphereSystem::Update(float deltaTime)
+	{
+		//if (!createBox)
+		//{
+		//	boundingBox = getWorld().createEntity();
+		//	createBox = true;
+		//}
+
+		//// Draw Bounding Box
+		//if (getEntities().size() > 0)
+		//{
+		//	getWorld().data.renderUtil->DrawCube(
+		//		Vector3(0, 0, 0),
+		//		Vector3(20, 20, 20),
+		//		Vector3(0, 0, 0),
+		//		Color::Purple
+		//	);
+		//}
+
+		for (int i = 0; i < getEntities().size(); i++)
+		{
+			auto e = getEntities()[i];
+			auto& transform = e.getComponent<TransformComponent>();
+			auto& sphere = e.getComponent<ParticleSphereComponent>();
+
+			// Draw Debug Sphere
+			if (DEBUG_LOG_LEVEL > 0)
+			{
+				getWorld().data.renderUtil->DrawSphere(
+					transform.position,
+					sphere.radius,
+					Color::Orange
+				);
+			}
+
+			//// Collision Check with X
+			//if (abs(transform.position.x) + sphere.radius >= 10)
+			//{
+			//	Vector3 normal = Vector3(transform.position.x > 0 ? -1 : 1, 0, 0);
+			//	float penetration = abs(transform.position.x) + sphere.radius - 10;
+			//
+			//	getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+			//		e,
+			//		boundingBox,
+			//		0.8f,
+			//		normal,
+			//		penetration);
+			//
+			//	getWorld().data.renderUtil->DrawLine(
+			//		transform.position - normal * sphere.radius,
+			//		transform.position - normal * (sphere.radius - penetration),
+			//		Color::Red);
+			//}
+			//
+			//// Collision Check with Y
+			//if (abs(transform.position.y) + sphere.radius >= 10)
+			//{
+			//	Vector3 normal = Vector3(0, transform.position.y > 0 ? -1 : 1, 0);
+			//	float penetration = abs(transform.position.y) + sphere.radius - 10;
+			//
+			//	getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+			//		e,
+			//		boundingBox,
+			//		0.8f,
+			//		normal,
+			//		penetration);
+			//
+			//	getWorld().data.renderUtil->DrawLine(
+			//		transform.position - normal * sphere.radius,
+			//		transform.position - normal * (sphere.radius - penetration),
+			//		Color::Red);
+			//}
+			//
+			//// Collision Check with Z
+			//if (abs(transform.position.z) + sphere.radius >= 10)
+			//{
+			//	Vector3 normal = Vector3(0, 0, transform.position.z > 0 ? -1 : 1);
+			//	float penetration = abs(transform.position.z) + sphere.radius - 10;
+			//
+			//	getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+			//		e,
+			//		boundingBox,
+			//		0.8f,
+			//		normal,
+			//		penetration);
+			//
+			//	getWorld().data.renderUtil->DrawLine(
+			//		transform.position - normal * sphere.radius,
+			//		transform.position - normal * (sphere.radius - penetration),
+			//		Color::Red);
+			//}
+
+			// Collision with other spheres
+			if (i < getEntities().size() - 1)
+			{
+				for (int j = i + 1; j < getEntities().size(); j++)
+				{
+					CheckCollision(e, getEntities()[j]);
+				}
+			}
+		}
+	}
+	void ParticleSphereSystem::CheckCollision(ECSEntity sphereEntityA, ECSEntity sphereEntityB)
+	{
+		auto& transformA = sphereEntityA.getComponent<TransformComponent>();
+		auto& sphereA = sphereEntityA.getComponent<ParticleSphereComponent>();
+
+		auto& transformB = sphereEntityB.getComponent<TransformComponent>();
+		auto& sphereB = sphereEntityB.getComponent<ParticleSphereComponent>();
+
+		Vector3 relativePos = transformA.position - transformB.position;
+		float distance = glm::length(relativePos);
+
+		if (distance < sphereA.radius + sphereB.radius)
+		{
+			Vector3 normal = glm::normalize(relativePos);
+			float penetration = sphereA.radius + sphereB.radius - distance;
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				sphereEntityA,
+				sphereEntityB,
+				0.8f,
+				normal,
+				penetration
+				);
+
+			getWorld().data.renderUtil->DrawLine(
+				transformA.position - normal * sphereA.radius,
+				transformB.position + normal * sphereB.radius,
+				Color::Red
+			);
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.h b/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.h
new file mode 100644
index 0000000..0bda2db
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ParticleSphereSystem.h
@@ -0,0 +1,18 @@
+#pragma once
+#include "ECSConfig.h"
+#include "ParticleSphereComponent.h"
+#include "TransformComponent.h"
+
+namespace Reality
+{
+	class ParticleSphereSystem : public ECSSystem
+	{
+	public:
+		ParticleSphereSystem();
+		void Update(float deltaTime);
+	private:
+		bool createBox = false;
+		ECSEntity boundingBox;
+		void CheckCollision(ECSEntity sphereEntityA, ECSEntity sphereEntityB);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/ParticleSystem.cpp b/OpenGLEngine/OpenGLEngine/ParticleSystem.cpp
index 41744a2..c9b3b97 100644
--- a/OpenGLEngine/OpenGLEngine/ParticleSystem.cpp
+++ b/OpenGLEngine/OpenGLEngine/ParticleSystem.cpp
@@ -1,6 +1,5 @@
 #include "ParticleSystem.h"
 
-
 namespace Reality
 {
 	ParticleSystem::ParticleSystem()
@@ -13,21 +12,16 @@ namespace Reality
 	{
 		for (auto e : getEntities())
 		{
-			auto &particle = e.getComponent<ParticleComponent>();
-			auto &transform = e.getComponent<TransformComponent>();
+			auto& transform = e.getComponent<TransformComponent>();
+			auto& particle = e.getComponent<ParticleComponent>();
+
+			particle.velocity += particle.acceleration * deltaTime;
+			transform.position += particle.velocity * deltaTime;
 
-			// HACK for bounce
-			if (transform.position.y <= -10)
+			if (DEBUG_LOG_LEVEL > 0)
 			{
-				//particle.velocity.y = -particle.velocity.y;
-				//e.kill();
+				getWorld().data.renderUtil->DrawSphere(transform.position);
 			}
-
-			// Update velocity from accelarartion
-			particle.velocity += particle.accelaration * deltaTime;
-
-			// Update position from velocity
-			transform.position += particle.velocity * deltaTime;
 		}
 	}
 }
diff --git a/OpenGLEngine/OpenGLEngine/ParticleSystem.h b/OpenGLEngine/OpenGLEngine/ParticleSystem.h
index 4c69212..2c926e8 100644
--- a/OpenGLEngine/OpenGLEngine/ParticleSystem.h
+++ b/OpenGLEngine/OpenGLEngine/ParticleSystem.h
@@ -12,4 +12,3 @@ namespace Reality
 		void Update(float deltaTime);
 	};
 }
-
diff --git a/OpenGLEngine/OpenGLEngine/PenetrationDeltaMoveComponent.h b/OpenGLEngine/OpenGLEngine/PenetrationDeltaMoveComponent.h
new file mode 100644
index 0000000..fb50100
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PenetrationDeltaMoveComponent.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct PenetrationDeltaMoveComponent
+	{
+		PenetrationDeltaMoveComponent() : deltaMove(Vector3(0, 0, 0))
+		{
+
+		}
+		Vector3 deltaMove;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/PlaneComponent.h b/OpenGLEngine/OpenGLEngine/PlaneComponent.h
new file mode 100644
index 0000000..c343c6c
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PlaneComponent.h
@@ -0,0 +1,29 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct PlaneComponent
+	{
+		PlaneComponent(ECSEntity _p1 =  ECSEntity(), ECSEntity _p2 = ECSEntity(), ECSEntity _p3 = ECSEntity(), ECSEntity _p4 = ECSEntity()) : p1(_p1), p2(_p2), p3(_p3), p4(_p4)
+		{
+			
+		}
+
+		ECSEntity p1;
+		ECSEntity p2;
+		ECSEntity p3;
+		ECSEntity p4;
+
+		Vector3 normal1;
+		Vector3 normal2;
+
+		Vector3 middle1;
+		Vector3 middle2;
+
+		float d1;
+		float d2;
+
+		vector<ECSEntity> spheres;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/PlaneSystem.cpp b/OpenGLEngine/OpenGLEngine/PlaneSystem.cpp
new file mode 100644
index 0000000..4384764
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PlaneSystem.cpp
@@ -0,0 +1,210 @@
+#include "PlaneSystem.h"
+#include "TransformComponent.h"
+#include "ParticleSphereSystem.h"
+#include "ParticleContactEvent.h"
+
+namespace Reality
+{
+	PlaneSystem::PlaneSystem()
+	{
+		requireComponent<PlaneComponent>();
+	}
+
+	void PlaneSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& plane = e.getComponent<PlaneComponent>();
+
+			Vector3 planep1 = plane.p1.getComponent<TransformComponent>().position;
+			Vector3 planep2 = plane.p2.getComponent<TransformComponent>().position;
+			Vector3 planep3 = plane.p3.getComponent<TransformComponent>().position;
+			Vector3 planep4 = plane.p4.getComponent<TransformComponent>().position;
+
+			plane.normal1 = glm::normalize(glm::cross((planep3 - planep1), (planep2 - planep1)));
+
+			plane.normal2 = glm::normalize(glm::cross((planep3 - planep2), (planep4 - planep2)));
+
+
+			plane.middle1 = (planep1 + planep2 + planep3) / 3.0f;
+
+			plane.middle2 = (planep2 + planep3 + planep4) / 3.0f;
+
+
+			plane.d1 = -((plane.normal1.x * plane.middle1.x) + (plane.normal1.y * plane.middle1.y) + (plane.normal1.z * plane.middle1.z));
+
+			plane.d2 = -((plane.normal2.x * plane.middle2.x) + (plane.normal2.y * plane.middle2.y) + (plane.normal2.z * plane.middle2.z));
+
+			float l = (plane.normal1.x * plane.middle1.x) + (plane.normal1.y * plane.middle1.y) + (plane.normal1.z * plane.middle1.z) + plane.d1;
+
+			plane.spheres = getWorld().getSystemManager().getSystem<ParticleSphereSystem>().getEntities();
+
+			for (int i = 0; i < plane.spheres.size(); i++)
+			{
+				checkCollision(e, plane.spheres[i]);
+			}
+		}
+	}
+
+	void PlaneSystem::checkCollision(ECSEntity _plane, ECSEntity _sphere)
+	{
+		auto& plane = _plane.getComponent<PlaneComponent>();
+
+		Vector3 planep1 = plane.p1.getComponent<TransformComponent>().position;
+		Vector3 planep2 = plane.p2.getComponent<TransformComponent>().position;
+		Vector3 planep3 = plane.p3.getComponent<TransformComponent>().position;
+		Vector3 planep4 = plane.p4.getComponent<TransformComponent>().position;
+
+		auto& sphere = _sphere.getComponent<ParticleSphereComponent>();
+		auto& sphereTransform = _sphere.getComponent<TransformComponent>();
+
+		// Distance = (A*x0+B*y0+C*z0+D) / Sqrt(A*A+B*B+C*C)
+
+		float distance1 = ((plane.normal1.x * sphereTransform.position.x) + (plane.normal1.y * sphereTransform.position.y) + (plane.normal1.z * sphereTransform.position.z) + plane.d1)
+			/ sqrt(plane.normal1.x * plane.normal1.x + plane.normal1.y * plane.normal1.y + plane.normal1.z * plane.normal1.z);
+
+		float distance2 = ((plane.normal2.x * sphereTransform.position.x) + (plane.normal2.y * sphereTransform.position.y) + (plane.normal2.z * sphereTransform.position.z) + plane.d2)
+			/ sqrt(plane.normal2.x * plane.normal2.x + plane.normal2.y * plane.normal2.y + plane.normal2.z * plane.normal2.z);
+
+		Vector3 projPosition1 = sphereTransform.position - (sphereTransform.position * plane.normal1 / abs(plane.normal1) * abs(plane.normal1)) * plane.normal1;
+
+		Vector3 projPosition2 = sphereTransform.position - (sphereTransform.position * plane.normal2 / abs(plane.normal2) * abs(plane.normal2)) * plane.normal2;
+
+		if (abs(distance1) <= sphere.radius && checkPointInTriangle(projPosition1, planep1, planep2, planep3))
+		{
+			cout << "Collision" << endl;
+			
+			float penetration = sphere.radius - abs(distance1);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p1,
+				1.0f,
+				plane.normal1,
+				penetration
+				);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p2,
+				1.0f,
+				plane.normal1,
+				penetration
+				);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p3,
+				1.0f,
+				plane.normal1,
+				penetration
+				);
+
+			getWorld().data.renderUtil->DrawTriangle(planep1, planep2, planep3, Color::Red);
+			getWorld().data.renderUtil->DrawTriangle(planep2, planep3, planep4, Color::Green);
+		}
+		else if (abs(distance2) <= sphere.radius && checkPointInTriangle(projPosition2, planep2, planep3, planep4))
+		{
+			cout << "Collision" << endl;
+
+			float penetration = sphere.radius - abs(distance2);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p2,
+				1.0f,
+				plane.normal2,
+				penetration
+				);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p3,
+				1.0f,
+				plane.normal2,
+				penetration
+				);
+
+			getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+				_sphere,
+				plane.p4,
+				1.0f,
+				plane.normal2,
+				penetration
+				);
+
+			getWorld().data.renderUtil->DrawTriangle(planep2, planep3, planep4, Color::Red);
+			getWorld().data.renderUtil->DrawTriangle(planep1, planep2, planep3, Color::Green);
+		}
+		else
+		{
+			getWorld().data.renderUtil->DrawTriangle(planep1, planep2, planep3, Color::Green);
+			getWorld().data.renderUtil->DrawTriangle(planep2, planep3, planep4, Color::Green);
+		}
+
+		if (sphereTransform.position.y <= -20)
+		{
+			sphereTransform.position = plane.middle1;
+
+			sphereTransform.position.x += RANDOM_FLOAT(-3.0f, 3.0f);
+			sphereTransform.position.z += RANDOM_FLOAT(-3.0f, 3.0f);
+			sphereTransform.position.y += 20.0f;
+		}
+
+		//Vector3 relativeLocation = plane.normal1 - sphereTransform.position;
+		//float d = glm::length(relativeLocation);
+		//
+		//float distance1 = (plane.normal1.x * sphereTransform.position.x) + (plane.normal1.y * sphereTransform.position.y) + (plane.normal1.z * sphereTransform.position.z) - plane.d1;
+		//float distance2 = (plane.normal2.x * sphereTransform.position.x) + (plane.normal2.y * sphereTransform.position.y) + (plane.normal2.z * sphereTransform.position.z) - plane.d2;
+		//
+		//float j = glm::length((sphere.radius - abs(distance1)) * plane.normal1);
+
+		//float temp = sphere.radius - abs(distance);
+
+		//if(p == sphere.radius - abs(glm::distance(sphereTransform.position, plane.middle1) * plane.normal1))
+
+	}
+
+	bool PlaneSystem::checkSameSide(Vector3 p1, Vector3 p2, Vector3 a, Vector3 b)
+	{
+		Vector3 cp1 = glm::cross(b - a, p1 - a);
+		Vector3 cp2 = glm::cross(b - a, p2 - a);
+
+		float d = glm::dot(cp1, cp2);
+
+		if (glm::dot(cp1, cp2) >= 0)
+		{
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+
+	bool PlaneSystem::checkPointInTriangle(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+	{
+		if (checkSameSide(p, a, b, c) && checkSameSide(p, b, a, c) && checkSameSide(p, c, a, b))
+		{
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+
+	/*
+	
+		function SameSide(p1,p2, a,b)
+		    cp1 = CrossProduct(b-a, p1-a)
+		    cp2 = CrossProduct(b-a, p2-a)
+		    if DotProduct(cp1, cp2) >= 0 then return true
+		    else return false
+		
+		function PointInTriangle(p, a,b,c)
+		    if SameSide(p,a, b,c) and SameSide(p,b, a,c)
+		        and SameSide(p,c, a,b) then return true
+		    else return false
+	*/
+}
diff --git a/OpenGLEngine/OpenGLEngine/PlaneSystem.h b/OpenGLEngine/OpenGLEngine/PlaneSystem.h
new file mode 100644
index 0000000..1c6a015
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/PlaneSystem.h
@@ -0,0 +1,19 @@
+#pragma once
+#include "ECSConfig.h"
+#include "PlaneComponent.h"
+#include "ParticleSphereComponent.h"
+
+namespace Reality
+{
+	class PlaneSystem : public ECSSystem
+	{
+	public:
+		PlaneSystem();
+		void Update(float deltaTime);
+
+	private:
+		void checkCollision(ECSEntity plane, ECSEntity sphere);
+		bool checkSameSide(Vector3 p1, Vector3 p2, Vector3 a, Vector3 b);
+		bool checkPointInTriangle(Vector3 p1, Vector3 a, Vector3 b, Vector3 c);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/RenderingSystemV2.cpp b/OpenGLEngine/OpenGLEngine/RenderingSystemV2.cpp
index aa2dbef..1ed4cac 100644
--- a/OpenGLEngine/OpenGLEngine/RenderingSystemV2.cpp
+++ b/OpenGLEngine/OpenGLEngine/RenderingSystemV2.cpp
@@ -1,40 +1,41 @@
-#include "RenderingSystemV2.h"
-
-namespace Reality
-{
-	RenderingSystemV2::RenderingSystemV2()
-	{
-		requireComponent<TransformComponentV2>();
-		requireComponent<ModelComponent>();
-	}
-
-	void RenderingSystemV2::Update(float deltaTime)
-	{
+#include "RenderingSystemV2.h"
+#include "Shader.h"
+#include "Camera.h"
+
+namespace Reality
+{
+	RenderingSystemV2::RenderingSystemV2()
+	{
+		requireComponent<TransformComponentV2>();
+		requireComponent<ModelComponent>();
+	}
+
+	void RenderingSystemV2::Update(float deltaTime)
+	{
 		for (auto e : getEntities())
 		{
-			auto& transform = e.getComponent<TransformComponentV2>();
-			auto &model = e.getComponent<ModelComponent>();
+			auto &transform = e.getComponent<TransformComponentV2>();
+			auto &mesh = e.getComponent<ModelComponent>();
 
 			if (getWorld().data.assetLoader->ModelsLoaded())
 			{
 				getWorld().data.assetLoader->SetLight(getWorld().data.renderUtil->camera.Position);
 			}
-			if (model.modelId < 0)
+
+			if (mesh.modelId < 0)
 			{
-				model.modelId = getWorld().data.assetLoader->GetModelId(model.mesh);
+				mesh.modelId = getWorld().data.assetLoader->GetModelId(mesh.mesh);
 			}
-			if (model.modelId >= 0)
+
+			if (mesh.modelId >= 0)
 			{
-				//Mat4 modelMat = glm::translate(glm::mat4(1.0f), model.offset.x * transform.Right() + model.offset.y * transform.Up() + model.offset.z * transform.Forward()) * transform.transformationMatrix;
-				//Mat4 modelMat = glm::translate(transform.transformationMatrix, model.offset.x * transform.Right() + model.offset.y * transform.Up() + model.offset.z * transform.Forward());
-				glm::vec3 rotationOffsetInRads = glm::vec3(glm::radians(model.rotation.x), glm::radians(model.rotation.y), glm::radians(model.rotation.z));
-				glm::mat4 rotationOffsetMat = glm::toMat4(glm::quat(rotationOffsetInRads));
-				Mat4 modelMat = transform.GetTransformationMatrix() * glm::translate(glm::mat4(1.0f), model.offset) * rotationOffsetMat;
-				getWorld().data.renderUtil->DrawModel(model.modelId, modelMat);
+				getWorld().data.renderUtil->DrawModel(mesh.modelId, transform.GetTransformationMatrix());
 			}
-			getWorld().data.renderUtil->DrawLine(transform.GetPosition(), transform.GetPosition() + transform.Right() * 10.0f, Color::Red);
-			getWorld().data.renderUtil->DrawLine(transform.GetPosition(), transform.GetPosition() + transform.Up() * 10.0f, Color::Green);
-			getWorld().data.renderUtil->DrawLine(transform.GetPosition(), transform.GetPosition() + transform.Forward() * 10.0f, Color::Blue);
-		}
-	}
-}
+
+			// Draw
+			//getWorld().data.renderUtil->DrawCube(transform.position, Vector3(10,10,10), transform.eulerAngles);
+			//getWorld().data.renderUtil->DrawCube(transform.position + Vector3(0, transform.scale.y , 0) * 7.5f, transform.scale * 15.0f, transform.eulerAngles);
+			//getWorld().data.renderUtil->DrawLine(transform.position - Vector3(1, 1, 1), transform.position + Vector3(1, 1, 1));
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/RenderingSystemV2.h b/OpenGLEngine/OpenGLEngine/RenderingSystemV2.h
index b2a18e5..ff72234 100644
--- a/OpenGLEngine/OpenGLEngine/RenderingSystemV2.h
+++ b/OpenGLEngine/OpenGLEngine/RenderingSystemV2.h
@@ -2,6 +2,10 @@
 #include "ECSConfig.h"
 #include "TransformComponentV2.h"
 #include "MeshComponent.h"
+
+class Shader;
+class Camera;
+
 namespace Reality
 {
 	class RenderingSystemV2 : public ECSSystem
@@ -11,3 +15,4 @@ namespace Reality
 		void Update(float deltaTime);
 	};
 }
+
diff --git a/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.cpp b/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.cpp
new file mode 100644
index 0000000..8b1d203
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.cpp
@@ -0,0 +1,18 @@
+#include "ResetPenetrationDeltaMoveSystem.h"
+
+namespace Reality
+{
+	ResetPenetrationDeltaMoveSystem::ResetPenetrationDeltaMoveSystem()
+	{
+		requireComponent<PenetrationDeltaMoveComponent>();
+	}
+
+	void ResetPenetrationDeltaMoveSystem::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& penetration = e.getComponent<PenetrationDeltaMoveComponent>();
+			penetration.deltaMove = Vector3(0, 0, 0);
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.h b/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.h
new file mode 100644
index 0000000..958dfed
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/ResetPenetrationDeltaMoveSystem.h
@@ -0,0 +1,13 @@
+#pragma once
+#include "ECSConfig.h"
+#include "PenetrationDeltaMoveComponent.h"
+
+namespace Reality
+{
+	class ResetPenetrationDeltaMoveSystem : public ECSSystem
+	{
+	public:
+		ResetPenetrationDeltaMoveSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/RodComponent.h b/OpenGLEngine/OpenGLEngine/RodComponent.h
index 33583ad..5c5b3ef 100644
--- a/OpenGLEngine/OpenGLEngine/RodComponent.h
+++ b/OpenGLEngine/OpenGLEngine/RodComponent.h
@@ -5,11 +5,17 @@ namespace Reality
 {
 	struct RodComponent
 	{
-		RodComponent(ECSEntity a = ECSEntity(), ECSEntity b = ECSEntity(), float _length = 10)
-			: entityA(a), entityB(b), length(_length)
-		{}
+		RodComponent(ECSEntity a = ECSEntity(),
+			ECSEntity b = ECSEntity(),
+			float _rodLength = 10)
+			: entityA(a),
+			entityB(b),
+			rodLength(_rodLength)
+		{
+
+		}
 		ECSEntity entityA;
 		ECSEntity entityB;
-		float length;
+		float rodLength;
 	};
 }
diff --git a/OpenGLEngine/OpenGLEngine/RodSystem.cpp b/OpenGLEngine/OpenGLEngine/RodSystem.cpp
index f1da27e..c3f6bb7 100644
--- a/OpenGLEngine/OpenGLEngine/RodSystem.cpp
+++ b/OpenGLEngine/OpenGLEngine/RodSystem.cpp
@@ -1,6 +1,6 @@
 #include "RodSystem.h"
 #include "TransformComponent.h"
-#include "ParticleContactComponent.h"
+#include "ParticleContactEvent.h"
 
 namespace Reality
 {
@@ -14,49 +14,50 @@ namespace Reality
 		for (auto e : getEntities())
 		{
 			auto& rod = e.getComponent<RodComponent>();
-			float currentLength = glm::length(rod.entityA.getComponent<TransformComponent>().position -
-				rod.entityB.getComponent<TransformComponent>().position);
 
-			getWorld().data.renderUtil->DrawSphere(rod.entityA.getComponent<TransformComponent>().position, 1, Color::Purple);
-			getWorld().data.renderUtil->DrawSphere(rod.entityB.getComponent<TransformComponent>().position, 1, Color::Purple);
-
-			if (currentLength == rod.length)
+			if (rod.entityA.hasComponent<TransformComponent>() &&
+				rod.entityB.hasComponent<TransformComponent>())
 			{
-				continue;
+				auto& transformA = rod.entityA.getComponent<TransformComponent>();
+				auto& transformB = rod.entityB.getComponent<TransformComponent>();
+
+				Vector3 relativePos = transformA.position - transformB.position;
+				float length = glm::length(relativePos);
+
+				if (length > rod.rodLength)
+				{
+					Vector3 normal = -glm::normalize(relativePos);
+					float penetration = length - rod.rodLength;
+
+					getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+						rod.entityA,
+						rod.entityB,
+						0,
+						normal,
+						penetration
+						);
+				}
+
+				if (length < rod.rodLength)
+				{
+					Vector3 normal = glm::normalize(relativePos);
+					float penetration = rod.rodLength - length;
+
+					getWorld().getEventManager().emitEvent<ParticleContactEvent>(
+						rod.entityA,
+						rod.entityB,
+						0,
+						normal,
+						penetration
+						);
+				}
+
+				getWorld().data.renderUtil->DrawLine(
+					transformA.position,
+					transformB.position,
+					Color::Beige
+				);
 			}
-
-			Vector3 normal = glm::normalize(rod.entityB.getComponent<TransformComponent>().position -
-				rod.entityA.getComponent<TransformComponent>().position);
-
-
-			if (currentLength > rod.length)
-			{
-				auto contactEntity = getWorld().createEntity();
-				contactEntity.addComponent<ParticleContactComponent>(
-					rod.entityA,
-					rod.entityB,
-					0,
-					normal,
-					currentLength - rod.length);
-				getWorld().data.renderUtil->DrawLine(rod.entityA.getComponent<TransformComponent>().position,
-					rod.entityB.getComponent<TransformComponent>().position,
-					Color::Yellow);
-			}
-			else
-			{
-				auto contactEntity = getWorld().createEntity();
-				contactEntity.addComponent<ParticleContactComponent>(
-					rod.entityA,
-					rod.entityB,
-					0,
-					-normal,
-					rod.length - currentLength);
-				getWorld().data.renderUtil->DrawLine(rod.entityA.getComponent<TransformComponent>().position,
-					rod.entityB.getComponent<TransformComponent>().position,
-					Color::Yellow);
-			}
-
-			
 		}
 	}
 }
diff --git a/OpenGLEngine/OpenGLEngine/RotateComponent.h b/OpenGLEngine/OpenGLEngine/RotateComponent.h
index ecc5968..bde45b6 100644
--- a/OpenGLEngine/OpenGLEngine/RotateComponent.h
+++ b/OpenGLEngine/OpenGLEngine/RotateComponent.h
@@ -1,9 +1,15 @@
 #pragma once
-struct RotateComponent
+#include "ECSConfig.h"
+
+namespace Reality
 {
-	float xRot;
-	float yRot;
-	float zRot;
-	RotateComponent(float x = 0, float y = 0, float z = 0)
-		: xRot(x), yRot(y), zRot(z) {}
-};
+	struct RotateComponent
+	{
+		RotateComponent(Vector3 _rotationVelocity = Vector3(0, 0, 0))
+			: rotationVelocity(_rotationVelocity)
+		{
+			
+		}
+		Vector3 rotationVelocity;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/RotateComponentV2.h b/OpenGLEngine/OpenGLEngine/RotateComponentV2.h
new file mode 100644
index 0000000..886d43e
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/RotateComponentV2.h
@@ -0,0 +1,15 @@
+#pragma once
+#include "ECSConfig.h"
+
+namespace Reality
+{
+	struct RotateComponentV2
+	{
+		RotateComponentV2(Vector3 _rotationVelocity = Vector3(0, 0, 0))
+			: rotationVelocity(_rotationVelocity)
+		{
+
+		}
+		Vector3 rotationVelocity;
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/RotateSystem.cpp b/OpenGLEngine/OpenGLEngine/RotateSystem.cpp
index 6bd16a0..19146ff 100644
--- a/OpenGLEngine/OpenGLEngine/RotateSystem.cpp
+++ b/OpenGLEngine/OpenGLEngine/RotateSystem.cpp
@@ -1,20 +1,21 @@
 #include "RotateSystem.h"
 
-RotateSystem::RotateSystem()
+namespace Reality
 {
-	requireComponent<TransformComponent>();
-	requireComponent<RotateComponent>();
-}
+	RotateSystem::RotateSystem()
+	{
+		requireComponent<TransformComponent>();
+		requireComponent<RotateComponent>();
+	}
 
-void RotateSystem::Update(float deltaTime)
-{
-	for (auto e : getEntities())
+	void RotateSystem::Update(float deltaTime)
 	{
-		auto &rotate = e.getComponent<RotateComponent>();
-		auto &transform = e.getComponent<TransformComponent>();
+		for (auto e : getEntities())
+		{
+			auto& transform = e.getComponent<TransformComponent>();
+			auto& rotate = e.getComponent<RotateComponent>();
 
-		transform.eulerAngles.x += rotate.xRot * deltaTime;
-		transform.eulerAngles.y += rotate.yRot * deltaTime;
-		transform.eulerAngles.z += rotate.zRot * deltaTime;
+			transform.eulerAngles += rotate.rotationVelocity * deltaTime;
+		}
 	}
 }
diff --git a/OpenGLEngine/OpenGLEngine/RotateSystem.h b/OpenGLEngine/OpenGLEngine/RotateSystem.h
index 1a9cc29..76a4255 100644
--- a/OpenGLEngine/OpenGLEngine/RotateSystem.h
+++ b/OpenGLEngine/OpenGLEngine/RotateSystem.h
@@ -3,11 +3,12 @@
 #include "TransformComponent.h"
 #include "RotateComponent.h"
 
-using namespace Reality;
-class RotateSystem : public ECSSystem
+namespace Reality
 {
-public:
-	RotateSystem();
-	void Update(float deltaTime);
-};
-
+	class RotateSystem : public ECSSystem
+	{
+	public:
+		RotateSystem();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/RotateSystemV2.cpp b/OpenGLEngine/OpenGLEngine/RotateSystemV2.cpp
new file mode 100644
index 0000000..286d03a
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/RotateSystemV2.cpp
@@ -0,0 +1,26 @@
+#include "RotateSystemV2.h"
+#include <glm/gtx/quaternion.hpp>
+
+namespace Reality
+{
+	RotateSystemV2::RotateSystemV2()
+	{
+		requireComponent<TransformComponentV2>();
+		requireComponent<RotateComponentV2>();
+	}
+
+	void RotateSystemV2::Update(float deltaTime)
+	{
+		for (auto e : getEntities())
+		{
+			auto& transform = e.getComponent<TransformComponentV2>();
+			auto& rotate = e.getComponent<RotateComponentV2>();
+
+			Vector3 axis = glm::normalize(rotate.rotationVelocity);
+			float angle = glm::radians(glm::length(rotate.rotationVelocity)) * deltaTime;
+			Quaternion deltaQuat = glm::angleAxis(angle, axis);
+			Quaternion quat = glm::normalize(deltaQuat * transform.GetEulerAngles());
+			transform.SetOrientation(deltaQuat * transform.GetOrientation());
+		}
+	}
+}
diff --git a/OpenGLEngine/OpenGLEngine/RotateSystemV2.h b/OpenGLEngine/OpenGLEngine/RotateSystemV2.h
new file mode 100644
index 0000000..2cbf7a2
--- /dev/null
+++ b/OpenGLEngine/OpenGLEngine/RotateSystemV2.h
@@ -0,0 +1,13 @@
+#pragma once
+#include "ECSConfig.h"
+#include "TransformComponentV2.h"
+#include "RotateComponentV2.h"
+namespace Reality
+{
+	class RotateSystemV2 : public ECSSystem
+	{
+	public:
+		RotateSystemV2();
+		void Update(float deltaTime);
+	};
+}
diff --git a/OpenGLEngine/OpenGLEngine/TransformComponentV2.h b/OpenGLEngine/OpenGLEngine/TransformComponentV2.h
index 27575d5..170dae0 100644
--- a/OpenGLEngine/OpenGLEngine/TransformComponentV2.h
+++ b/OpenGLEngine/OpenGLEngine/TransformComponentV2.h
@@ -6,11 +6,12 @@ namespace Reality
 {
 	struct TransformComponentV2
 	{
-		TransformComponentV2(Vector3 _position = Vector3(0, 0, 0), Vector3 _scale = Vector3(1, 1, 1), Vector3 _eulerAngles = Vector3(0.0f, 0.0f, 0.0f)) :
+		TransformComponentV2(Vector3 _position = Vector3(0, 0, 0), Vector3 _scale = Vector3(1, 1, 1), Vector3 _eulerAngles = Vector3(0, 0, 0)) :
 			position(_position), scale(_scale)
 		{
-			SetRotation(_eulerAngles);
+			SetEulerAngles(_eulerAngles);
 		}
+
 	private:
 		Vector3 position;
 		Vector3 scale;
@@ -20,67 +21,57 @@ namespace Reality
 		Mat4 translationMatrix;
 		Mat4 unScaledTransformationMatrix;
 		Mat4 transformationMatrix;
-		bool dirty = true;
+		bool dirty;
 
 		inline void UpdateMatrices()
 		{
-			scaleMatrix = glm::scale(glm::mat4(1.0f), scale);
-			translationMatrix = glm::translate(glm::mat4(1.0f), position);
+			scaleMatrix = glm::scale(Mat4(1.0f), scale);
+			translationMatrix = glm::translate(Mat4(1.0f), position);
 			rotationMatrix = glm::toMat4(orientation);
 			unScaledTransformationMatrix = translationMatrix * rotationMatrix;
 			transformationMatrix = unScaledTransformationMatrix * scaleMatrix;
-			dirty = false;
 		}
 
 	public:
-		inline void SetPosition(const Vector3& _position)
+
+		inline void Setposition(Vector3 _position)
 		{
 			position = _position;
 			dirty = true;
 		}
 
-		inline Vector3 GetPosition() { return position; }
-
-		inline void SetScale(const Vector3& _scale)
+		inline void SetScale(Vector3 _scale)
 		{
 			scale = _scale;
 			dirty = true;
 		}
 
-		inline Vector3 GetScale() { return scale; }
-
-		inline void SetOrientation(const Quaternion& _orientation)
+		inline Vector3 GetScale()
 		{
-			orientation = _orientation;
-			dirty = true;
+			return scale;
 		}
 
-		inline Quaternion GetOrientation() { return orientation; }
-
-		// Euler angles in degrees
-		inline void SetRotation(Vector3 eulerAngles)
+		inline void SetOrientation(Quaternion _orientation)
 		{
-			glm::vec3 rotationInRads = glm::vec3(glm::radians(eulerAngles.x), 
-				glm::radians(eulerAngles.y), glm::radians(eulerAngles.z));
-			orientation = glm::quat(rotationInRads);
+			orientation = _orientation;
 			dirty = true;
 		}
 
-		inline Vector3 GetRotation() { return glm::eulerAngles(orientation); }
-
-		inline Vector3 Up()
+		inline Quaternion GetOrientation()
 		{
-			return orientation * Vector3(0.0f, 1.0f, 0.0f);
+			return orientation;
 		}
 
-		inline Vector3 Right()
+		inline void SetEulerAngles(Vector3 _eulerAngles)
 		{
-			return orientation * Vector3(1.0f, 0.0f, 0.0f);
+			Vector3 eulerRads = Vector3(glm::radians(_eulerAngles.x), glm::radians(_eulerAngles.y), glm::radians(_eulerAngles.z));
+			orientation = glm::quat(eulerRads);
+			dirty = true;
 		}
 
-		inline Vector3 Forward()
+		inline Vector3 GetEulerAngles()
 		{
-			return orientation * Vector3(0.0f, 0.0f, 1.0f);
+			return glm::eulerAngles(orientation);
 		}
 
 		inline Mat4 GetScaleMatrix()
@@ -92,24 +83,24 @@ namespace Reality
 			return scaleMatrix;
 		}
 
-		inline Mat4 GetRotationMatrix()
+		inline Mat4 GetTranslationMatrix()
 		{
 			if (dirty)
 			{
 				UpdateMatrices();
 			}
-			return rotationMatrix;
+			return translationMatrix;
 		}
-
-		inline Mat4 GetTranslationMatrix()
+		
+		inline Mat4 GetRotationMatrix()
 		{
 			if (dirty)
 			{
 				UpdateMatrices();
 			}
-			return transformationMatrix;
+			return rotationMatrix;
 		}
-
+		
 		inline Mat4 GetUnScaledTransformationMatrix()
 		{
 			if (dirty)
@@ -118,7 +109,7 @@ namespace Reality
 			}
 			return unScaledTransformationMatrix;
 		}
-
+		
 		inline Mat4 GetTransformationMatrix()
 		{
 			if (dirty)
@@ -128,30 +119,48 @@ namespace Reality
 			return transformationMatrix;
 		}
 
-		inline Vector3 WorldToLocalPosition(Vector3 _position)
+		inline Vector3 Right()
 		{
-			return glm::inverse(GetTransformationMatrix()) * Vector4(_position, 1);
+			return orientation * Vector3(1, 0, 0);
+		}
 
+		inline Vector3 Up()
+		{
+			return orientation * Vector3(0, 1, 0);
 		}
 
-		inline Vector3 LocalToWorldPosition(Vector3 _position)
+		inline Vector3 Forward()
 		{
-			return GetTransformationMatrix() * Vector4(_position, 1);
+			return orientation * Vector3(0, 0, 1);
 		}
 
-		//TODO : Check
-		inline Vector3 WorldToLocalDirection(Vector3 direction)
+		inline Vector3 LocalToWorldPosition(Vector3 localPosition)
 		{
-			if (glm::length(orientation) > 0)
+			return transformationMatrix * Vector4(localPosition, 1.0f);
+		}
+
+		inline Vector3 WorldToLocalPosition(Vector3 worldPosition)
+		{
+			if (abs(glm::determinant(transformationMatrix)) > 0)
 			{
-				return glm::inverse(orientation) * direction;
+				return glm::inverse(transformationMatrix) * Vector4(worldPosition, 1.0f);
 			}
 			return Vector3(0, 0, 0);
 		}
 
-		inline Vector3 LocalToWorldDirection(Vector3 direction)
+		inline Vector3 LocalToWorldDirection(Vector3 localDirection)
+		{
+			return orientation * localDirection;
+		}
+
+		inline Vector3 WorldToLocalDirection(Vector3 worldDirection)
 		{
-			return orientation * direction;
+			if (glm::length(orientation) > 0)
+			{
+				return glm::inverse(orientation) * worldDirection;
+			}
+			return Vector3(0, 0, 0);
 		}
+
 	};
-}
+}
\ No newline at end of file