added physics system

24 files changed, 464 insertions, 156 deletions

diff --git a/src/crepe/api/CMakeLists.txt b/src/crepe/api/CMakeLists.txt
index dbd6bf1..321343a 100644
--- a/src/crepe/api/CMakeLists.txt
+++ b/src/crepe/api/CMakeLists.txt
@@ -4,7 +4,6 @@ target_sources(crepe PUBLIC
 	Script.cpp
 	GameObject.cpp
 	Rigidbody.cpp
-	Force.cpp
 	ParticleEmitter.cpp
 	Transform.cpp
 	Color.cpp
@@ -14,6 +13,7 @@ target_sources(crepe PUBLIC
 	Metadata.cpp
 	Scene.cpp
 	SceneManager.cpp
+	Vector2.cpp
 )
 
 target_sources(crepe PUBLIC FILE_SET HEADERS FILES
@@ -26,7 +26,7 @@ target_sources(crepe PUBLIC FILE_SET HEADERS FILES
 	GameObject.hpp
 	Rigidbody.h
 	Sprite.h
-	Point.h
+	Vector2.h
 	Color.h
 	Texture.h 
 	AssetManager.h 
diff --git a/src/crepe/api/Config.h b/src/crepe/api/Config.h
index 22104a7..88220a7 100644
--- a/src/crepe/api/Config.h
+++ b/src/crepe/api/Config.h
@@ -35,6 +35,16 @@ public:
 		 */
 		bool color = true;
 	} log;
+
+	//! physics-related settings
+	struct {
+		/**
+		 * \brief gravity value of physics system
+		 *
+		 * Gravity value of game.
+		 */
+		double gravity = 1;
+	} physics;
 };
 
 } // namespace crepe
diff --git a/src/crepe/api/Force.cpp b/src/crepe/api/Force.cpp
deleted file mode 100644
index 63131ac..0000000
--- a/src/crepe/api/Force.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <cmath>
-
-#include "Force.h"
-
-namespace crepe {
-
-Force::Force(game_object_id_t id, uint32_t magnitude, uint32_t direction) : Component(id) {
-	// TODO: A standard angle unit should be established for the entire engine
-	// and assumed to be the default everywhere. Only conversion functions should
-	// explicitly contain the unit (i.e. `deg_to_rad()` & `rad_to_deg()`)
-
-	// Convert direction from degrees to radians
-	float radian_direction = static_cast<float>(direction) * (M_PI / 180.0f);
-	force_x = static_cast<int32_t>(
-		std::round(magnitude * std::cos(radian_direction)));
-	force_y = static_cast<int32_t>(
-		std::round(magnitude * std::sin(radian_direction)));
-}
-
-} // namespace crepe
diff --git a/src/crepe/api/Force.h b/src/crepe/api/Force.h
deleted file mode 100644
index 4a4b5de..0000000
--- a/src/crepe/api/Force.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-#include "../Component.h"
-
-namespace crepe {
-
-class Force : public Component {
-public:
-	Force(game_object_id_t id, uint32_t magnitude, uint32_t direction);
-
-	int32_t force_x;
-	int32_t force_y;
-};
-
-} // namespace crepe
diff --git a/src/crepe/api/GameObject.cpp b/src/crepe/api/GameObject.cpp
index 15330f3..d252e77 100644
--- a/src/crepe/api/GameObject.cpp
+++ b/src/crepe/api/GameObject.cpp
@@ -7,7 +7,7 @@ using namespace crepe;
 using namespace std;
 
 GameObject::GameObject(game_object_id_t id, const std::string & name,
-					   const std::string & tag, const Point & position,
+					   const std::string & tag, const Vector2 & position,
 					   double rotation, double scale)
 	: id(id) {
 	// Add Transform and Metadata components
diff --git a/src/crepe/api/GameObject.h b/src/crepe/api/GameObject.h
index 8389e6c..8dc102c 100644
--- a/src/crepe/api/GameObject.h
+++ b/src/crepe/api/GameObject.h
@@ -7,7 +7,7 @@
 
 namespace crepe {
 
-class Point;
+class Vector2;
 
 /**
  * \brief Represents a GameObject
@@ -30,7 +30,7 @@ public:
 	 * \param scale The scale of the GameObject
 	 */
 	GameObject(game_object_id_t id, const std::string & name, const std::string & tag,
-			   const Point & position, double rotation, double scale);
+			   const Vector2 & position, double rotation, double scale);
 	/**
 	 * \brief Set the parent of this GameObject
 	 * 
diff --git a/src/crepe/api/Point.h b/src/crepe/api/Point.h
deleted file mode 100644
index 575d624..0000000
--- a/src/crepe/api/Point.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#pragma once
-
-namespace crepe {
-
-class Point {
-public:
-	double x;
-	double y;
-};
-
-} // namespace crepe
diff --git a/src/crepe/api/Rigidbody.cpp b/src/crepe/api/Rigidbody.cpp
index 1e76346..cf07b0e 100644
--- a/src/crepe/api/Rigidbody.cpp
+++ b/src/crepe/api/Rigidbody.cpp
@@ -2,7 +2,15 @@
 
 using namespace crepe;
 
-Rigidbody::Rigidbody(game_object_id_t id, int mass, int gravity_scale,
-					 BodyType bodyType)
-	: Component(id), mass(mass), gravity_scale(gravity_scale),
-	  body_type(bodyType) {}
+crepe::Rigidbody::Rigidbody(uint32_t game_object_id,
+							const RigidbodyData & data) :
+	Component(game_object_id), data(data){}
+
+void crepe::Rigidbody::add_force_linear(const Vector2 & force) {
+	this->data.linear_velocity += force;
+}
+
+void crepe::Rigidbody::add_force_angular(double force) {
+	this->data.angular_velocity += force;
+}
+
diff --git a/src/crepe/api/Rigidbody.h b/src/crepe/api/Rigidbody.h
index 02ced2e..0c069d8 100644
--- a/src/crepe/api/Rigidbody.h
+++ b/src/crepe/api/Rigidbody.h
@@ -4,26 +4,96 @@
 
 #include "../Component.h"
 
-namespace crepe {
+#include "Vector2.h"
 
-// FIXME: can't this enum be defined inside the class declaration of Rigidbody?
-enum class BodyType {
-	//! Does not move (e.g. walls, ground ...)
-	STATIC,
-	//! Moves and responds to forces (e.g. player, physics objects ...)
-	DYNAMIC,
-	//! Moves but does not respond to forces (e.g. moving platforms ...)
-	KINEMATIC,
-};
+namespace crepe {
 
+/**
+ * \brief Rigidbody class
+ * 
+ * This class is used by the physics sytem and collision system. 
+ * It configures how to system interact with the gameobject for movement and collisions.
+ */
 class Rigidbody : public Component {
 public:
-	Rigidbody(game_object_id_t id, int mass, int gravity_scale, BodyType body_type);
-	int32_t velocity_x;
-	int32_t velocity_y;
-	int mass;
-	int gravity_scale;
-	BodyType body_type;
+	/**
+	 * \brief BodyType enum
+	 * 
+	 * This enum provides three bodytypes the physics sytem and collision system use.
+	 */
+	enum class BodyType {
+		//! Does not move (e.g. walls, ground ...)
+		STATIC,
+		//! Moves and responds to forces (e.g. player, physics objects ...)
+		DYNAMIC,
+		//! Moves but does not respond to forces (e.g. moving platforms ...)
+		KINEMATIC,
+	};
+	/**
+	 * \brief PhysicsConstraints to constrain movement
+	 * 
+	 * This struct configures the movement constraint for this object.
+	 * If a constraint is enabled the systems will not move the object.
+	 */
+	struct PhysicsConstraints {
+		//! X constraint
+		bool x = 0; 
+		//! Y constraint
+		bool y = 0; 
+		//! rotation constraint
+		bool rotation = 0; 
+	};
+public:
+	/** 
+	 * This struct holds the data for the Rigidbody.
+	 */
+	struct RigidbodyData{
+		//! objects mass
+		double mass = 0.0;
+		//! gravtiy scale
+		double gravity_scale = 0.0;
+		//! Changes if physics apply
+		BodyType body_type = BodyType::DYNAMIC;
+		//! linear velocity of object
+		Vector2 linear_velocity;
+		//! maximum linear velocity of object
+		Vector2 max_linear_velocity;
+		//! linear damping of object
+		Vector2 linear_damping;
+		//! angular velocity of object
+		double angular_velocity = 0.0;
+		//! max angular velocity of object
+		double max_angular_velocity = 0.0;
+		//! angular damping of object
+		double angular_damping = 0.0;
+		//! movements constraints of object
+		PhysicsConstraints constraints;
+		//! if gravity applies
+		bool use_gravity = true;
+		//! if object bounces
+		bool bounce = false;
+	};
+public:
+	/** 
+	 * \param game_object_id id of the gameobject the rigibody is added to.
+	 * \param data struct to configure the rigidbody.
+	 */
+	Rigidbody(uint32_t game_object_id,const RigidbodyData& data);
+	//! struct to hold data of rigidbody
+	RigidbodyData data;
+public:
+	/** 
+	 * \brief add a linear force to the Rigidbody.
+	 * 
+	 * \param force Vector2 that is added to the linear force.
+	 */
+	void add_force_linear(const Vector2 & force);
+	/** 
+	 * \brief add a angular force to the Rigidbody.
+	 * 
+	 * \param force Vector2 that is added to the angular force.
+	 */
+	void add_force_angular(double force);
 };
 
 } // namespace crepe
diff --git a/src/crepe/api/Transform.cpp b/src/crepe/api/Transform.cpp
index 5fb66b3..a5f29ea 100644
--- a/src/crepe/api/Transform.cpp
+++ b/src/crepe/api/Transform.cpp
@@ -6,7 +6,7 @@
 
 using namespace crepe;
 
-Transform::Transform(game_object_id_t id, const Point & point, double rot,
+Transform::Transform(game_object_id_t id, const Vector2 & point, double rot,
 					 double scale)
 	: Component(id), position(point), rotation(rot), scale(scale) {
 	dbg_trace();
diff --git a/src/crepe/api/Transform.h b/src/crepe/api/Transform.h
index 1104e99..33e70f9 100644
--- a/src/crepe/api/Transform.h
+++ b/src/crepe/api/Transform.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "api/Point.h"
+#include "api/Vector2.h"
 
 #include "Component.h"
 
@@ -20,7 +20,7 @@ public:
 	 * \param rot The rotation of the GameObject
 	 * \param scale The scale of the GameObject
 	 */
-	Transform(game_object_id_t id, const Point & point, double rot, double scale);
+	Transform(game_object_id_t id, const Vector2 & point, double rot, double scale);
 	/**
 	 * \brief Get the maximum number of instances for this component
 	 *
@@ -30,7 +30,7 @@ public:
 
 public:
 	//! Translation (shift)
-	Point position;
+	Vector2 position;
 	//! Rotation, in radians
 	double rotation;
 	//! Multiplication factor
diff --git a/src/crepe/api/Vector2.cpp b/src/crepe/api/Vector2.cpp
new file mode 100644
index 0000000..8cbd9ad
--- /dev/null
+++ b/src/crepe/api/Vector2.cpp
@@ -0,0 +1,59 @@
+#include "Vector2.h"
+
+namespace crepe {
+
+    // Constructor with initial values
+    Vector2::Vector2(float x, float y) : x(x), y(y) {}
+
+    // Subtracts another vector from this vector and returns the result.
+    Vector2 Vector2::operator-(const Vector2& other) const {
+        return {x - other.x, y - other.y};
+    }
+
+    // Adds another vector to this vector and returns the result.
+    Vector2 Vector2::operator+(const Vector2& other) const {
+        return {x + other.x, y + other.y};
+    }
+
+    // Multiplies this vector by a scalar and returns the result.
+    Vector2 Vector2::operator*(float scalar) const {
+        return {x * scalar, y * scalar};
+    }
+
+    // Multiplies this vector by another vector element-wise and updates this vector.
+    Vector2& Vector2::operator*=(const Vector2& other) {
+        x *= other.x;
+        y *= other.y;
+        return *this;
+    }
+
+    // Adds another vector to this vector and updates this vector.
+    Vector2& Vector2::operator+=(const Vector2& other) {
+        x += other.x;
+        y += other.y;
+        return *this;
+    }
+
+    // Adds a scalar value to both components of this vector and updates this vector.
+    Vector2& Vector2::operator+=(float other) {
+        x += other;
+        y += other;
+        return *this;
+    }
+
+    // Returns the negation of this vector.
+    Vector2 Vector2::operator-() const {
+        return {-x, -y};
+    }
+
+    // Checks if this vector is equal to another vector.
+    bool Vector2::operator==(const Vector2& other) const {
+        return x == other.x && y == other.y;
+    }
+
+    // Checks if this vector is not equal to another vector.
+    bool Vector2::operator!=(const Vector2& other) const {
+        return !(*this == other);
+    }
+
+} // namespace crepe
diff --git a/src/crepe/api/Vector2.h b/src/crepe/api/Vector2.h
new file mode 100644
index 0000000..d571209
--- /dev/null
+++ b/src/crepe/api/Vector2.h
@@ -0,0 +1,48 @@
+#pragma once
+
+namespace crepe {
+
+    //! Vector2 class
+    class Vector2 {
+    public:
+        //! X component of the vector
+        float x;
+        //! Y component of the vector
+				float y;
+
+        //! Default constructor
+        Vector2() = default;
+
+        //! Constructor with initial values
+        Vector2(float x, float y);
+
+        //! Subtracts another vector from this vector and returns the result.
+        Vector2 operator-(const Vector2& other) const;
+
+        //! Adds another vector to this vector and returns the result.
+        Vector2 operator+(const Vector2& other) const;
+
+        //! Multiplies this vector by a scalar and returns the result.
+        Vector2 operator*(float scalar) const;
+
+        //! Multiplies this vector by another vector element-wise and updates this vector.
+        Vector2& operator*=(const Vector2& other);
+
+        //! Adds another vector to this vector and updates this vector.
+        Vector2& operator+=(const Vector2& other);
+
+        //! Adds a scalar value to both components of this vector and updates this vector.
+        Vector2& operator+=(float other);
+
+        //! Returns the negation of this vector.
+        Vector2 operator-() const;
+
+        //! Checks if this vector is equal to another vector.
+        bool operator==(const Vector2& other) const;
+
+        //! Checks if this vector is not equal to another vector.
+        bool operator!=(const Vector2& other) const;
+
+    };
+
+} // namespace crepe
diff --git a/src/crepe/system/PhysicsSystem.cpp b/src/crepe/system/PhysicsSystem.cpp
index cea8062..1a323ee 100644
--- a/src/crepe/system/PhysicsSystem.cpp
+++ b/src/crepe/system/PhysicsSystem.cpp
@@ -1,16 +1,15 @@
-#include <iostream>
+#include <cmath>
 
 #include "../ComponentManager.h"
-#include "../api/Force.h"
 #include "../api/Rigidbody.h"
 #include "../api/Transform.h"
+#include "../api/Vector2.h"
+#include "../api/Config.h"
 
 #include "PhysicsSystem.h"
 
 using namespace crepe;
 
-PhysicsSystem::PhysicsSystem() {}
-
 void PhysicsSystem::update() {
 	ComponentManager & mgr = ComponentManager::get_instance();
 	std::vector<std::reference_wrapper<Rigidbody>> rigidbodies
@@ -18,41 +17,80 @@ void PhysicsSystem::update() {
 	std::vector<std::reference_wrapper<Transform>> transforms
 		= mgr.get_components_by_type<Transform>();
 
+	double gravity = Config::get_instance().physics.gravity;
 	for (Rigidbody & rigidbody : rigidbodies) {
-
-		switch (rigidbody.body_type) {
-			case BodyType::DYNAMIC:
+		if(!rigidbody.active){continue;}
+		switch (rigidbody.data.body_type) {
+			case Rigidbody::BodyType::DYNAMIC:
 				for (Transform & transform : transforms) {
 					if (transform.game_object_id == rigidbody.game_object_id) {
-						rigidbody.velocity_x = 0;
-						rigidbody.velocity_y = 0;
-						std::vector<std::reference_wrapper<Force>> forces
-							= mgr.get_components_by_id<Force>(
-								rigidbody.game_object_id);
-						rigidbody.velocity_y
-							+= rigidbody.gravity_scale * 1 * rigidbody.mass;
-
-						for (Force & force : forces) {
-							rigidbody.velocity_x += force.force_x;
-							rigidbody.velocity_y += force.force_y;
-						}
-
-						std::cout << "before transform.postion.x "
-								  << transform.position.x << std::endl;
-						std::cout << "before transform.postion.y "
-								  << transform.position.y << std::endl;
-						transform.position.x += rigidbody.velocity_x;
-						transform.position.y += rigidbody.velocity_y;
-						std::cout << "after transform.postion.x "
-								  << transform.position.x << std::endl;
-						std::cout << "after transform.postion.y "
-								  << transform.position.y << std::endl;
+						
+						// Add gravity 
+						if(rigidbody.data.use_gravity)
+						{
+							rigidbody.data.linear_velocity.y += (rigidbody.data.mass * rigidbody.data.gravity_scale * gravity);
+						}
+						// Add damping
+						if(rigidbody.data.angular_damping != 0)
+						{
+							rigidbody.data.angular_velocity *= rigidbody.data.angular_damping;
+						}
+						if(rigidbody.data.linear_damping != Vector2{0,0})
+						{
+							rigidbody.data.linear_velocity *= rigidbody.data.linear_damping;
+						}
+
+						// Max velocity check
+						if(rigidbody.data.angular_velocity > rigidbody.data.max_angular_velocity)
+						{
+							rigidbody.data.angular_velocity = rigidbody.data.max_angular_velocity;
+						}
+						else if (rigidbody.data.angular_velocity < -rigidbody.data.max_angular_velocity)
+						{
+							rigidbody.data.angular_velocity = -rigidbody.data.max_angular_velocity;
+						}
+
+						if(rigidbody.data.linear_velocity.x > rigidbody.data.max_linear_velocity.x)
+						{
+							rigidbody.data.linear_velocity.x = rigidbody.data.max_linear_velocity.x;
+						}
+						else if(rigidbody.data.linear_velocity.x < -rigidbody.data.max_linear_velocity.x)
+						{
+							rigidbody.data.linear_velocity.x = -rigidbody.data.max_linear_velocity.x;
+						}
+
+						if(rigidbody.data.linear_velocity.y > rigidbody.data.max_linear_velocity.y)
+						{
+							rigidbody.data.linear_velocity.y = rigidbody.data.max_linear_velocity.y;
+						}
+						else if(rigidbody.data.linear_velocity.y < -rigidbody.data.max_linear_velocity.y)
+						{
+							rigidbody.data.linear_velocity.y = -rigidbody.data.max_linear_velocity.y;
+						}
+
+						// Move object 
+						if(!rigidbody.data.constraints.rotation)
+						{
+							transform.rotation += rigidbody.data.angular_velocity;
+							transform.rotation = std::fmod(transform.rotation, 360.0);
+							if (transform.rotation < 0) {
+								transform.rotation += 360.0;
+							}
+						}
+						if(!rigidbody.data.constraints.x)
+						{
+							transform.position.x += rigidbody.data.linear_velocity.x;
+						}
+						if(!rigidbody.data.constraints.y)
+						{
+							transform.position.y += rigidbody.data.linear_velocity.y;
+						}
 					}
 				}
 				break;
-			case BodyType::KINEMATIC:
+			case Rigidbody::BodyType::KINEMATIC:
 				break; //(scripts)
-			case BodyType::STATIC:
+			case Rigidbody::BodyType::STATIC:
 				break; //(unmoveable objects)
 			default:
 				break;
diff --git a/src/crepe/system/PhysicsSystem.h b/src/crepe/system/PhysicsSystem.h
index 33b4072..cc13b70 100644
--- a/src/crepe/system/PhysicsSystem.h
+++ b/src/crepe/system/PhysicsSystem.h
@@ -1,10 +1,23 @@
 #pragma once
 
 namespace crepe {
-
+/**
+ * \brief System that controls all physics
+ * 
+ * This class is a physics system that uses a rigidbody and transform
+ * to add physics to a game object.
+ */
 class PhysicsSystem {
 public:
-	PhysicsSystem();
+	/**
+	 * Constructor is default
+	 */
+	PhysicsSystem() = default;
+	/**
+	 * \brief updates the physics system.
+	 * 
+	 * It calculates new velocties and changes the postion in the transform.
+	 */
 	void update();
 };
 
diff --git a/src/example/ecs.cpp b/src/example/ecs.cpp
index 0c64373..e61c398 100644
--- a/src/example/ecs.cpp
+++ b/src/example/ecs.cpp
@@ -11,11 +11,11 @@ using namespace std;
 int main() {
 	// Create a few GameObjects
 	try {
-		GameObject body(0, "body", "person", Point{0, 0}, 0, 1);
-		GameObject right_leg(1, "rightLeg", "person", Point{1, 1}, 0, 1);
-		GameObject left_leg(2, "leftLeg", "person", Point{1, 1}, 0, 1);
-		GameObject right_foot(3, "rightFoot", "person", Point{2, 2}, 0, 1);
-		GameObject left_foot(4, "leftFoot", "person", Point{2, 2}, 0, 1);
+		GameObject body(0, "body", "person", Vector2{0, 0}, 0, 1);
+		GameObject right_leg(1, "rightLeg", "person", Vector2{1, 1}, 0, 1);
+		GameObject left_leg(2, "leftLeg", "person", Vector2{1, 1}, 0, 1);
+		GameObject right_foot(3, "rightFoot", "person", Vector2{2, 2}, 0, 1);
+		GameObject left_foot(4, "leftFoot", "person", Vector2{2, 2}, 0, 1);
 
 		// Set the parent of each GameObject
 		right_foot.set_parent(right_leg);
@@ -24,7 +24,7 @@ int main() {
 		left_leg.set_parent(body);
 
 		// Adding a second Transform component is not allowed and will invoke an exception
-		body.add_component<Transform>(Point{10, 10}, 0, 1);
+		body.add_component<Transform>(Vector2{10, 10}, 0, 1);
 	} catch (const exception & e) {
 		cerr << e.what() << endl;
 	}
diff --git a/src/example/particle.cpp b/src/example/particle.cpp
index 607530d..0ab5632 100644
--- a/src/example/particle.cpp
+++ b/src/example/particle.cpp
@@ -7,7 +7,7 @@
 #include <crepe/Particle.h>
 #include <crepe/api/GameObject.h>
 #include <crepe/api/ParticleEmitter.h>
-#include <crepe/api/Point.h>
+#include <crepe/api/Vector2.h>
 #include <crepe/facade/SDLApp.h>
 #include <crepe/system/ParticleSystem.h>
 
@@ -26,7 +26,7 @@ int main(int argc, char * argv[]) {
 	}
 
 	GameObject * game_object[1];
-	game_object[0] = new GameObject(0, "Name", "Tag", Point{0, 0}, 0, 1);
+	game_object[0] = new GameObject(0, "Name", "Tag", Vector2{0, 0}, 0, 1);
 
 	// FIXME: all systems are singletons, so this shouldn't even compile.
 	ParticleSystem particle_system;
diff --git a/src/example/physics.cpp b/src/example/physics.cpp
index c7db6ac..fd15c79 100644
--- a/src/example/physics.cpp
+++ b/src/example/physics.cpp
@@ -1,10 +1,5 @@
-#include <chrono>
-#include <iostream>
-#include <thread>
-
 #include <crepe/Component.h>
 #include <crepe/ComponentManager.h>
-#include <crepe/api/Force.h>
 #include <crepe/api/GameObject.h>
 #include <crepe/api/Rigidbody.h>
 #include <crepe/api/Transform.h>
@@ -14,13 +9,15 @@ using namespace crepe;
 using namespace std;
 
 int main(int argc, char * argv[]) {
-	PhysicsSystem physics_system;
-	GameObject * game_object[2];
-	// not found not used
-	game_object[1] = new GameObject(2, "Name", "Tag", Point{0, 0}, 0, 0);
-	game_object[0] = new GameObject(5, "Name", "Tag", Point{0, 0}, 0, 0);
-	game_object[0]->add_component<Rigidbody>(1, 1, BodyType::DYNAMIC);
-	game_object[0]->add_component<Force>(1, 0);
-	physics_system.update();
+	GameObject *game_object;
+	game_object = new GameObject(0, "Name", "Tag", Vector2{0,0},0,0);
+	game_object->add_component<Rigidbody>(Rigidbody::RigidbodyData{
+		.mass = 1,
+		.gravity_scale = 1,
+		.body_type = Rigidbody::BodyType::DYNAMIC,
+		.constraints = {0,0,0},
+		.use_gravity = true,
+		.bounce = false,
+		});
 	return 0;
 }
diff --git a/src/example/rendering.cpp b/src/example/rendering.cpp
index 3fe43d6..e1ff9da 100644
--- a/src/example/rendering.cpp
+++ b/src/example/rendering.cpp
@@ -5,7 +5,7 @@
 
 #include <crepe/api/AssetManager.h>
 #include <crepe/api/Color.h>
-#include <crepe/api/Point.h>
+#include <crepe/api/Vector2.h>
 #include <crepe/api/Sprite.h>
 #include <crepe/api/Texture.h>
 #include <crepe/api/Transform.h>
@@ -19,9 +19,9 @@ using namespace crepe;
 int main() {
 	dbg_trace();
 
-	auto obj = GameObject(0, "name", "tag", Point{0, 0}, 1, 1);
-	auto obj1 = GameObject(1, "name", "tag", Point{500, 0}, 1, 0.1);
-	auto obj2 = GameObject(2, "name", "tag", Point{800, 0}, 1, 0.1);
+	auto obj = GameObject(0, "name", "tag", Vector2{0, 0}, 1, 1);
+	auto obj1 = GameObject(1, "name", "tag", Vector2{500, 0}, 1, 0.1);
+	auto obj2 = GameObject(2, "name", "tag", Vector2{800, 0}, 1, 0.1);
 
 	auto & mgr = AssetManager::get_instance();
 	// Normal adding components
diff --git a/src/example/scene_manager.cpp b/src/example/scene_manager.cpp
index efbf2c2..1780c81 100644
--- a/src/example/scene_manager.cpp
+++ b/src/example/scene_manager.cpp
@@ -3,7 +3,7 @@
 #include <crepe/ComponentManager.h>
 #include <crepe/api/GameObject.h>
 #include <crepe/api/Metadata.h>
-#include <crepe/api/Point.h>
+#include <crepe/api/Vector2.h>
 #include <crepe/api/Scene.h>
 #include <crepe/api/SceneManager.h>
 
@@ -15,9 +15,9 @@ public:
 	ConcreteScene1(string name) : Scene(name) {}
 
 	void load_scene() {
-		GameObject object1(0, "scene_1", "tag_scene_1", Point{0, 0}, 0, 1);
-		GameObject object2(1, "scene_1", "tag_scene_1", Point{1, 0}, 0, 1);
-		GameObject object3(2, "scene_1", "tag_scene_1", Point{2, 0}, 0, 1);
+		GameObject object1(0, "scene_1", "tag_scene_1", Vector2{0, 0}, 0, 1);
+		GameObject object2(1, "scene_1", "tag_scene_1", Vector2{1, 0}, 0, 1);
+		GameObject object3(2, "scene_1", "tag_scene_1", Vector2{2, 0}, 0, 1);
 	}
 };
 
@@ -26,10 +26,10 @@ public:
 	ConcreteScene2(string name) : Scene(name) {}
 
 	void load_scene() {
-		GameObject object1(0, "scene_2", "tag_scene_2", Point{0, 0}, 0, 1);
-		GameObject object2(1, "scene_2", "tag_scene_2", Point{0, 1}, 0, 1);
-		GameObject object3(2, "scene_2", "tag_scene_2", Point{0, 2}, 0, 1);
-		GameObject object4(3, "scene_2", "tag_scene_2", Point{0, 3}, 0, 1);
+		GameObject object1(0, "scene_2", "tag_scene_2", Vector2{0, 0}, 0, 1);
+		GameObject object2(1, "scene_2", "tag_scene_2", Vector2{0, 1}, 0, 1);
+		GameObject object3(2, "scene_2", "tag_scene_2", Vector2{0, 2}, 0, 1);
+		GameObject object4(3, "scene_2", "tag_scene_2", Vector2{0, 3}, 0, 1);
 	}
 };
 
diff --git a/src/example/script.cpp b/src/example/script.cpp
index 8ca4ceb..9e8b147 100644
--- a/src/example/script.cpp
+++ b/src/example/script.cpp
@@ -36,7 +36,7 @@ class MyScript : public Script {
 
 int main() {
 	// Create game object with Transform and BehaviorScript components
-	auto obj = GameObject(0, "name", "tag", Point{1.2, 3.4}, 0, 1);
+	auto obj = GameObject(0, "name", "tag", Vector2{1.2, 3.4}, 0, 1);
 	obj.add_component<BehaviorScript>().set_script<MyScript>();
 
 	// Get ScriptSystem singleton instance (this would normally be done from the
diff --git a/src/makefile b/src/makefile
index be1548c..2251119 100644
--- a/src/makefile
+++ b/src/makefile
@@ -41,16 +41,14 @@ TODO += crepe/api/CircleCollider.h
 TODO += crepe/api/Color.cpp
 TODO += crepe/api/Color.h
 LOEK += crepe/api/Config.h
-TODO += crepe/api/Force.cpp
-TODO += crepe/api/Force.h
 MAX += crepe/api/GameObject.cpp
 MAX += crepe/api/GameObject.h
 MAX += crepe/api/GameObject.hpp
 TODO += crepe/api/ParticleEmitter.cpp
 TODO += crepe/api/ParticleEmitter.h
-TODO += crepe/api/Point.h
-TODO += crepe/api/Rigidbody.cpp
-TODO += crepe/api/Rigidbody.h
+TODO += crepe/api/Vector2.h
+JARO += crepe/api/Rigidbody.cpp
+JARO += crepe/api/Rigidbody.h
 LOEK += crepe/api/Script.cpp
 LOEK += crepe/api/Script.h
 LOEK += crepe/api/Script.hpp
@@ -60,8 +58,6 @@ TODO += crepe/api/Texture.cpp
 TODO += crepe/api/Texture.h
 MAX += crepe/api/Transform.cpp
 MAX += crepe/api/Transform.h
-TODO += crepe/facade/SDLApp.cpp
-TODO += crepe/facade/SDLApp.h
 TODO += crepe/facade/SDLContext.cpp
 TODO += crepe/facade/SDLContext.h
 LOEK += crepe/facade/Sound.cpp
@@ -72,8 +68,8 @@ TODO += crepe/system/CollisionSystem.cpp
 TODO += crepe/system/CollisionSystem.h
 TODO += crepe/system/ParticleSystem.cpp
 TODO += crepe/system/ParticleSystem.h
-TODO += crepe/system/PhysicsSystem.cpp
-TODO += crepe/system/PhysicsSystem.h
+JARO += crepe/system/PhysicsSystem.cpp
+JARO += crepe/system/PhysicsSystem.h
 TODO += crepe/system/RenderSystem.cpp
 TODO += crepe/system/RenderSystem.h
 LOEK += crepe/system/ScriptSystem.cpp
@@ -91,13 +87,14 @@ TODO += example/components_internal.cpp
 MAX += example/ecs.cpp
 LOEK += example/log.cpp
 TODO += example/particle.cpp
-TODO += example/physics.cpp
+JARO += example/physics.cpp
 TODO += example/rendering.cpp
 LOEK += example/script.cpp
 LOEK += test/audio.cpp
 LOEK += test/dummy.cpp
+JARO += test/PhysicsTest.cpp
 
-FMT := $(MAX) #<<< CHANGE THIS TO YOUR NAME FOR STEP 2
+FMT := $(JARO) #<<< CHANGE THIS TO YOUR NAME FOR STEP 2
 format: FORCE
 	clang-tidy -p build/compile_commands.json --fix-errors $(FMT)
 
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index 0d316d6..0e4eaed 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -1,5 +1,6 @@
 target_sources(test_main PUBLIC
 	dummy.cpp
 	# audio.cpp
+	PhysicsTest.cpp
 )
 
diff --git a/src/test/PhysicsTest.cpp b/src/test/PhysicsTest.cpp
new file mode 100644
index 0000000..5ad5d01
--- /dev/null
+++ b/src/test/PhysicsTest.cpp
@@ -0,0 +1,115 @@
+#include <gtest/gtest.h>
+#include <crepe/ComponentManager.h>
+#include <crepe/api/GameObject.h>
+#include <crepe/api/Rigidbody.h>
+#include <crepe/api/Transform.h>
+#include <crepe/system/PhysicsSystem.h>
+#include <crepe/api/Config.h>
+
+using namespace std;
+using namespace std::chrono_literals;
+using namespace crepe;
+
+class PhysicsTest : public ::testing::Test {
+protected:
+    GameObject* game_object;
+    PhysicsSystem physics_system;
+		void SetUp() override {
+			ComponentManager & mgr = ComponentManager::get_instance();
+			std::vector<std::reference_wrapper<Transform>> transforms = mgr.get_components_by_id<Transform>(0);
+			if (transforms.empty()) {
+				game_object = new GameObject(0,"","",Vector2{0,0},0,0);
+				game_object->add_component<Rigidbody>(Rigidbody::RigidbodyData{
+						.mass = 1,
+						.gravity_scale = 1,
+						.body_type = Rigidbody::BodyType::DYNAMIC,
+						.max_linear_velocity = Vector2{10,10},
+						.max_angular_velocity = 10,
+						.constraints = {0, 0},
+						.use_gravity = true,
+						.bounce = false
+				});
+			}
+			transforms = mgr.get_components_by_id<Transform>(0);
+			Transform& transform = transforms.front().get();
+			transform.position.x = 0.0;
+			transform.position.y = 0.0;
+			transform.rotation = 0.0;
+			std::vector<std::reference_wrapper<Rigidbody>> rigidbodies = mgr.get_components_by_id<Rigidbody>(0);
+			Rigidbody& rigidbody = rigidbodies.front().get();
+			rigidbody.data.angular_velocity = 0;
+			rigidbody.data.linear_velocity.x = 0;
+			rigidbody.data.linear_velocity.y = 0;
+    }
+};
+
+TEST_F(PhysicsTest, gravity) {
+	Config::get_instance().physics.gravity = 1;
+	ComponentManager & mgr = ComponentManager::get_instance();
+	std::vector<std::reference_wrapper<Transform>> transforms = mgr.get_components_by_id<Transform>(0);
+	const Transform& transform = transforms.front().get();
+	ASSERT_FALSE(transforms.empty());
+	EXPECT_EQ(transform.position.y, 0);
+	physics_system.update();
+	EXPECT_EQ(transform.position.y, 1);
+	physics_system.update();
+	EXPECT_EQ(transform.position.y, 3);
+}
+
+TEST_F(PhysicsTest, max_velocity) {
+	ComponentManager & mgr = ComponentManager::get_instance();
+	std::vector<std::reference_wrapper<Rigidbody>> rigidbodies = mgr.get_components_by_id<Rigidbody>(0);
+	Rigidbody& rigidbody = rigidbodies.front().get();
+	ASSERT_FALSE(rigidbodies.empty());
+	EXPECT_EQ(rigidbody.data.linear_velocity.y, 0);
+	rigidbody.add_force_linear({100,100});
+	rigidbody.add_force_angular(100);
+	physics_system.update();
+	EXPECT_EQ(rigidbody.data.linear_velocity.y, 10);
+	EXPECT_EQ(rigidbody.data.linear_velocity.x, 10);
+	EXPECT_EQ(rigidbody.data.angular_velocity, 10);
+	rigidbody.add_force_linear({-100,-100});
+	rigidbody.add_force_angular(-100);
+	physics_system.update();
+	EXPECT_EQ(rigidbody.data.linear_velocity.y, -10);
+	EXPECT_EQ(rigidbody.data.linear_velocity.x, -10);
+	EXPECT_EQ(rigidbody.data.angular_velocity, -10);
+}
+
+TEST_F(PhysicsTest, movement) {
+	Config::get_instance().physics.gravity = 0;
+	ComponentManager & mgr = ComponentManager::get_instance();
+	std::vector<std::reference_wrapper<Rigidbody>> rigidbodies = mgr.get_components_by_id<Rigidbody>(0);
+	Rigidbody& rigidbody = rigidbodies.front().get();
+	std::vector<std::reference_wrapper<Transform>> transforms = mgr.get_components_by_id<Transform>(0);
+	const Transform& transform = transforms.front().get();
+	ASSERT_FALSE(rigidbodies.empty());
+	ASSERT_FALSE(transforms.empty());
+	rigidbody.add_force_linear({1,1});
+	rigidbody.add_force_angular(1);
+	physics_system.update();
+	EXPECT_EQ(transform.position.x, 1);
+	EXPECT_EQ(transform.position.y, 1);
+	EXPECT_EQ(transform.rotation, 1);
+	rigidbody.data.constraints = {1,1,1};
+	EXPECT_EQ(transform.position.x, 1);
+	EXPECT_EQ(transform.position.y, 1);
+	EXPECT_EQ(transform.rotation, 1);
+	rigidbody.data.linear_damping.x = 0.5;
+	rigidbody.data.linear_damping.y = 0.5;
+	rigidbody.data.angular_damping = 0.5;
+	physics_system.update();
+	EXPECT_EQ(rigidbody.data.linear_velocity.x, 0.5);
+	EXPECT_EQ(rigidbody.data.linear_velocity.y, 0.5);
+	EXPECT_EQ(rigidbody.data.angular_velocity, 0.5);
+	rigidbody.data.constraints = {1,1,0};
+	rigidbody.data.angular_damping = 0;
+	rigidbody.data.max_angular_velocity = 1000;
+	rigidbody.data.angular_velocity = 360;
+	physics_system.update();
+	EXPECT_EQ(transform.rotation, 1);
+	rigidbody.data.angular_velocity = -360;
+	physics_system.update();
+	EXPECT_EQ(transform.rotation, 1);
+}
+