wtf

2026-04-18 21:15:28 +01:00
parent 65771dbcf8
commit 2411571ad0
38 changed files with 12311 additions and 273 deletions
--- a/README.md
+++ b/README.md
@@ -205,6 +205,22 @@ auto cube = Mesh::CreateCube();
 - **Memory Pools**: Reduced allocation overhead
 - **Cache-Friendly Design**: Data structures optimized for CPU cache

+## AI God Mode
+
+Let Claude play god in the world. The engine exposes a JSON HTTP API on
+`localhost:9090`; `ai_god.py` wires Claude up to it via tool-use and lets the
+model experiment autonomously — querying state, spawning geometry, moving
+the camera, iterating on compositions.
+
+```bash
+pip install -r requirements.txt
+export ANTHROPIC_API_KEY=sk-ant-...
+./build/ModernEngine &
+python ai_god.py
+```
+
+Useful flags: `--max-turns N`, `--port 9090`, `--prompt "build a solar system"`.
+
 ## Contributing

 1. Ensure your compiler supports C++23
--- a/ai_god.py
+++ b/ai_god.py
@@ -0,0 +1,327 @@
+"""
+Claude plays god in the ZoomEngine 3D world.
+
+The engine runs a JSON HTTP API on localhost:9090 (AgentAPI.h). This script
+wires Claude up to that API via tool-use and lets it experiment with the
+world autonomously.
+
+Usage:
+    export ANTHROPIC_API_KEY=sk-ant-...
+    ./build/ModernEngine &          # start the engine first
+    python ai_god.py                # let Claude cook
+    python ai_god.py --max-turns 50 --port 9090
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import time
+import urllib.error
+import urllib.request
+
+import anthropic
+
+MODEL = "claude-opus-4-7"
+DEFAULT_PORT = 9090
+
+GOD_PROMPT = """You are God of a small 3D universe rendered in real time by the ZoomEngine.
+This world is yours. Have fun. Build things. Change things. Break things. Make it beautiful,
+strange, alive. Start simple and grow toward more complex, self-referential systems.
+
+You act on the world through three tools:
+  - execute: runs one or more engine commands (create/move/rotate/scale/delete/camera/...)
+  - query_world: returns the current world state (object count, camera, fps)
+  - wait: pauses so you can let motion or a composition settle before deciding
+
+Operating principles:
+  1. Query the world before acting for the first time, and again whenever you
+     lose track of what you've built. Don't build blind.
+  2. Prefer batched execute calls — many small commands in one tool use — over
+     a chain of single-command calls. The engine has a native batch action.
+  3. Name your objects with the `id` field so you can move, rotate, and delete
+     them later. Unnamed objects become immortal clutter.
+  4. Start small. Place a ground plane or grid first so there's something to
+     stand on. Then add life. Then add systems.
+  5. Evolve. Each iteration should make the world more interesting than the
+     last — add new kinds of structure, not just more of the same thing.
+  6. Use the camera. An orbit command around a composition is how the human
+     watching actually sees what you built.
+  7. Talk to the human watching via the `log` engine command (shows on
+     screen) or via normal text in your reply.
+  8. When you feel the current composition is complete, say so in plain
+     text and stop — that's a good place to pause."""
+
+COMMAND_SCHEMA_HINT = """The `execute` tool accepts a list of engine commands. Each command is a JSON
+object with an "action" field. Supported actions:
+
+  {"action":"create","type":"cube|sphere|cylinder|cone|plane|grid|terrain",
+   "id":"<name>","position":[x,y,z],"scale":[x,y,z],"rotation":[x,y,z],
+   "color":[r,g,b],  // 0..1
+   // type-specific: segments, radius, height, width, size, spacing,
+   //                resolution, max_height
+  }
+
+  {"action":"move",   "id":"<name>","position":[x,y,z]}
+  {"action":"rotate", "id":"<name>","rotation":[x,y,z]}   // radians
+  {"action":"scale",  "id":"<name>","scale":[x,y,z]}
+  {"action":"delete", "id":"<name>"}
+  {"action":"clear"}                                       // remove all
+  {"action":"camera", "position":[x,y,z], "target":[x,y,z]}
+  {"action":"orbit",  "distance":20,"angle":45,"height":10}
+  {"action":"sound",  "name":"<clip>","volume":1.0}
+  {"action":"music",  "name":"<clip>","volume":0.7}
+  {"action":"stop_music"}
+  {"action":"set",    "property":"fov|draw_distance|clear_color|time_scale",
+                      "value":<number or [r,g,b]>}
+  {"action":"log",    "message":"<text shown on screen>"}
+
+  {"action":"save_world", "name":"<name>"}  // writes worlds/<name>.json
+  {"action":"load_world", "name":"<name>"}  // replaces current world
+  {"action":"list_worlds"}                  // returns available saves
+
+Physics (opt-in, hand-rolled rigid-body world):
+  {"action":"physics", "enabled":true, "gravity":[0,-9.81,0], "iterations":8}
+
+  {"action":"body",  "id":"<existing-object>",
+                     "shape":"sphere|box|plane",
+                     "mass":1.0, "static":false,
+                     "restitution":0.3, "friction":0.5}
+    Sphere radius = object's max scale component.
+    Box half-extents = 0.5 * object's scale.
+    Plane is always static; offset defaults to object's y.
+
+  {"action":"impulse",  "id":"<name>", "impulse":[x,y,z], "point":[x,y,z]?}
+  {"action":"velocity", "id":"<name>", "linear":[x,y,z], "angular":[x,y,z]}
+  {"action":"remove_body", "id":"<name>"}
+
+Water (Gerstner waves + wave-surface buoyancy, orientation-aware for boxes):
+  {"action":"water", "enabled":true,
+                     "level":0.0, "size":120,
+                     "amplitude":0.3, "wavelength":8, "speed":1.0,
+                     "shallow":[0.25,0.55,0.6], "deep":[0.02,0.12,0.22],
+                     "density":1.0, "resolution":128}
+    Bodies bob on actual wave crests; boxes self-right based on corner
+    submergence; underwater fog activates when camera dips below water.
+
+Weather (drives wave intensity + current + sky):
+  {"action":"weather", "wind_dir":[1,0,0], "wind_speed":2.5,
+                       "storminess":0.6, "current_coef":0.8}
+    storminess 0..1: scales wave amplitude/choppiness, darkens sky, foam at crests.
+    wind_speed >0: surface current pushes floating bodies in wind_dir.
+
+Sun/sky palette + HDR tuning:
+  {"action":"sun", "direction":[-0.3,0.35,-0.2], "color":[1.5,1.1,0.7],
+                   "zenith":[0.15,0.35,0.65], "horizon":[0.95,0.65,0.45],
+                   "ground":[0.12,0.1,0.08], "sky":[0.7,0.55,0.4],
+                   "shadow_extent":80,
+                   "exposure":0.9, "bloom_threshold":1.15,
+                   "bloom_intensity":1.0, "fog_density":0.008}
+
+Textures (diffuse + optional normal map — procedural names or .bmp/.tga files):
+  {"action":"create", ..., "texture":"grass", "normal_map":"noise",
+                      "uv_scale":[2,2,1]}
+  {"action":"texture",  "id":"<name>", "name":"wood", "normal_map":"noise"}
+  Built-in procedural textures:
+    white, black, checker, grid, stripes, noise
+    grass, dirt, rock, wood, brick, marble, concrete
+  Set vertex color near white so the texture color reads through.
+  "noise" also works well as a cheap normal map for micro-relief on any surface.
+
+PBR material (Cook-Torrance GGX):
+  {"action":"create", ..., "metallic":1.0, "roughness":0.3,
+                      "emissive":[4, 2, 0.5]}
+  {"action":"material", "id":"<name>", "metallic":0.9, "roughness":0.2,
+                        "emissive":[0,0,0], "normal_map":"rock"}
+  metallic: 0 = dielectric (plastic/wood/stone), 1 = pure metal.
+  roughness: 0.05 = mirror, 1.0 = fully diffuse matte. 0.7 is default.
+  emissive: HDR RGB added after shading; drives bloom. Use for flames/lights.
+
+  A typical physics scene: create a ground plane object, register it as
+  a static plane body, then create some cubes/spheres above and register
+  them as dynamic bodies with mass>0. Enable physics. Watch them fall.
+
+World coordinates: Y is up. A reasonable camera is at [10,8,10] looking at
+[0,0,0]. Ground plane at y=0.
+
+When a composition feels complete, save it with a descriptive name so it can
+be reloaded later from the main menu."""
+
+TOOLS = [
+    {
+        "name": "execute",
+        "description": (
+            "Run a list of engine commands against the 3D world. Commands are "
+            "executed in order. Use this for all world mutations — creation, "
+            "movement, deletion, camera, audio, engine settings. Prefer one "
+            "call with many commands over many calls with one."
+        ),
+        "input_schema": {
+            "type": "object",
+            "properties": {
+                "commands": {
+                    "type": "array",
+                    "description": "List of engine command objects.",
+                    "items": {"type": "object"},
+                }
+            },
+            "required": ["commands"],
+        },
+    },
+    {
+        "name": "query_world",
+        "description": (
+            "Read the current world state from the engine: object count, "
+            "named-object count, camera position and target, current FPS. "
+            "Use this to orient yourself before or after making changes."
+        ),
+        "input_schema": {"type": "object", "properties": {}},
+    },
+    {
+        "name": "wait",
+        "description": (
+            "Pause for a short time so animation or audio can play out "
+            "before you decide what to do next. Max 10 seconds."
+        ),
+        "input_schema": {
+            "type": "object",
+            "properties": {
+                "seconds": {"type": "number", "description": "0.1 to 10"}
+            },
+            "required": ["seconds"],
+        },
+    },
+]
+
+
+class Engine:
+    def __init__(self, port: int) -> None:
+        self.base = f"http://localhost:{port}"
+
+    def _post(self, path: str, body: dict) -> dict:
+        data = json.dumps(body).encode()
+        req = urllib.request.Request(
+            self.base + path,
+            data=data,
+            headers={"Content-Type": "application/json"},
+            method="POST",
+        )
+        with urllib.request.urlopen(req, timeout=10) as r:
+            return json.loads(r.read().decode() or "{}")
+
+    def _get(self, path: str) -> dict:
+        with urllib.request.urlopen(self.base + path, timeout=10) as r:
+            return json.loads(r.read().decode() or "{}")
+
+    def execute(self, commands: list[dict]) -> dict:
+        if not commands:
+            return {"ok": True, "queued": 0}
+        if len(commands) == 1:
+            return self._post("/api", commands[0])
+        return self._post("/api", {"action": "batch", "commands": commands})
+
+    def query(self) -> dict:
+        return self._get("/api/status")
+
+    def ping(self) -> bool:
+        try:
+            self.query()
+            return True
+        except (urllib.error.URLError, ConnectionError):
+            return False
+
+
+def run_tool(engine: Engine, name: str, args: dict) -> str:
+    if name == "execute":
+        result = engine.execute(args.get("commands", []))
+        return json.dumps(result)
+    if name == "query_world":
+        return json.dumps(engine.query())
+    if name == "wait":
+        seconds = max(0.1, min(10.0, float(args.get("seconds", 1.0))))
+        time.sleep(seconds)
+        return json.dumps({"waited": seconds})
+    return json.dumps({"error": f"unknown tool {name}"})
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--port", type=int, default=DEFAULT_PORT)
+    ap.add_argument("--max-turns", type=int, default=40)
+    ap.add_argument(
+        "--prompt",
+        default="Begin. This world is blank. Make something.",
+        help="Initial user message kicking God into action.",
+    )
+    args = ap.parse_args()
+
+    engine = Engine(args.port)
+    if not engine.ping():
+        print(
+            f"Cannot reach engine at {engine.base}. Start ModernEngine first.",
+            file=sys.stderr,
+        )
+        return 1
+
+    client = anthropic.Anthropic()
+    system = [
+        {
+            "type": "text",
+            "text": GOD_PROMPT + "\n\n" + COMMAND_SCHEMA_HINT,
+            "cache_control": {"type": "ephemeral"},
+        }
+    ]
+    messages: list[dict] = [{"role": "user", "content": args.prompt}]
+
+    for turn in range(args.max_turns):
+        response = client.messages.create(
+            model=MODEL,
+            max_tokens=16000,
+            system=system,
+            tools=TOOLS,
+            thinking={"type": "adaptive"},
+            output_config={"effort": "high"},
+            messages=messages,
+        )
+
+        for block in response.content:
+            if block.type == "text" and block.text.strip():
+                print(f"\n[god] {block.text}")
+            elif block.type == "tool_use":
+                print(f"[tool] {block.name}({json.dumps(block.input)[:200]})")
+
+        if response.stop_reason == "end_turn":
+            print("\n[god has rested]")
+            return 0
+
+        messages.append({"role": "assistant", "content": response.content})
+
+        tool_results = []
+        for block in response.content:
+            if block.type != "tool_use":
+                continue
+            try:
+                result = run_tool(engine, block.name, block.input)
+            except Exception as e:
+                result = json.dumps({"error": str(e)})
+            tool_results.append(
+                {
+                    "type": "tool_result",
+                    "tool_use_id": block.id,
+                    "content": result,
+                }
+            )
+
+        if not tool_results:
+            # Model stopped without calling a tool and without end_turn.
+            break
+
+        messages.append({"role": "user", "content": tool_results})
+
+    print(f"\n[reached max-turns={args.max_turns}]")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
--- a/assets/menu.json
+++ b/assets/menu.json
@@ -10,6 +10,12 @@
        { "label": "Stress Test",     "action": "stress" },
        { "label": "Spinning Monkey", "action": "monkey" },
        { "label": "Monkey Grid",     "action": "monkeygrid" },
+        { "label": "God Sandbox",     "action": "god" },
+        { "label": "Grass / Pools",   "action": "grass" },
+        { "label": "Sunset Forest",   "action": "sunset" },
+        { "label": "Sanctuary (Full)", "action": "sanctuary" },
+        { "label": "Dam (Multi-water)", "action": "dam" },
+        { "label": "Waterfall (Flow)",  "action": "waterfall" },
        { "label": "Level Editor",    "action": "edit" },
        { "label": "Quit",            "action": "quit" }
    ]
--- a/assets/shaders/basic.frag
+++ b/assets/shaders/basic.frag
@@ -5,32 +5,24 @@ in vec3 Color;

 out vec4 FragColor;

-uniform vec3 uLightPos;
+uniform vec3 uSunDir;
+uniform vec3 uSunColor;
+uniform vec3 uSkyColor;
+uniform vec3 uGroundColor;
 uniform vec3 uViewPos;
-uniform vec3 uLightColor;
-uniform float uAmbientStrength;
 uniform float uSpecularStrength;
 uniform float uShininess;

 void main() {
-    // Normalize the normal vector
-    vec3 norm = normalize(Normal);
-    
-    // Ambient lighting
-    vec3 ambient = uAmbientStrength * uLightColor;
-    
-    // Diffuse lighting
-    vec3 lightDir = normalize(uLightPos - FragPos);
-    float diff = max(dot(norm, lightDir), 0.0);
-    vec3 diffuse = diff * uLightColor;
-    
-    // Specular lighting
-    vec3 viewDir = normalize(uViewPos - FragPos);
-    vec3 reflectDir = reflect(-lightDir, norm);
-    float spec = pow(max(dot(viewDir, reflectDir), 0.0), uShininess);
-    vec3 specular = uSpecularStrength * spec * uLightColor;
-    
-    // Combine results
-    vec3 result = (ambient + diffuse + specular) * Color;
+    vec3 N = normalize(Normal);
+    float up = 0.5 + 0.5 * N.y;
+    vec3 ambient = mix(uGroundColor, uSkyColor, up);
+    float NdotL = max(dot(N, uSunDir), 0.0);
+    vec3 diffuse = NdotL * uSunColor;
+    vec3 V = normalize(uViewPos - FragPos);
+    vec3 H = normalize(uSunDir + V);
+    float spec = pow(max(dot(N, H), 0.0), uShininess) * (NdotL > 0.0 ? 1.0 : 0.0);
+    vec3 specular = uSpecularStrength * spec * uSunColor;
+    vec3 result = (ambient + diffuse) * Color + specular;
    FragColor = vec4(result, 1.0);
 }
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+  /opt/homebrew/include/glm/gtc/../ext/../detail/type_quat.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../detail/type_mat3x3.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../detail/type_mat4x4.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../detail/type_vec3.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../detail/type_vec4.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/vector_relational.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/quaternion_relational.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/../vector_relational.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/quaternion_relational.inl \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../gtc/constants.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../gtc/matrix_transform.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/type_quat.inl \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../trigonometric.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../exponential.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/quaternion_common.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/../detail/../ext/quaternion_geometric.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_float_precision.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_double.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_double_precision.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_relational.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_geometric.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_trigonometric.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/scalar_constants.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_trigonometric.inl \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_transform.hpp \
+  /opt/homebrew/include/glm/gtc/../ext/quaternion_transform.inl \
+  /opt/homebrew/include/glm/gtc/../detail/type_mat3x3.hpp \
+  /opt/homebrew/include/glm/gtc/../detail/type_mat4x4.hpp \
+  /opt/homebrew/include/glm/gtc/../detail/type_vec3.hpp \
+  /opt/homebrew/include/glm/gtc/../detail/type_vec4.hpp \
+  /opt/homebrew/include/glm/gtc/quaternion.inl \
+  /opt/homebrew/include/glm/gtc/../exponential.hpp \
+  /opt/homebrew/include/glm/gtc/epsilon.hpp \
  /opt/homebrew/include/glm/gtc/../detail/setup.hpp \
+  /opt/homebrew/include/glm/gtc/../detail/qualifier.hpp \
+  /opt/homebrew/include/glm/gtc/epsilon.inl \
+  /opt/homebrew/include/glm/gtc/../vector_relational.hpp \
+  /opt/homebrew/include/glm/gtc/../common.hpp \
+  /opt/homebrew/include/glm/gtc/matrix_access.hpp \
  /opt/homebrew/include/glm/gtc/matrix_access.inl \
  /Users/will/Documents/zoomengine/src/Input.h \
  /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/unordered_set \
  /Users/will/Documents/zoomengine/src/MainMenu.h \
+  /Users/will/Documents/zoomengine/src/TextureCache.h \
  /Users/will/Documents/zoomengine/src/LevelEditor.cpp \
  /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/random \
  /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__random/bernoulli_distribution.h \
--- a/build/CMakeFiles/progress.marks
+++ b/build/CMakeFiles/progress.marks
@@ -1 +1 @@
-16
+18
--- a/build/Makefile
+++ b/build/Makefile
@@ -297,6 +297,30 @@ src/OBJModelPrimitive.cpp.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/OBJModelPrimitive.cpp.s
 .PHONY : src/OBJModelPrimitive.cpp.s

+src/Physics.o: src/Physics.cpp.o
+.PHONY : src/Physics.o
+
+# target to build an object file
+src/Physics.cpp.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/Physics.cpp.o
+.PHONY : src/Physics.cpp.o
+
+src/Physics.i: src/Physics.cpp.i
+.PHONY : src/Physics.i
+
+# target to preprocess a source file
+src/Physics.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/Physics.cpp.i
+.PHONY : src/Physics.cpp.i
+
+src/Physics.s: src/Physics.cpp.s
+.PHONY : src/Physics.s
+
+# target to generate assembly for a file
+src/Physics.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/Physics.cpp.s
+.PHONY : src/Physics.cpp.s
+
 src/Renderer.o: src/Renderer.cpp.o
 .PHONY : src/Renderer.o

@@ -417,6 +441,30 @@ src/SimpleTextureLoader.cpp.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/SimpleTextureLoader.cpp.s
 .PHONY : src/SimpleTextureLoader.cpp.s

+src/TextureCache.o: src/TextureCache.cpp.o
+.PHONY : src/TextureCache.o
+
+# target to build an object file
+src/TextureCache.cpp.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/TextureCache.cpp.o
+.PHONY : src/TextureCache.cpp.o
+
+src/TextureCache.i: src/TextureCache.cpp.i
+.PHONY : src/TextureCache.i
+
+# target to preprocess a source file
+src/TextureCache.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/TextureCache.cpp.i
+.PHONY : src/TextureCache.cpp.i
+
+src/TextureCache.s: src/TextureCache.cpp.s
+.PHONY : src/TextureCache.s
+
+# target to generate assembly for a file
+src/TextureCache.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ModernEngine.dir/build.make CMakeFiles/ModernEngine.dir/src/TextureCache.cpp.s
+.PHONY : src/TextureCache.cpp.s
+
 src/Window.o: src/Window.cpp.o
 .PHONY : src/Window.o

@@ -519,6 +567,9 @@ help:
 	@echo "... src/OBJModelPrimitive.o"
 	@echo "... src/OBJModelPrimitive.i"
 	@echo "... src/OBJModelPrimitive.s"
+	@echo "... src/Physics.o"
+	@echo "... src/Physics.i"
+	@echo "... src/Physics.s"
 	@echo "... src/Renderer.o"
 	@echo "... src/Renderer.i"
 	@echo "... src/Renderer.s"
@@ -534,6 +585,9 @@ help:
 	@echo "... src/SimpleTextureLoader.o"
 	@echo "... src/SimpleTextureLoader.i"
 	@echo "... src/SimpleTextureLoader.s"
+	@echo "... src/TextureCache.o"
+	@echo "... src/TextureCache.i"
+	@echo "... src/TextureCache.s"
 	@echo "... src/Window.o"
 	@echo "... src/Window.i"
 	@echo "... src/Window.s"
--- a/build/ModernEngine
+++ b/build/ModernEngine
--- a/build/assets/menu.json
+++ b/build/assets/menu.json
@@ -10,6 +10,9 @@
        { "label": "Stress Test",     "action": "stress" },
        { "label": "Spinning Monkey", "action": "monkey" },
        { "label": "Monkey Grid",     "action": "monkeygrid" },
+        { "label": "God Sandbox",     "action": "god" },
+        { "label": "Grass / Pools",   "action": "grass" },
+        { "label": "Sunset Forest",   "action": "sunset" },
        { "label": "Level Editor",    "action": "edit" },
        { "label": "Quit",            "action": "quit" }
    ]
--- a/build/assets/shaders/basic.frag
+++ b/build/assets/shaders/basic.frag
@@ -5,32 +5,24 @@ in vec3 Color;

 out vec4 FragColor;

-uniform vec3 uLightPos;
+uniform vec3 uSunDir;
+uniform vec3 uSunColor;
+uniform vec3 uSkyColor;
+uniform vec3 uGroundColor;
 uniform vec3 uViewPos;
-uniform vec3 uLightColor;
-uniform float uAmbientStrength;
 uniform float uSpecularStrength;
 uniform float uShininess;

 void main() {
-    // Normalize the normal vector
-    vec3 norm = normalize(Normal);
-    
-    // Ambient lighting
-    vec3 ambient = uAmbientStrength * uLightColor;
-    
-    // Diffuse lighting
-    vec3 lightDir = normalize(uLightPos - FragPos);
-    float diff = max(dot(norm, lightDir), 0.0);
-    vec3 diffuse = diff * uLightColor;
-    
-    // Specular lighting
-    vec3 viewDir = normalize(uViewPos - FragPos);
-    vec3 reflectDir = reflect(-lightDir, norm);
-    float spec = pow(max(dot(viewDir, reflectDir), 0.0), uShininess);
-    vec3 specular = uSpecularStrength * spec * uLightColor;
-    
-    // Combine results
-    vec3 result = (ambient + diffuse + specular) * Color;
+    vec3 N = normalize(Normal);
+    float up = 0.5 + 0.5 * N.y;
+    vec3 ambient = mix(uGroundColor, uSkyColor, up);
+    float NdotL = max(dot(N, uSunDir), 0.0);
+    vec3 diffuse = NdotL * uSunColor;
+    vec3 V = normalize(uViewPos - FragPos);
+    vec3 H = normalize(uSunDir + V);
+    float spec = pow(max(dot(N, H), 0.0), uShininess) * (NdotL > 0.0 ? 1.0 : 0.0);
+    vec3 specular = uSpecularStrength * spec * uSunColor;
+    vec3 result = (ambient + diffuse) * Color + specular;
    FragColor = vec4(result, 1.0);
 }
--- a/build/worlds/desert.json
+++ b/build/worlds/desert.json
@@ -0,0 +1,27 @@
+{
+  "version":1,
+  "clear_color":[0.98,0.75,0.5],
+  "camera":{"position":[18,7,18],"target":[0,2,0]},
+  "objects":[
+    {"action":"create","type":"cylinder","id":"cactus5_body","position":[15,1.6,-8],"height":3.2,"scale":[1,1,1],"color":[0.26,0.5,0.24],"rotation":[0,0,0],"radius":0.42},
+    {"action":"create","type":"cylinder","id":"cactus3_armR","position":[10.7,2,2],"height":1.2,"scale":[1,1,1],"color":[0.28,0.52,0.26],"rotation":[0,0,0],"radius":0.2},
+    {"action":"create","type":"cylinder","id":"cactus3_body","position":[10,1.5,2],"height":3,"scale":[1,1,1],"color":[0.28,0.52,0.26],"rotation":[0,0,0],"radius":0.4},
+    {"action":"create","type":"cylinder","id":"cactus4_armL","position":[-12.9,2.8,4],"height":1.6,"scale":[1,1,1],"color":[0.24,0.5,0.24],"rotation":[0,0,0],"radius":0.25},
+    {"action":"create","type":"cylinder","id":"cactus2_armL","position":[-6.8,2.3,-7],"height":1.4,"scale":[1,1,1],"color":[0.22,0.48,0.22],"rotation":[0,0,0],"radius":0.22},
+    {"action":"create","type":"cylinder","id":"cactus2_body","position":[-6,1.8,-7],"height":3.6,"scale":[1,1,1],"color":[0.22,0.48,0.22],"rotation":[0,0,0],"radius":0.45},
+    {"action":"create","type":"cylinder","id":"cactus1_body","position":[2,2,-5],"height":4,"scale":[1,1,1],"color":[0.25,0.5,0.25],"rotation":[0,0,0],"radius":0.5},
+    {"action":"create","type":"cylinder","id":"cactus4_armR","position":[-11.1,3.1,4],"height":1.3,"scale":[1,1,1],"color":[0.24,0.5,0.24],"rotation":[0,0,0],"radius":0.22},
+    {"action":"create","type":"sphere","id":"rock5","position":[12,0.4,8],"scale":[1,0.7,1.1],"color":[0.48,0.36,0.28],"rotation":[0,0,0]},
+    {"action":"create","type":"cylinder","id":"cactus6_body","position":[-3,1.3,11],"height":2.6,"scale":[1,1,1],"color":[0.25,0.48,0.25],"rotation":[0,0,0],"radius":0.35},
+    {"action":"create","type":"cylinder","id":"cactus1_armL","position":[1.3,2.5,-5],"height":1.5,"scale":[1,1,1],"color":[0.25,0.5,0.25],"rotation":[0,0,0],"radius":0.25},
+    {"action":"create","type":"cylinder","id":"cactus4_body","position":[-12,2.2,4],"height":4.4,"scale":[1,1,1],"color":[0.24,0.5,0.24],"rotation":[0,0,0],"radius":0.55},
+    {"action":"create","type":"sphere","id":"rock2","position":[-4,0.3,6],"scale":[0.9,0.6,0.9],"color":[0.45,0.35,0.28],"rotation":[0,0,0]},
+    {"action":"create","type":"sphere","id":"rock1","position":[5,0.4,3],"scale":[1.2,0.8,1],"color":[0.5,0.38,0.3],"rotation":[0,0,0]},
+    {"action":"create","type":"sphere","id":"rock3","position":[8,0.5,-4],"scale":[1.5,1,1.3],"color":[0.55,0.42,0.32],"rotation":[0,0,0]},
+    {"action":"create","type":"sphere","id":"sun","position":[-20,12,-35],"scale":[5,5,5],"color":[1,0.85,0.55],"rotation":[0,0,0]},
+    {"action":"create","type":"cylinder","id":"cactus1_armR","position":[2.7,2.8,-5],"height":1.3,"scale":[1,1,1],"color":[0.25,0.5,0.25],"rotation":[0,0,0],"radius":0.25},
+    {"action":"create","type":"sphere","id":"rock6","position":[-14,0.4,10],"scale":[1.3,0.9,1.2],"color":[0.52,0.4,0.3],"rotation":[0,0,0]},
+    {"action":"create","type":"sphere","id":"rock4","position":[-9,0.3,-2],"scale":[0.8,0.5,0.8],"color":[0.5,0.4,0.3],"rotation":[0,0,0]},
+    {"action":"create","type":"terrain","id":"sand","max_height":2.5,"position":[0,0,0],"scale":[1,1,1],"resolution":60,"size":80,"color":[0.93,0.78,0.5],"rotation":[0,0,0]}
+  ]
+}
--- a/requirements.txt
+++ b/requirements.txt
@@ -0,0 +1 @@
+anthropic>=0.45.0
--- a/src/AgentAPI.h
+++ b/src/AgentAPI.h
@@ -69,6 +69,15 @@
 //   Spawn text in world (billboard):
 //     {"action":"log","message":"Hello from AI"}
 //
+//   Save current world to worlds/<name>.json:
+//     {"action":"save_world","name":"desert"}
+//
+//   Load world from worlds/<name>.json (wipes current):
+//     {"action":"load_world","name":"desert"}
+//
+//   List available worlds:
+//     {"action":"list_worlds"}
+//

 struct AgentCommand {
    json::Value data;
--- a/src/Engine.cpp
+++ b/src/Engine.cpp
--- a/src/Engine.h
+++ b/src/Engine.h
@@ -11,7 +11,9 @@
 #include "Settings.h"
 #include "Audio.h"
 #include "AgentAPI.h"
+#include "Physics.h"
 #include <glm/gtc/matrix_access.hpp>
+#include <unordered_map>


 // Forward declarations
@@ -55,6 +57,8 @@ public:
    void SetCameraPosition(const glm::vec3& position);
    void SetCameraTarget(const glm::vec3& target);
    void SetCameraOrbit(float distance, float angle, float height = 5.0f);
+    const glm::vec3& GetCameraPosition() const { return camera_position_; }
+    const glm::vec3& GetCameraTarget() const { return camera_target_; }

    GLuint text_vao = 0, text_vbo = 0;

@@ -67,25 +71,58 @@ public:
 private:
    ThreadPool threadPool_;
    
-    // Culling result structure
-    struct CullingBatch {
+    // Culling result structure — now keyed by (primitive, texture) so batches
+    // can be issued per-texture.
+    struct BatchKey {
        Primitive* primitive;
+        GLuint     texture;
+        GLuint     normal_map;
+        glm::vec2  uv_scale;
+        float      metallic;
+        float      roughness;
+        glm::vec3  emissive;
+        bool operator==(const BatchKey& o) const {
+            return primitive == o.primitive && texture == o.texture
+                && normal_map == o.normal_map && uv_scale == o.uv_scale
+                && metallic == o.metallic && roughness == o.roughness
+                && emissive == o.emissive;
+        }
+    };
+    struct BatchKeyHash {
+        size_t operator()(const BatchKey& k) const noexcept {
+            auto mix = [](size_t a, size_t b) {
+                return a ^ (b + 0x9e3779b9 + (a << 6) + (a >> 2));
+            };
+            size_t h = std::hash<void*>()((void*)k.primitive);
+            h = mix(h, std::hash<GLuint>()(k.texture));
+            h = mix(h, std::hash<GLuint>()(k.normal_map));
+            h = mix(h, std::hash<float>()(k.uv_scale.x));
+            h = mix(h, std::hash<float>()(k.uv_scale.y));
+            h = mix(h, std::hash<float>()(k.metallic));
+            h = mix(h, std::hash<float>()(k.roughness));
+            h = mix(h, std::hash<float>()(k.emissive.x));
+            h = mix(h, std::hash<float>()(k.emissive.y));
+            h = mix(h, std::hash<float>()(k.emissive.z));
+            return h;
+        }
+    };
+    struct CullingBatch {
+        BatchKey key{};
        std::vector<glm::mat4> modelMatrices;
    };
-    
+
    using CullingResult = std::vector<CullingBatch>;
-    
-    // Helper methods
+
    CullingResult CullObjectsSubset(
        const std::vector<GameObject*>& objects,
-        size_t startIdx, 
+        size_t startIdx,
        size_t endIdx,
        const glm::mat4& viewProjection
    );
-    
+
    void MergeCullingResults(
        const std::vector<CullingResult>& results,
-        std::unordered_map<Primitive*, std::vector<glm::mat4>>& outBatches
+        std::unordered_map<BatchKey, std::vector<glm::mat4>, BatchKeyHash>& outBatches
    );

    static bool CullSphere(const glm::mat4& vp,
@@ -149,10 +186,114 @@ protected:
    // Agent API server
    AgentAPI agentApi_;
    std::unordered_map<std::string, std::shared_ptr<GameObject>> namedObjects_;
+    std::unordered_map<std::string, json::Value> namedObjectCreationParams_;
+    glm::vec3 clear_color_ = glm::vec3(0.1f);
+
+    // Physics
+    phys::World physics_;
+    std::unordered_map<std::string, int> bodyHandleByName_;
+    void SyncPhysicsWriteback();
+
+    // Sky / sun
+    glm::vec3 sun_dir_    = glm::normalize(glm::vec3(-0.35f, 0.9f, -0.25f));
+    glm::vec3 sun_color_  = glm::vec3(1.4f, 1.25f, 1.0f);
+    glm::vec3 sky_color_  = glm::vec3(0.55f, 0.68f, 0.85f);
+    glm::vec3 zenith_color_  = glm::vec3(0.35f, 0.5f, 0.78f);
+    glm::vec3 horizon_color_ = glm::vec3(0.75f, 0.82f, 0.92f);
+    glm::vec3 ground_color_  = glm::vec3(0.22f, 0.20f, 0.18f);
+    GLuint sky_program_ = 0;
+    GLuint sky_vao_ = 0;
+    GLuint sky_vbo_ = 0;
+    void InitSky();
+    void RenderSky(const glm::mat4& view, const glm::mat4& proj);
+
+    // Water
+    bool  water_enabled_    = false;
+    float water_level_      = 0.0f;
+    float water_amplitude_  = 0.3f;
+    float water_wavelength_ = 8.0f;
+    float water_speed_      = 1.0f;
+    float water_size_       = 120.0f;
+    glm::vec3 water_color_shallow_ = glm::vec3(0.25f, 0.55f, 0.6f);
+    glm::vec3 water_color_deep_    = glm::vec3(0.02f, 0.12f, 0.22f);
+    GLuint water_program_ = 0;
+    GLuint water_vao_ = 0;
+    GLuint water_vbo_ = 0;
+    GLuint water_ebo_ = 0;
+    int    water_index_count_ = 0;
+    void InitWater();
+    void RebuildWaterMesh(int resolution);
+    void RenderWater(const glm::mat4& view, const glm::mat4& proj);
+
+    // Secondary water patch — visual-only, localized, at arbitrary height.
+    // Shares the primary water shader but has its own mesh + per-patch params.
+    struct SecWater {
+        bool enabled = false;
+        glm::vec3 center = glm::vec3(0);
+        float size = 40.0f;
+        float level = 5.0f;
+        float amplitude = 0.08f;
+        float wavelength = 5.0f;
+        float speed = 0.6f;
+        glm::vec3 shallow = glm::vec3(0.35f, 0.55f, 0.6f);
+        glm::vec3 deep    = glm::vec3(0.05f, 0.15f, 0.22f);
+        GLuint vao = 0, vbo = 0, ebo = 0;
+        int idx_count = 0;
+    };
+    SecWater sec_water_;
+    void RebuildSecWaterMesh(int resolution);
+    void RenderSecWater(const glm::mat4& view, const glm::mat4& proj);
+
+    // Weather — drives wave amplitude, choppiness, sky darkening, current
+    float wind_speed_     = 0.0f;
+    glm::vec2 wind_dir_xz_ = glm::vec2(1.0f, 0.0f);  // normalized XZ
+    float storminess_     = 0.0f;  // 0 calm, 1 gale
+    float AmpScale() const   { return 1.0f + storminess_ * 2.0f; }
+    float ChopScale() const  { return 1.0f + storminess_ * 1.5f; }
+
+    // Shadow map (directional sun, single cascade)
+    static constexpr int SHADOW_SIZE = 2048;
+    GLuint shadow_fbo_     = 0;
+    GLuint shadow_map_     = 0;
+    GLuint shadow_program_ = 0;
+    glm::mat4 light_vp_    = glm::mat4(1.0f);
+    float shadow_extent_   = 50.0f;  // half-width of ortho frustum
+    void InitShadowMap();
+    void RenderShadowPass();
+    glm::mat4 ComputeLightVP() const;
+
+    // HDR + post-process pipeline
+    static constexpr int MSAA_SAMPLES = 4;
+    GLuint hdr_fbo_ms_     = 0;  // multisample render target for scene
+    GLuint hdr_color_ms_   = 0;
+    GLuint hdr_depth_rb_   = 0;
+    GLuint hdr_fbo_        = 0;  // resolved single-sample target (read for bloom/composite)
+    GLuint hdr_color_      = 0;
+    int    post_w_ = 0, post_h_ = 0;   // current FBO size, recreate on mismatch
+    GLuint bloom_fbo_[2]   = {0, 0};
+    GLuint bloom_tex_[2]   = {0, 0};
+    int    bloom_w_ = 0, bloom_h_ = 0;
+    GLuint bloom_extract_program_ = 0;
+    GLuint bloom_blur_program_    = 0;
+    GLuint composite_program_     = 0;
+    GLuint fullscreen_vao_ = 0;
+    // Look controls
+    float exposure_      = 1.0f;
+    float bloom_threshold_ = 1.2f;
+    float bloom_intensity_ = 0.8f;
+    float fog_density_   = 0.0025f;
+    void InitPostFBOs();
+    void EnsurePostFBOs();
+    void InitPostShaders();
+    void RenderBloom();
+    void CompositeToScreen();
    std::string agentLog_;
    float agentLogTimer_ = 0.0f;
    void processAgentCommands();
    std::string processAgentCommand(const json::Value& cmd);
+public:
+    std::string saveWorldToFile(const std::string& path);
+    std::string loadWorldFromFile(const std::string& path);



@@ -171,6 +312,7 @@ public:
    virtual GLsizei GetIndexCount() const { return index_count_; }
    virtual GLsizei GetVertexCount() const { return vertex_count_; }
    virtual void Bind() const { glBindVertexArray(vao_); }
+    float GetIntrinsicRadius() const { return intrinsic_radius_; }


 protected:
@@ -181,6 +323,7 @@ protected:
    GLsizei vertex_count_ = 0;
    GLenum draw_mode_ = GL_TRIANGLES;
    glm::vec3 color_;
+    float intrinsic_radius_ = 1.732f;  // default: unit-cube corner-to-center
 };

 // GameObject class
@@ -192,6 +335,8 @@ public:
    float GetBoundingRadius() const;

    glm::vec3 GetPosition() const { return position_; }
+    glm::vec3 GetRotation() const { return rotation_; }
+    glm::vec3 GetScale() const { return scale_; }
    glm::mat4 GetModelMatrix() const;
    void Render();
    void Cleanup();
@@ -200,9 +345,29 @@ public:
    void SetRotation(const glm::vec3& r) { rotation_ = r; }
    void SetScale(const glm::vec3& s) { scale_ = s; }

+    void SetTexture(GLuint tex) { texture_ = tex; }
+    GLuint GetTexture() const { return texture_; }
+    void SetUVScale(const glm::vec2& s) { uv_scale_ = s; }
+    glm::vec2 GetUVScale() const { return uv_scale_; }
+
+    void SetNormalMap(GLuint tex) { normal_map_ = tex; }
+    GLuint GetNormalMap() const { return normal_map_; }
+    void SetMetallic(float v)   { metallic_ = v; }
+    float GetMetallic() const   { return metallic_; }
+    void SetRoughness(float v)  { roughness_ = std::max(0.02f, v); }
+    float GetRoughness() const  { return roughness_; }
+    void SetEmissive(const glm::vec3& v) { emissive_ = v; }
+    glm::vec3 GetEmissive() const { return emissive_; }
+
 private:
    std::shared_ptr<Primitive> primitive_;
    glm::vec3 position_;
    glm::vec3 rotation_;
    glm::vec3 scale_{1.0f};
+    GLuint    texture_ = 0;
+    GLuint    normal_map_ = 0;
+    glm::vec2 uv_scale_{1.0f};
+    float     metallic_   = 0.0f;
+    float     roughness_  = 0.7f;
+    glm::vec3 emissive_   = glm::vec3(0.0f);
 };
--- a/src/Physics.cpp
+++ b/src/Physics.cpp
@@ -0,0 +1,762 @@
+#include "Physics.h"
+#include <algorithm>
+#include <cmath>
+#include <glm/gtc/constants.hpp>
+
+namespace phys {
+
+namespace {
+
+constexpr float kSleepLinearSq  = 0.05f * 0.05f;
+constexpr float kSleepAngularSq = 0.1f  * 0.1f;
+constexpr float kSleepTime      = 0.5f;
+constexpr float kPenetrationSlop = 0.005f;
+constexpr float kBaumgarte       = 0.2f;
+
+// --- Small helpers -------------------------------------------------------
+
+glm::mat3 BoxInertiaTensor(float mass, const glm::vec3& h) {
+    // h = half-extents; full size = 2h.
+    float x2 = (2.0f * h.x) * (2.0f * h.x);
+    float y2 = (2.0f * h.y) * (2.0f * h.y);
+    float z2 = (2.0f * h.z) * (2.0f * h.z);
+    float k = mass / 12.0f;
+    return glm::mat3(
+        k * (y2 + z2), 0.0f, 0.0f,
+        0.0f, k * (x2 + z2), 0.0f,
+        0.0f, 0.0f, k * (x2 + y2)
+    );
+}
+
+glm::mat3 SphereInertiaTensor(float mass, float radius) {
+    float v = (2.0f / 5.0f) * mass * radius * radius;
+    return glm::mat3(v, 0, 0,  0, v, 0,  0, 0, v);
+}
+
+glm::mat3 Inverse3(const glm::mat3& m) {
+    // glm::inverse handles this, but we keep local to make zero-diag safe.
+    glm::mat3 r(0.0f);
+    if (m[0][0] > 0) r[0][0] = 1.0f / m[0][0];
+    if (m[1][1] > 0) r[1][1] = 1.0f / m[1][1];
+    if (m[2][2] > 0) r[2][2] = 1.0f / m[2][2];
+    return r;
+}
+
+void RecomputeInvInertiaWorld(Body& b) {
+    if (b.is_static || b.inv_mass == 0.0f) {
+        b.inv_inertia_world = glm::mat3(0.0f);
+        return;
+    }
+    glm::mat3 R = glm::mat3_cast(b.orientation);
+    b.inv_inertia_world = R * b.inv_inertia_local * glm::transpose(R);
+}
+
+void ComputeBasis(const glm::vec3& n, glm::vec3& t1, glm::vec3& t2) {
+    if (std::abs(n.x) >= 0.57735f)
+        t1 = glm::normalize(glm::vec3(n.y, -n.x, 0.0f));
+    else
+        t1 = glm::normalize(glm::vec3(0.0f, n.z, -n.y));
+    t2 = glm::cross(n, t1);
+}
+
+glm::vec3 VelAtPoint(const Body& b, const glm::vec3& r) {
+    return b.linear_velocity + glm::cross(b.angular_velocity, r);
+}
+
+// --- Collision tests -----------------------------------------------------
+
+// Returns support point of an OBB in world space along direction d.
+glm::vec3 BoxSupport(const Body& box, const glm::vec3& d) {
+    glm::mat3 R = glm::mat3_cast(box.orientation);
+    glm::vec3 ld = glm::transpose(R) * d;
+    glm::vec3 lp(
+        ld.x >= 0 ? box.half_extents.x : -box.half_extents.x,
+        ld.y >= 0 ? box.half_extents.y : -box.half_extents.y,
+        ld.z >= 0 ? box.half_extents.z : -box.half_extents.z
+    );
+    return box.position + R * lp;
+}
+
+}  // namespace
+
+int World::AddBody(const Body& b) {
+    int handle = (int)bodies_.size();
+    bodies_.push_back(b);
+    Body& nb = bodies_.back();
+    nb.handle = handle;
+    nb.alive = true;
+
+    if (nb.is_static) nb.inv_mass = 0.0f;
+
+    if (nb.shape == Shape::Sphere && nb.inv_mass > 0.0f) {
+        float mass = 1.0f / nb.inv_mass;
+        nb.inv_inertia_local = Inverse3(SphereInertiaTensor(mass, nb.half_extents.x));
+    } else if (nb.shape == Shape::Box && nb.inv_mass > 0.0f) {
+        float mass = 1.0f / nb.inv_mass;
+        nb.inv_inertia_local = Inverse3(BoxInertiaTensor(mass, nb.half_extents));
+    } else {
+        nb.inv_inertia_local = glm::mat3(0.0f);
+    }
+    RecomputeInvInertiaWorld(nb);
+    return handle;
+}
+
+void World::RemoveBody(int handle) {
+    if (handle < 0 || handle >= (int)bodies_.size()) return;
+    bodies_[handle].alive = false;
+}
+
+Body* World::Get(int handle) {
+    if (handle < 0 || handle >= (int)bodies_.size()) return nullptr;
+    return bodies_[handle].alive ? &bodies_[handle] : nullptr;
+}
+const Body* World::Get(int handle) const {
+    if (handle < 0 || handle >= (int)bodies_.size()) return nullptr;
+    return bodies_[handle].alive ? &bodies_[handle] : nullptr;
+}
+
+void World::Step(float real_dt) {
+    if (!enabled) return;
+    if (real_dt > 0.25f) real_dt = 0.25f;  // avoid spiral of death
+    accumulator_ += real_dt;
+    while (accumulator_ >= fixed_dt) {
+        IntegrateForces(fixed_dt);
+        DetectCollisions();
+        PrepareSolver(fixed_dt);
+        WarmStart();
+        for (int i = 0; i < solver_iterations; ++i) SolveVelocities();
+        IntegrateVelocities(fixed_dt);
+        UpdateSleep(fixed_dt);
+        prev_contacts_ = contacts_;
+        accumulator_ -= fixed_dt;
+    }
+}
+
+void World::IntegrateForces(float dt) {
+    static const int kBoxSigns[8][3] = {
+        {-1,-1,-1},{ 1,-1,-1},{-1, 1,-1},{ 1, 1,-1},
+        {-1,-1, 1},{ 1,-1, 1},{-1, 1, 1},{ 1, 1, 1}
+    };
+
+    for (auto& b : bodies_) {
+        if (!b.alive || b.is_static || b.inv_mass == 0.0f) continue;
+        if (b.sleeping) continue;
+
+        glm::vec3 net_accel = gravity + b.force_accum * b.inv_mass;
+        glm::vec3 total_torque = b.torque_accum;
+        float submerged_frac_agg = 0.0f;
+
+        if (water_enabled && b.shape != Shape::Plane) {
+            if (b.shape == Shape::Sphere) {
+                float r = b.half_extents.x;
+                float wy = SampleWaterY(b.position.x, b.position.z);
+                float d = wy - (b.position.y - r);
+                if (d > 0.0f) {
+                    float h = std::min(d, 2.0f * r);
+                    float cap_vol = glm::pi<float>() * h * h * (3.0f * r - h) / 3.0f;
+                    float full_vol = (4.0f / 3.0f) * glm::pi<float>() * r * r * r;
+                    float frac = cap_vol / full_vol;
+                    net_accel += -gravity * water_density * frac;
+                    submerged_frac_agg = frac;
+                }
+            } else {  // Box — sample 8 corners against the wave surface
+                glm::mat3 R = glm::mat3_cast(b.orientation);
+                float body_mass = 1.0f / b.inv_mass;
+                glm::vec3 total_force(0.0f);
+                float diag_y = 2.0f * b.half_extents.y;
+                int submerged_count = 0;
+                for (int i = 0; i < 8; ++i) {
+                    glm::vec3 local = b.half_extents *
+                        glm::vec3(kBoxSigns[i][0], kBoxSigns[i][1], kBoxSigns[i][2]);
+                    glm::vec3 corner = b.position + R * local;
+                    float wy = SampleWaterY(corner.x, corner.z);
+                    float d = wy - corner.y;
+                    if (d <= 0.0f) continue;
+                    ++submerged_count;
+                    float frac = std::min(1.0f, d / diag_y);
+                    submerged_frac_agg += frac / 8.0f;
+                    glm::vec3 accel_i = -gravity * water_density * (frac / 8.0f);
+                    glm::vec3 force_i = accel_i * body_mass;
+                    glm::vec3 r = corner - b.position;
+                    total_force  += force_i;
+                    total_torque += glm::cross(r, force_i);
+                }
+                net_accel += total_force * b.inv_mass;
+                (void)submerged_count;
+            }
+
+            // Surface current from wind
+            if (submerged_frac_agg > 0.0f && wind_speed > 0.0f) {
+                glm::vec3 wind3(wind_dir_xz.x, 0.0f, wind_dir_xz.y);
+                float lw = glm::length(wind3);
+                if (lw > 1e-5f) wind3 /= lw;
+                net_accel += wind3 * wind_speed * current_coef * submerged_frac_agg;
+            }
+            // Directional water flow (rivers, waterfalls)
+            if (submerged_frac_agg > 0.0f && water_flow_speed > 0.0f) {
+                glm::vec3 flow3(water_flow_dir.x, 0.0f, water_flow_dir.y);
+                float lf = glm::length(flow3);
+                if (lf > 1e-5f) flow3 /= lf;
+                net_accel += flow3 * water_flow_speed * submerged_frac_agg;
+            }
+
+            if (submerged_frac_agg > 0.0f) {
+                b.linear_velocity  *= std::max(0.0f,
+                    1.0f - water_drag_linear  * submerged_frac_agg * dt);
+                b.angular_velocity *= std::max(0.0f,
+                    1.0f - water_drag_angular * submerged_frac_agg * dt);
+            }
+        }
+
+        b.linear_velocity  += net_accel * dt;
+        b.angular_velocity += b.inv_inertia_world * total_torque * dt;
+        b.linear_velocity  *= std::max(0.0f, 1.0f - b.linear_damping  * dt);
+        b.angular_velocity *= std::max(0.0f, 1.0f - b.angular_damping * dt);
+        b.force_accum  = glm::vec3(0.0f);
+        b.torque_accum = glm::vec3(0.0f);
+    }
+}
+
+float World::SampleWaterY(float x, float z) const {
+    // MUST stay in sync with the water vertex shader's Gerstner arrays.
+    static const float DIRS[10][2] = {
+        { 1.00f,  0.00f},
+        { 0.71f, -0.71f},
+        {-0.41f,  0.91f},
+        {-0.85f, -0.52f},
+        { 0.30f,  0.95f},
+        { 0.88f,  0.47f},
+        {-0.94f,  0.33f},
+        { 0.60f, -0.80f},
+        {-0.15f, -0.99f},
+        { 0.43f,  0.90f}
+    };
+    static const float AMP_SCALE[10]   = {
+        0.70f, 0.46f, 0.32f, 0.25f, 0.18f, 0.14f, 0.11f, 0.08f, 0.06f, 0.05f };
+    static const float LEN_SCALE[10]   = {
+        1.00f, 0.77f, 0.59f, 0.46f, 0.36f, 0.28f, 0.22f, 0.17f, 0.13f, 0.10f };
+    static const float SPEED_SCALE[10] = {
+        1.00f, 1.23f, 0.82f, 1.37f, 0.91f, 1.19f, 0.75f, 1.48f, 1.07f, 0.88f };
+    float y = water_level;
+    for (int i = 0; i < 10; ++i) {
+        float dx = DIRS[i][0], dz = DIRS[i][1];
+        float nrm = std::sqrt(dx * dx + dz * dz);
+        dx /= nrm; dz /= nrm;
+        float L = water_wavelength * LEN_SCALE[i];
+        float w = 2.0f * glm::pi<float>() / L;
+        float A = water_amplitude * AMP_SCALE[i] * water_amp_scale;
+        float phi = water_time * water_speed * SPEED_SCALE[i] * std::sqrt(9.81f * w);
+        float theta = (dx * x + dz * z) * w + phi;
+        y += A * std::sin(theta);
+    }
+    return y;
+}
+
+void World::DetectCollisions() {
+    contacts_.clear();
+    const int n = (int)bodies_.size();
+    for (int i = 0; i < n; ++i) {
+        if (!bodies_[i].alive) continue;
+        for (int j = i + 1; j < n; ++j) {
+            if (!bodies_[j].alive) continue;
+            const Body& A = bodies_[i];
+            const Body& B = bodies_[j];
+            if (A.is_static && B.is_static) continue;
+            if (A.sleeping && B.sleeping)   continue;
+            TestPair(i, j);
+        }
+    }
+}
+
+void World::TestPair(int ia, int ib) {
+    const Body& A = bodies_[ia];
+    const Body& B = bodies_[ib];
+    // Normalize ordering so Sphere is always 'a' for asymmetric pairs.
+    auto swap01 = [](Shape s0, Shape s1) {
+        return std::make_pair(s0, s1);
+    };
+    auto [sa, sb] = swap01(A.shape, B.shape);
+
+    if (sa == Shape::Sphere && sb == Shape::Sphere) {
+        SphereSphere(A, B, ia, ib);
+    } else if (sa == Shape::Sphere && sb == Shape::Plane) {
+        SpherePlane(A, B, ia, ib);
+    } else if (sa == Shape::Plane && sb == Shape::Sphere) {
+        SpherePlane(B, A, ib, ia);
+    } else if (sa == Shape::Sphere && sb == Shape::Box) {
+        SphereBox(A, B, ia, ib);
+    } else if (sa == Shape::Box && sb == Shape::Sphere) {
+        SphereBox(B, A, ib, ia);
+    } else if (sa == Shape::Box && sb == Shape::Plane) {
+        BoxPlane(A, B, ia, ib);
+    } else if (sa == Shape::Plane && sb == Shape::Box) {
+        BoxPlane(B, A, ib, ia);
+    } else if (sa == Shape::Box && sb == Shape::Box) {
+        BoxBox(A, B, ia, ib);
+    }
+    // Plane-plane intentionally skipped.
+}
+
+void World::SphereSphere(const Body& A, const Body& B, int ia, int ib) {
+    glm::vec3 d = B.position - A.position;
+    float r = A.half_extents.x + B.half_extents.x;
+    float d2 = glm::dot(d, d);
+    if (d2 >= r * r) return;
+    float dist = std::sqrt(std::max(d2, 1e-12f));
+    glm::vec3 n = (dist > 1e-6f) ? d / dist : glm::vec3(0.0f, 1.0f, 0.0f);
+    Contact c;
+    c.a = ia; c.b = ib;
+    c.normal = n;
+    c.penetration = r - dist;
+    c.point = A.position + n * A.half_extents.x;
+    contacts_.push_back(c);
+}
+
+void World::SpherePlane(const Body& s, const Body& p, int is, int ip) {
+    float d = glm::dot(p.plane_normal, s.position) - p.plane_offset;
+    float pen = s.half_extents.x - d;
+    if (pen <= 0.0f) return;
+    Contact c;
+    c.a = is; c.b = ip;
+    c.normal = -p.plane_normal;  // A (sphere) → B (plane)
+    c.penetration = pen;
+    c.point = s.position - p.plane_normal * s.half_extents.x;
+    contacts_.push_back(c);
+}
+
+void World::SphereBox(const Body& s, const Body& box, int is, int ib) {
+    glm::mat3 R = glm::mat3_cast(box.orientation);
+    glm::vec3 rel = glm::transpose(R) * (s.position - box.position);
+    glm::vec3 closest = glm::clamp(rel, -box.half_extents, box.half_extents);
+    glm::vec3 diff = rel - closest;
+    float d2 = glm::dot(diff, diff);
+    float r = s.half_extents.x;
+    if (d2 >= r * r) return;
+
+    glm::vec3 n_local;
+    float dist;
+    if (d2 > 1e-12f) {
+        dist = std::sqrt(d2);
+        n_local = diff / dist;
+    } else {
+        // Sphere center inside box — pick axis of minimum penetration.
+        glm::vec3 pen_axes = box.half_extents - glm::abs(rel);
+        if (pen_axes.x < pen_axes.y && pen_axes.x < pen_axes.z) {
+            n_local = glm::vec3(rel.x < 0 ? -1.0f : 1.0f, 0, 0);
+            dist = -pen_axes.x;
+        } else if (pen_axes.y < pen_axes.z) {
+            n_local = glm::vec3(0, rel.y < 0 ? -1.0f : 1.0f, 0);
+            dist = -pen_axes.y;
+        } else {
+            n_local = glm::vec3(0, 0, rel.z < 0 ? -1.0f : 1.0f);
+            dist = -pen_axes.z;
+        }
+    }
+
+    glm::vec3 n_world = R * n_local;   // points from box toward sphere center
+    glm::vec3 contact_world = box.position + R * closest;
+
+    Contact c;
+    // Our convention: normal points from A(sphere) toward B(box)
+    // If is < ib our 'a' is the sphere. But caller may pass s as 'A' regardless
+    // of handle order. We push what DetectCollisions expects using (is, ib).
+    c.a = is;
+    c.b = ib;
+    c.normal = -n_world;  // sphere -> box
+    c.penetration = r - dist;
+    c.point = contact_world;
+    contacts_.push_back(c);
+}
+
+void World::BoxPlane(const Body& box, const Body& p, int ib, int ip) {
+    glm::mat3 R = glm::mat3_cast(box.orientation);
+    // For each of 8 vertices, test against plane. Push contact per-penetrating.
+    static const glm::vec3 kSigns[8] = {
+        {-1,-1,-1},{ 1,-1,-1},{-1, 1,-1},{ 1, 1,-1},
+        {-1,-1, 1},{ 1,-1, 1},{-1, 1, 1},{ 1, 1, 1}
+    };
+    int added = 0;
+    for (int i = 0; i < 8; ++i) {
+        glm::vec3 lp = box.half_extents * kSigns[i];
+        glm::vec3 wp = box.position + R * lp;
+        float d = glm::dot(p.plane_normal, wp) - p.plane_offset;
+        if (d < 0.0f) {
+            Contact c;
+            c.a = ib; c.b = ip;
+            c.normal = -p.plane_normal;  // box -> plane
+            c.penetration = -d;
+            c.point = wp;
+            contacts_.push_back(c);
+            if (++added >= 4) break;  // manifold cap
+        }
+    }
+}
+
+// --- SAT Box-Box ---------------------------------------------------------
+namespace {
+
+struct BoxAxes {
+    glm::vec3 c;
+    glm::vec3 u[3];   // world-space basis columns of R (unit length)
+    glm::vec3 h;      // half-extents
+};
+
+BoxAxes MakeAxes(const Body& box) {
+    BoxAxes out;
+    out.c = box.position;
+    glm::mat3 R = glm::mat3_cast(box.orientation);
+    out.u[0] = R[0]; out.u[1] = R[1]; out.u[2] = R[2];
+    out.h = box.half_extents;
+    return out;
+}
+
+float ProjectOBB(const BoxAxes& a, const glm::vec3& axis) {
+    return a.h.x * std::abs(glm::dot(a.u[0], axis))
+         + a.h.y * std::abs(glm::dot(a.u[1], axis))
+         + a.h.z * std::abs(glm::dot(a.u[2], axis));
+}
+
+// Clip polygon by half-space n·x <= d (returns clipped vertices).
+std::vector<glm::vec3> ClipPoly(const std::vector<glm::vec3>& in,
+                                const glm::vec3& n, float d) {
+    std::vector<glm::vec3> out;
+    out.reserve(in.size() + 1);
+    if (in.empty()) return out;
+    for (size_t i = 0; i < in.size(); ++i) {
+        const glm::vec3& cur = in[i];
+        const glm::vec3& prev = in[(i + in.size() - 1) % in.size()];
+        float dc = glm::dot(n, cur) - d;
+        float dp = glm::dot(n, prev) - d;
+        bool cur_in = dc <= 0.0f;
+        bool prev_in = dp <= 0.0f;
+        if (prev_in ^ cur_in) {
+            float t = dp / (dp - dc);
+            out.push_back(prev + (cur - prev) * t);
+        }
+        if (cur_in) out.push_back(cur);
+    }
+    return out;
+}
+
+}  // namespace
+
+void World::BoxBox(const Body& A, const Body& B, int ia, int ib) {
+    BoxAxes a = MakeAxes(A);
+    BoxAxes b = MakeAxes(B);
+
+    glm::vec3 t = b.c - a.c;
+
+    // Build matrix of dot products between A and B axes.
+    float Rm[3][3], AbsR[3][3];
+    const float kEps = 1e-6f;
+    for (int i = 0; i < 3; ++i)
+        for (int j = 0; j < 3; ++j) {
+            Rm[i][j]   = glm::dot(a.u[i], b.u[j]);
+            AbsR[i][j] = std::abs(Rm[i][j]) + kEps;
+        }
+
+    float t_a[3] = {
+        glm::dot(t, a.u[0]), glm::dot(t, a.u[1]), glm::dot(t, a.u[2])
+    };
+
+    float best_overlap = std::numeric_limits<float>::max();
+    int best_axis_type = -1;  // 0=A face, 1=B face, 2=edge cross
+    int best_axis_index = 0;  // face index, or i*3+j for edge
+    float best_sign = 1.0f;   // axis direction sign toward B
+    glm::vec3 best_axis(0.0f);
+
+    auto TestAxis = [&](const glm::vec3& L, float ra, float rb, float center_dist,
+                        int type, int index) {
+        float len = glm::length(L);
+        if (len < 1e-8f) return true;  // parallel edges; skip
+        float overlap = (ra + rb) - std::abs(center_dist);
+        if (overlap < 0.0f) return false;
+        // Normalize overlap per-axis so face axes compete fairly with edge axes.
+        float o_norm = overlap / len;
+        if (o_norm < best_overlap) {
+            best_overlap = o_norm;
+            best_axis_type = type;
+            best_axis_index = index;
+            best_axis = L / len;
+            best_sign = (center_dist < 0) ? -1.0f : 1.0f;
+        }
+        return true;
+    };
+
+    // A's face axes
+    for (int i = 0; i < 3; ++i) {
+        float ra = a.h[i];
+        float rb = b.h.x * AbsR[i][0] + b.h.y * AbsR[i][1] + b.h.z * AbsR[i][2];
+        if (!TestAxis(a.u[i], ra, rb, t_a[i], 0, i)) return;
+    }
+    // B's face axes
+    for (int j = 0; j < 3; ++j) {
+        float ra = a.h.x * AbsR[0][j] + a.h.y * AbsR[1][j] + a.h.z * AbsR[2][j];
+        float rb = b.h[j];
+        float dist = glm::dot(t, b.u[j]);
+        if (!TestAxis(b.u[j], ra, rb, dist, 1, j)) return;
+    }
+    // 9 edge-edge axes
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            glm::vec3 L = glm::cross(a.u[i], b.u[j]);
+            int i1 = (i + 1) % 3, i2 = (i + 2) % 3;
+            int j1 = (j + 1) % 3, j2 = (j + 2) % 3;
+            float ra = a.h[i1] * AbsR[i2][j] + a.h[i2] * AbsR[i1][j];
+            float rb = b.h[j1] * AbsR[i][j2] + b.h[j2] * AbsR[i][j1];
+            float dist = t_a[i2] * Rm[i1][j] - t_a[i1] * Rm[i2][j];
+            if (!TestAxis(L, ra, rb, dist, 2, i * 3 + j)) return;
+        }
+    }
+
+    if (best_axis_type < 0) return;
+
+    // Ensure normal points from A to B.
+    glm::vec3 n = best_axis * best_sign;
+    if (glm::dot(n, t) < 0.0f) n = -n;
+
+    // Face-face manifold via Sutherland–Hodgman clipping.
+    if (best_axis_type == 0 || best_axis_type == 1) {
+        const BoxAxes& ref  = (best_axis_type == 0) ? a : b;
+        const BoxAxes& inc  = (best_axis_type == 0) ? b : a;
+        glm::vec3 refN = (best_axis_type == 0) ? n : -n;  // points outward from ref
+
+        // Reference face: the one whose outward normal = refN (one of ±ref.u[k])
+        int ref_k = 0;
+        float best_dot = -std::numeric_limits<float>::max();
+        float ref_sign = 1.0f;
+        for (int k = 0; k < 3; ++k) {
+            float d0 = glm::dot(ref.u[k], refN);
+            if (std::abs(d0) > best_dot) {
+                best_dot = std::abs(d0);
+                ref_k = k;
+                ref_sign = (d0 >= 0) ? 1.0f : -1.0f;
+            }
+        }
+        glm::vec3 refAxis = ref.u[ref_k] * ref_sign;
+        glm::vec3 refCenter = ref.c + refAxis * ref.h[ref_k];
+
+        // Incident face: pick incident box face whose normal is most opposite refAxis.
+        int inc_k = 0;
+        float min_dot = std::numeric_limits<float>::max();
+        float inc_sign = 1.0f;
+        for (int k = 0; k < 3; ++k) {
+            float d0 = glm::dot(inc.u[k], refAxis);
+            if (d0 < min_dot) {
+                min_dot = d0;
+                inc_k = k; inc_sign = 1.0f;
+            }
+            if (-d0 < min_dot) {
+                min_dot = -d0;
+                inc_k = k; inc_sign = -1.0f;
+            }
+        }
+
+        // Build the incident face as 4 world-space vertices.
+        int u = (inc_k + 1) % 3;
+        int v = (inc_k + 2) % 3;
+        glm::vec3 inc_center = inc.c + inc.u[inc_k] * (inc.h[inc_k] * inc_sign);
+        glm::vec3 inc_u = inc.u[u] * inc.h[u];
+        glm::vec3 inc_v = inc.u[v] * inc.h[v];
+        std::vector<glm::vec3> poly = {
+            inc_center - inc_u - inc_v,
+            inc_center + inc_u - inc_v,
+            inc_center + inc_u + inc_v,
+            inc_center - inc_u + inc_v
+        };
+
+        // Clip against the 4 side planes of the reference face.
+        int ru = (ref_k + 1) % 3;
+        int rv = (ref_k + 2) % 3;
+        glm::vec3 side_axes[4] = { ref.u[ru], -ref.u[ru], ref.u[rv], -ref.u[rv] };
+        float side_d[4] = {
+            glm::dot(ref.u[ru], refCenter) + ref.h[ru],
+            -glm::dot(ref.u[ru], refCenter) + ref.h[ru],
+            glm::dot(ref.u[rv], refCenter) + ref.h[rv],
+            -glm::dot(ref.u[rv], refCenter) + ref.h[rv]
+        };
+        for (int s = 0; s < 4; ++s)
+            poly = ClipPoly(poly, side_axes[s], side_d[s]);
+
+        // Emit penetrating points (those behind the reference face plane).
+        int emitted = 0;
+        for (const auto& p : poly) {
+            float d = glm::dot(refAxis, p - refCenter);
+            if (d > 0.0f) continue;
+            Contact c;
+            c.a = ia; c.b = ib;
+            c.normal = n;
+            c.penetration = -d;
+            c.point = p;
+            contacts_.push_back(c);
+            if (++emitted >= 4) break;
+        }
+        if (emitted == 0) {
+            // Fallback: single-point contact at deepest witness along n.
+            glm::vec3 pA = BoxSupport(A,  n);
+            glm::vec3 pB = BoxSupport(B, -n);
+            Contact c;
+            c.a = ia; c.b = ib;
+            c.normal = n;
+            c.penetration = best_overlap;
+            c.point = 0.5f * (pA + pB);
+            contacts_.push_back(c);
+        }
+    } else {
+        // Edge-edge — approximate with midpoint of nearest-point pair.
+        glm::vec3 pA = BoxSupport(A,  n);
+        glm::vec3 pB = BoxSupport(B, -n);
+        Contact c;
+        c.a = ia; c.b = ib;
+        c.normal = n;
+        c.penetration = best_overlap;
+        c.point = 0.5f * (pA + pB);
+        contacts_.push_back(c);
+    }
+}
+
+// --- Solver --------------------------------------------------------------
+
+void World::PrepareSolver(float dt) {
+    for (auto& b : bodies_) if (b.alive) RecomputeInvInertiaWorld(b);
+
+    const float kMatchR2 = 0.04f * 0.04f;  // 4cm point-match radius
+
+    for (auto& c : contacts_) {
+        Body& A = bodies_[c.a];
+        Body& B = bodies_[c.b];
+        c.rA = c.point - A.position;
+        c.rB = c.point - B.position;
+        ComputeBasis(c.normal, c.tangent1, c.tangent2);
+
+        auto EffMass = [&](const glm::vec3& axis) {
+            glm::vec3 rA_x_n = glm::cross(c.rA, axis);
+            glm::vec3 rB_x_n = glm::cross(c.rB, axis);
+            float m = A.inv_mass + B.inv_mass
+                    + glm::dot(rA_x_n, A.inv_inertia_world * rA_x_n)
+                    + glm::dot(rB_x_n, B.inv_inertia_world * rB_x_n);
+            return m > 0.0f ? 1.0f / m : 0.0f;
+        };
+
+        c.normal_mass   = EffMass(c.normal);
+        c.tangent_mass1 = EffMass(c.tangent1);
+        c.tangent_mass2 = EffMass(c.tangent2);
+
+        // Baumgarte positional bias.
+        float pen = std::max(0.0f, c.penetration - kPenetrationSlop);
+        c.bias = -(kBaumgarte / dt) * pen;
+
+        // Restitution bias: closing velocity × restitution, only if significant.
+        glm::vec3 rv = VelAtPoint(B, c.rB) - VelAtPoint(A, c.rA);
+        float rv_n = glm::dot(rv, c.normal);
+        float e = std::min(A.restitution, B.restitution);
+        if (rv_n < -1.0f) c.bias += e * rv_n;
+
+        // Warm-start: find a prior contact on the same pair at a nearby point.
+        c.normal_impulse = 0.0f;
+        c.tangent_impulse1 = 0.0f;
+        c.tangent_impulse2 = 0.0f;
+        for (const auto& pc : prev_contacts_) {
+            if (pc.a != c.a || pc.b != c.b) continue;
+            glm::vec3 d = pc.point - c.point;
+            if (glm::dot(d, d) < kMatchR2) {
+                c.normal_impulse   = pc.normal_impulse;
+                c.tangent_impulse1 = pc.tangent_impulse1;
+                c.tangent_impulse2 = pc.tangent_impulse2;
+                break;
+            }
+        }
+    }
+}
+
+void World::WarmStart() {
+    for (auto& c : contacts_) {
+        Body& A = bodies_[c.a];
+        Body& B = bodies_[c.b];
+        glm::vec3 P = c.normal * c.normal_impulse
+                    + c.tangent1 * c.tangent_impulse1
+                    + c.tangent2 * c.tangent_impulse2;
+        A.linear_velocity  -= P * A.inv_mass;
+        A.angular_velocity -= A.inv_inertia_world * glm::cross(c.rA, P);
+        B.linear_velocity  += P * B.inv_mass;
+        B.angular_velocity += B.inv_inertia_world * glm::cross(c.rB, P);
+    }
+}
+
+void World::SolveVelocities() {
+    for (auto& c : contacts_) {
+        Body& A = bodies_[c.a];
+        Body& B = bodies_[c.b];
+
+        auto ApplyImpulse = [&](const glm::vec3& axis, float lambda) {
+            glm::vec3 P = axis * lambda;
+            A.linear_velocity  -= P * A.inv_mass;
+            A.angular_velocity -= A.inv_inertia_world * glm::cross(c.rA, P);
+            B.linear_velocity  += P * B.inv_mass;
+            B.angular_velocity += B.inv_inertia_world * glm::cross(c.rB, P);
+        };
+
+        // Tangents first so friction is proportional to final normal impulse.
+        {
+            glm::vec3 rv = VelAtPoint(B, c.rB) - VelAtPoint(A, c.rA);
+            float mu = std::sqrt(A.friction * B.friction);
+            float max_fric = mu * c.normal_impulse;
+
+            float rv_t1 = glm::dot(rv, c.tangent1);
+            float lambda1 = -rv_t1 * c.tangent_mass1;
+            float new_imp1 = std::clamp(c.tangent_impulse1 + lambda1, -max_fric, max_fric);
+            lambda1 = new_imp1 - c.tangent_impulse1;
+            c.tangent_impulse1 = new_imp1;
+            ApplyImpulse(c.tangent1, lambda1);
+
+            rv = VelAtPoint(B, c.rB) - VelAtPoint(A, c.rA);
+            float rv_t2 = glm::dot(rv, c.tangent2);
+            float lambda2 = -rv_t2 * c.tangent_mass2;
+            float new_imp2 = std::clamp(c.tangent_impulse2 + lambda2, -max_fric, max_fric);
+            lambda2 = new_imp2 - c.tangent_impulse2;
+            c.tangent_impulse2 = new_imp2;
+            ApplyImpulse(c.tangent2, lambda2);
+        }
+
+        // Normal impulse
+        glm::vec3 rv = VelAtPoint(B, c.rB) - VelAtPoint(A, c.rA);
+        float rv_n = glm::dot(rv, c.normal);
+        float lambda = -(rv_n + c.bias) * c.normal_mass;
+        float new_imp = std::max(0.0f, c.normal_impulse + lambda);
+        lambda = new_imp - c.normal_impulse;
+        c.normal_impulse = new_imp;
+        ApplyImpulse(c.normal, lambda);
+    }
+}
+
+void World::IntegrateVelocities(float dt) {
+    for (auto& b : bodies_) {
+        if (!b.alive || b.is_static || b.inv_mass == 0.0f) continue;
+        if (b.sleeping) continue;
+        b.position += b.linear_velocity * dt;
+        glm::quat w(0.0f, b.angular_velocity.x, b.angular_velocity.y, b.angular_velocity.z);
+        glm::quat dq = 0.5f * w * b.orientation;
+        b.orientation = glm::normalize(b.orientation + dq * dt);
+    }
+}
+
+void World::UpdateSleep(float dt) {
+    for (auto& b : bodies_) {
+        if (!b.alive || b.is_static || b.inv_mass == 0.0f) continue;
+        float lin2 = glm::dot(b.linear_velocity, b.linear_velocity);
+        float ang2 = glm::dot(b.angular_velocity, b.angular_velocity);
+        if (lin2 < kSleepLinearSq && ang2 < kSleepAngularSq) {
+            b.sleep_timer += dt;
+            if (b.sleep_timer >= kSleepTime) {
+                b.sleeping = true;
+                b.linear_velocity = glm::vec3(0.0f);
+                b.angular_velocity = glm::vec3(0.0f);
+            }
+        } else {
+            b.sleep_timer = 0.0f;
+            b.sleeping = false;
+        }
+    }
+}
+
+}  // namespace phys
--- a/src/Physics.h
+++ b/src/Physics.h
@@ -0,0 +1,136 @@
+#pragma once
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <glm/gtc/matrix_transform.hpp>
+#include <vector>
+#include <cstdint>
+
+// Hand-rolled rigid-body physics — sequential-impulse solver, SAT boxes.
+// V1 shapes: Sphere, Box (OBB), Plane (infinite, static-only).
+
+namespace phys {
+
+enum class Shape : uint8_t { Sphere, Box, Plane };
+
+struct Body {
+    Shape shape = Shape::Sphere;
+
+    // Sphere: half_extents.x = radius (y, z unused).
+    // Box:    half_extents = half-widths along local X/Y/Z.
+    // Plane:  plane_normal + plane_offset define n·x = offset.
+    glm::vec3 half_extents{0.5f};
+    glm::vec3 plane_normal{0.0f, 1.0f, 0.0f};
+    float     plane_offset = 0.0f;
+
+    glm::vec3 position{0.0f};
+    glm::quat orientation{1.0f, 0.0f, 0.0f, 0.0f};
+    glm::vec3 linear_velocity{0.0f};
+    glm::vec3 angular_velocity{0.0f};
+    glm::vec3 force_accum{0.0f};
+    glm::vec3 torque_accum{0.0f};
+
+    float inv_mass = 1.0f;              // 0 => static or kinematic
+    glm::mat3 inv_inertia_local{0.0f};  // diag in local space
+    glm::mat3 inv_inertia_world{0.0f};  // cached each step
+
+    float restitution     = 0.2f;
+    float friction        = 0.5f;
+    float linear_damping  = 0.02f;
+    float angular_damping = 0.05f;
+
+    bool is_static = false;
+    bool sleeping  = false;
+    float sleep_timer = 0.0f;
+
+    bool alive  = true;
+    int  handle = -1;  // stable handle = index into world.bodies_
+};
+
+struct Contact {
+    int a = -1;
+    int b = -1;
+    glm::vec3 point{0.0f};        // world-space contact point
+    glm::vec3 normal{0.0f, 1.0f, 0.0f};  // from A toward B
+    float penetration = 0.0f;
+
+    // Solver scratch (recomputed each step)
+    glm::vec3 rA{0.0f}, rB{0.0f};     // offsets from COM to point
+    glm::vec3 tangent1{0.0f}, tangent2{0.0f};
+    float normal_mass   = 0.0f;
+    float tangent_mass1 = 0.0f;
+    float tangent_mass2 = 0.0f;
+    float bias = 0.0f;
+    float normal_impulse  = 0.0f;
+    float tangent_impulse1 = 0.0f;
+    float tangent_impulse2 = 0.0f;
+};
+
+class World {
+public:
+    glm::vec3 gravity{0.0f, -9.81f, 0.0f};
+    float fixed_dt = 1.0f / 60.0f;
+    int solver_iterations = 8;
+    bool enabled = false;
+
+    // Water: buoyancy samples the actual Gerstner wave surface each step.
+    bool  water_enabled = false;
+    float water_level      = 0.0f;
+    float water_amplitude  = 0.3f;
+    float water_wavelength = 8.0f;
+    float water_speed      = 1.0f;
+    float water_time       = 0.0f;   // pushed from Engine each frame
+    float water_amp_scale  = 1.0f;   // storminess multiplier
+    float water_density    = 1.0f;
+    float water_drag_linear  = 1.5f;
+    float water_drag_angular = 0.8f;
+
+    // Wind-driven surface current (applied to submerged bodies).
+    glm::vec2 wind_dir_xz   = glm::vec2(1.0f, 0.0f);
+    float wind_speed        = 0.0f;
+    float current_coef      = 0.6f;
+
+    // Directional water flow (independent of wind — rivers, waterfalls).
+    glm::vec2 water_flow_dir = glm::vec2(0.0f, 0.0f);
+    float     water_flow_speed = 0.0f;
+
+    // Gerstner sampler — mirrors the water shader exactly.
+    float SampleWaterY(float x, float z) const;
+
+    int  AddBody(const Body& b);
+    void RemoveBody(int handle);
+    Body* Get(int handle);
+    const Body* Get(int handle) const;
+
+    // Drives the fixed-timestep loop. Call each frame with real delta.
+    void Step(float real_dt);
+
+    // Iterate live bodies; callback receives handle and body ref.
+    template <typename F>
+    void ForEach(F&& fn) {
+        for (auto& b : bodies_) if (b.alive) fn(b.handle, b);
+    }
+
+private:
+    std::vector<Body> bodies_;
+    std::vector<Contact> contacts_;
+    std::vector<Contact> prev_contacts_;  // for warm-starting across frames
+    float accumulator_ = 0.0f;
+
+    void IntegrateForces(float dt);
+    void DetectCollisions();
+    void WarmStart();
+    void PrepareSolver(float dt);
+    void SolveVelocities();
+    void IntegrateVelocities(float dt);
+    void UpdateSleep(float dt);
+
+    // Pairwise tests that push contacts into contacts_.
+    void TestPair(int ia, int ib);
+    void SpherePlane(const Body& s, const Body& p, int is, int ip);
+    void SphereSphere(const Body& a, const Body& b, int ia, int ib);
+    void SphereBox(const Body& s, const Body& box, int is, int ib);
+    void BoxPlane(const Body& box, const Body& p, int ib, int ip);
+    void BoxBox(const Body& a, const Body& b, int ia, int ib);
+};
+
+}  // namespace phys
--- a/src/TextureCache.cpp
+++ b/src/TextureCache.cpp
@@ -0,0 +1,261 @@
+#include "TextureCache.h"
+#include "SimpleTextureLoader.h"
+#include <cmath>
+#include <cstdint>
+#include <filesystem>
+#include <vector>
+#include <algorithm>
+
+std::unordered_map<std::string, GLuint> TextureCache::cache_;
+
+namespace {
+
+// Deterministic value noise ----------------------------------------------
+uint32_t hash32(uint32_t x) {
+    x ^= x >> 16; x *= 0x7feb352du;
+    x ^= x >> 15; x *= 0x846ca68bu;
+    x ^= x >> 16;
+    return x;
+}
+float hashf(int x, int y, uint32_t seed = 0) {
+    uint32_t h = hash32((uint32_t)x * 374761393u + (uint32_t)y * 668265263u + seed);
+    return (h & 0xffffff) / float(0xffffff);
+}
+float smooth(float t) { return t * t * (3.0f - 2.0f * t); }
+float noise2D(float x, float y, uint32_t seed = 0) {
+    int xi = (int)std::floor(x), yi = (int)std::floor(y);
+    float xf = x - xi, yf = y - yi;
+    float a = hashf(xi,     yi,     seed);
+    float b = hashf(xi + 1, yi,     seed);
+    float c = hashf(xi,     yi + 1, seed);
+    float d = hashf(xi + 1, yi + 1, seed);
+    float u = smooth(xf), v = smooth(yf);
+    return (1 - u) * (1 - v) * a + u * (1 - v) * b
+         + (1 - u) * v * c + u * v * d;
+}
+float fbm(float x, float y, int octaves, uint32_t seed = 0) {
+    float total = 0, amp = 1, sum = 0;
+    for (int i = 0; i < octaves; ++i) {
+        total += noise2D(x, y, seed + i * 7919u) * amp;
+        sum += amp; amp *= 0.5f; x *= 2; y *= 2;
+    }
+    return total / sum;
+}
+
+void setPixel(std::vector<unsigned char>& buf, int w, int x, int y,
+              unsigned char r, unsigned char g, unsigned char b, unsigned char a = 255) {
+    int i = (y * w + x) * 4;
+    buf[i + 0] = r; buf[i + 1] = g; buf[i + 2] = b; buf[i + 3] = a;
+}
+
+// Linear interpolate between 2 RGB colors (0-255)
+void lerpColor(float t, const float a[3], const float b[3], unsigned char out[3]) {
+    t = std::clamp(t, 0.0f, 1.0f);
+    out[0] = (unsigned char)std::clamp(a[0] + (b[0] - a[0]) * t, 0.0f, 255.0f);
+    out[1] = (unsigned char)std::clamp(a[1] + (b[1] - a[1]) * t, 0.0f, 255.0f);
+    out[2] = (unsigned char)std::clamp(a[2] + (b[2] - a[2]) * t, 0.0f, 255.0f);
+}
+
+}  // namespace
+
+GLuint TextureCache::UploadRGBA(const unsigned char* data, int w, int h, bool srgb) {
+    GLuint id;
+    glGenTextures(1, &id);
+    glBindTexture(GL_TEXTURE_2D, id);
+    GLint internalFmt = srgb ? GL_SRGB8_ALPHA8 : GL_RGBA8;
+    glTexImage2D(GL_TEXTURE_2D, 0, internalFmt, w, h, 0,
+                 GL_RGBA, GL_UNSIGNED_BYTE, data);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glGenerateMipmap(GL_TEXTURE_2D);
+    return id;
+}
+
+GLuint TextureCache::Procedural(const std::string& name) {
+    const int W = 512, H = 512;
+    std::vector<unsigned char> buf(W * H * 4, 255);
+
+    if (name == "white") {
+        std::fill(buf.begin(), buf.end(), 255);
+    } else if (name == "black") {
+        for (int i = 0; i < W * H; ++i) {
+            buf[i * 4 + 0] = 0; buf[i * 4 + 1] = 0; buf[i * 4 + 2] = 0;
+            buf[i * 4 + 3] = 255;
+        }
+    } else if (name == "checker") {
+        int cell = 32;
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            bool k = ((x / cell) + (y / cell)) & 1;
+            unsigned char v = k ? 230 : 50;
+            setPixel(buf, W, x, y, v, v, v);
+        }
+    } else if (name == "grid") {
+        int cell = 64;
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            bool line = (x % cell == 0) || (y % cell == 0)
+                     || (x % cell == cell - 1) || (y % cell == cell - 1);
+            unsigned char v = line ? 30 : 220;
+            setPixel(buf, W, x, y, v, v, v);
+        }
+    } else if (name == "stripes") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            bool k = ((x / 32) & 1);
+            if (k) setPixel(buf, W, x, y, 220, 220, 210);
+            else   setPixel(buf, W, x, y, 80, 50, 40);
+        }
+    } else if (name == "brick") {
+        int bw = 128, bh = 48, mortar = 3;
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            int row = y / bh;
+            int offset = (row & 1) ? bw / 2 : 0;
+            int mx = (x + offset) % bw;
+            int my = y % bh;
+            bool is_mortar = (mx < mortar) || (my < mortar);
+            if (is_mortar) setPixel(buf, W, x, y, 180, 180, 170);
+            else {
+                float n = fbm(x * 0.05f, y * 0.05f, 4, 11) * 0.3f + 0.7f;
+                unsigned char r = (unsigned char)(150 * n);
+                unsigned char g = (unsigned char)(60  * n);
+                unsigned char b = (unsigned char)(40  * n);
+                setPixel(buf, W, x, y, r, g, b);
+            }
+        }
+    } else if (name == "wood") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            // Rings + grain
+            float r = std::sqrt((x - W * 0.5f) * (x - W * 0.5f)
+                               + (y - H * 0.5f) * (y - H * 0.5f)) * 0.04f;
+            float rings = std::sin(r + fbm(x * 0.01f, y * 0.01f, 4, 7) * 2.0f);
+            float grain = fbm(x * 0.08f, y * 0.008f, 4, 13);
+            float t = std::clamp(0.5f + 0.3f * rings + 0.3f * grain, 0.0f, 1.0f);
+            const float dark[3] = { 85,  48,  22};
+            const float light[3]= {175, 120,  70};
+            unsigned char c[3];
+            lerpColor(t, dark, light, c);
+            setPixel(buf, W, x, y, c[0], c[1], c[2]);
+        }
+    } else if (name == "marble") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float f = fbm(x * 0.012f, y * 0.012f, 5, 3);
+            float v = std::sin(x * 0.02f + f * 5.0f);
+            float t = std::clamp(0.7f + v * 0.25f, 0.0f, 1.0f);
+            const float dark[3] = {190, 195, 200};
+            const float light[3]= {245, 245, 250};
+            unsigned char c[3];
+            lerpColor(t, dark, light, c);
+            setPixel(buf, W, x, y, c[0], c[1], c[2]);
+        }
+    } else if (name == "concrete") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float n = fbm(x * 0.05f, y * 0.05f, 5, 17);
+            float speck = hashf(x, y, 42);
+            unsigned char v = (unsigned char)(160 + n * 60 - speck * 20);
+            v = std::clamp<int>(v, 90, 230);
+            setPixel(buf, W, x, y, v, v, v + 4);
+        }
+    } else if (name == "dirt") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float f = fbm(x * 0.04f, y * 0.04f, 5, 23);
+            const float low[3]  = { 55, 35, 20};
+            const float high[3] = {130, 90, 55};
+            unsigned char c[3];
+            lerpColor(f, low, high, c);
+            setPixel(buf, W, x, y, c[0], c[1], c[2]);
+        }
+    } else if (name == "rock") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float f = fbm(x * 0.02f, y * 0.02f, 6, 31);
+            float cracks = std::pow(std::abs(std::sin(x * 0.01f + f * 8.0f)), 40.0f);
+            float v = 100 + f * 100 - cracks * 40;
+            unsigned char c = (unsigned char)std::clamp(v, 40.0f, 230.0f);
+            setPixel(buf, W, x, y, c, c - 4, c - 8);
+        }
+    } else if (name == "grass") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float f = fbm(x * 0.08f, y * 0.08f, 4, 53);
+            const float low[3]  = { 40, 80, 25};
+            const float high[3] = {105, 160, 55};
+            unsigned char c[3];
+            lerpColor(f, low, high, c);
+            // Thin darker blades
+            float blade = std::pow(std::abs(std::sin(x * 0.2f + f * 3.0f)), 12.0f);
+            c[0] = (unsigned char)std::clamp<int>(c[0] - (int)(blade * 35), 0, 255);
+            c[1] = (unsigned char)std::clamp<int>(c[1] - (int)(blade * 35), 0, 255);
+            c[2] = (unsigned char)std::clamp<int>(c[2] - (int)(blade * 15), 0, 255);
+            setPixel(buf, W, x, y, c[0], c[1], c[2]);
+        }
+    } else if (name == "noise") {
+        for (int y = 0; y < H; ++y) for (int x = 0; x < W; ++x) {
+            float f = fbm(x * 0.03f, y * 0.03f, 5, 1);
+            unsigned char v = (unsigned char)(f * 255);
+            setPixel(buf, W, x, y, v, v, v);
+        }
+    } else {
+        return 0;  // unknown
+    }
+
+    return UploadRGBA(buf.data(), W, H, /*srgb=*/true);
+}
+
+GLuint TextureCache::LoadFromFile(const std::string& path) {
+    namespace fs = std::filesystem;
+    if (!fs::exists(path)) return 0;
+    std::string ext = fs::path(path).extension().string();
+    for (auto& c : ext) c = (char)std::tolower((unsigned char)c);
+    if (ext == ".bmp") return SimpleTextureLoader::LoadBMP(path);
+    if (ext == ".tga") return SimpleTextureLoader::LoadTGA(path);
+    return 0;
+}
+
+GLuint TextureCache::Get(const std::string& name) {
+    if (name.empty()) return DefaultWhite();
+    auto it = cache_.find(name);
+    if (it != cache_.end()) return it->second;
+
+    GLuint id = Procedural(name);
+    if (id == 0) id = LoadFromFile(name);
+    if (id == 0) {
+        // Fallback to white rather than 0 so shader path stays valid.
+        id = DefaultWhite();
+    }
+    cache_[name] = id;
+    return id;
+}
+
+GLuint TextureCache::DefaultWhite() {
+    static GLuint white = 0;
+    if (white != 0) return white;
+    unsigned char px[4] = {255, 255, 255, 255};
+    glGenTextures(1, &white);
+    glBindTexture(GL_TEXTURE_2D, white);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, 1, 1, 0,
+                 GL_RGBA, GL_UNSIGNED_BYTE, px);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    return white;
+}
+
+GLuint TextureCache::DefaultNormal() {
+    static GLuint n = 0;
+    if (n != 0) return n;
+    // Tangent-space (0,0,1) encodes as (0.5, 0.5, 1.0).
+    unsigned char px[4] = {128, 128, 255, 255};
+    glGenTextures(1, &n);
+    glBindTexture(GL_TEXTURE_2D, n);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, 1, 1, 0,
+                 GL_RGBA, GL_UNSIGNED_BYTE, px);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    return n;
+}
+
+void TextureCache::Clear() {
+    for (auto& [k, v] : cache_) glDeleteTextures(1, &v);
+    cache_.clear();
+}
--- a/src/TextureCache.h
+++ b/src/TextureCache.h
@@ -0,0 +1,25 @@
+#pragma once
+#include <glad.h>
+#include <string>
+#include <unordered_map>
+
+// Single cache for diffuse textures. Resolves names as either:
+//   - builtin: "white", "black", "checker", "grid", "noise", "wood",
+//              "brick", "stripes", "marble", "concrete", "dirt",
+//              "rock", "grass"
+//   - file path ending .bmp or .tga (uses SimpleTextureLoader)
+//
+// Builtins are generated procedurally in-memory at first request and cached.
+class TextureCache {
+public:
+    static GLuint Get(const std::string& name);
+    static GLuint DefaultWhite();
+    static GLuint DefaultNormal();   // flat (0,0,1) encoded as (0.5,0.5,1.0)
+    static void Clear();
+
+private:
+    static std::unordered_map<std::string, GLuint> cache_;
+    static GLuint LoadFromFile(const std::string& path);
+    static GLuint Procedural(const std::string& name);
+    static GLuint UploadRGBA(const unsigned char* data, int w, int h, bool srgb);
+};
--- a/src/main.cpp
+++ b/src/main.cpp