From 20f14322bcf224ef2d715753847dc18def0f86d8 Mon Sep 17 00:00:00 2001
From: BobSong <605277374@qq.com>
Date: Thu, 22 Jan 2026 22:08:21 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8D=87=E7=BA=A7obi?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

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 1067 files changed, 149894 insertions(+), 29583 deletions(-)
 create mode 100644 Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs
 rename Assets/Obi/{Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta => Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta} (83%)
 create mode 100644 Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs
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 create mode 100644 Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs
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 create mode 100644 Assets/Obi/Editor/Resources/Icons/ObiFoamGenerator Icon.png
 rename Assets/Obi/Editor/Resources/Icons/{ObiUpdater Icon.png.meta => ObiFoamGenerator Icon.png.meta} (75%)
 rename Assets/Obi/Editor/Resources/Icons/{ObiSphericalForceZone Icon.png => ObiForceZone Icon.png} (100%)
 rename Assets/Obi/Editor/Resources/Icons/{ObiSphericalForceZone Icon.png.meta => ObiForceZone Icon.png.meta} (100%)
 create mode 100644 Assets/Obi/Editor/Resources/Icons/ObiPathSmoother Icon.png
 rename Assets/Obi/Editor/Resources/Icons/{ObiAmbientForceZone Icon.png.meta => ObiPathSmoother Icon.png.meta} (55%)
 create mode 100644 Assets/Obi/Editor/Resources/Icons/ObiPinhole Icon.png
 rename Assets/Obi/Editor/Resources/Icons/{ObiClothProxy Icon.png.meta => ObiPinhole Icon.png.meta} (54%)
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 rename Assets/Obi/{Plugins/libOni.bundle/Contents.meta => Editor/RopeAndRod/Utils.meta} (77%)
 create mode 100644 Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs
 rename Assets/Obi/{Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta => Editor/RopeAndRod/Utils/ObiPinholeEditor.cs.meta} (83%)
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs.meta
 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs.meta
 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs
 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta
 delete mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs
 create mode 100644 Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta
 rename Assets/Obi/{Editor => Scripts}/Common/ObiEditorSettings.cs (86%)
 rename Assets/Obi/{Editor => Scripts}/Common/ObiEditorSettings.cs.meta (100%)
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/DataBatches.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs
 create mode 100644 Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs
 create mode 100644 Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs
 create mode 100644 Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta
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 create mode 100644 Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta
 delete mode 100644 Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs
 delete mode 100644 Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs
 delete mode 100644 Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs.meta
 create mode 100644 Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs
 rename Assets/Obi/Scripts/Common/Utils/Forces/{ObiSphericalForceZone.cs.meta => ObiForceZone.cs.meta} (86%)
 delete mode 100644 Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs
 create mode 100644 Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs
 rename Assets/Obi/Scripts/Common/{Updaters/ObiFixedUpdater.cs.meta => Utils/ObiFoamEmitter.cs.meta} (64%)
 create mode 100644 Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs
 rename Assets/Obi/Scripts/Common/{Updaters/ObiLateFixedUpdater.cs.meta => Utils/ObiFoamGenerator.cs.meta} (64%)
 create mode 100644 Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs
 create mode 100644 Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta
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 delete mode 100644 Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs.meta
 create mode 100644 Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs
 rename Assets/Obi/Scripts/{Common/Updaters/ObiLateUpdater.cs.meta => RopeAndRod/Actors/ObiBoneOverride.cs.meta} (64%)
 create mode 100644 Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs
 create mode 100644 Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta
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 create mode 100644 Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta
 create mode 100644 Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs
 rename Assets/Obi/Scripts/{Common/Utils/Forces/ObiAmbientForceZone.cs.meta => RopeAndRod/Utils/ObiPinhole.cs.meta} (64%)
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_1 1.asset
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_1 1.asset.meta
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_3.asset
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_3.asset.meta
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_4.asset
 create mode 100644 Assets/ResRaw/Prefabs/Line/RopeSegment_4.asset.meta
 create mode 100644 Assets/ResRaw/Prefabs/Line/Tip.prefab
 create mode 100644 Assets/ResRaw/Prefabs/Line/Tip.prefab.meta
 create mode 100644 Assets/Scripts/Fishing/BobberController.cs
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 create mode 100644 Assets/Scripts/Fishing/LureController.cs
 create mode 100644 Assets/Scripts/Fishing/LureController.cs.meta

diff --git a/Assets/AssetCaches.asset b/Assets/AssetCaches.asset
index bd2cd2b6e..10951d3ae 100644
--- a/Assets/AssetCaches.asset
+++ b/Assets/AssetCaches.asset
@@ -18628,6 +18628,21 @@ MonoBehaviour:
       - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
       FilterEnum: 0
       Filter: '*'
+  - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_1 1.asset
+    Address: Plyaer/RopeSegment_1 1
+    Type: ObiRopeBlueprint
+    Bundle: main/plyaer.bundle
+    Tags: 
+    Group:
+      Name: Plyaer
+      Enable: 1
+      BundleMode: 0
+      AddressMode: 2
+      Tags: 
+      Collectors:
+      - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+      FilterEnum: 0
+      Filter: '*'
   - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_1.asset
     Address: Plyaer/RopeSegment_1
     Type: ObiRopeBlueprint
@@ -18658,6 +18673,36 @@ MonoBehaviour:
       - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
       FilterEnum: 0
       Filter: '*'
+  - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_3.asset
+    Address: Plyaer/RopeSegment_3
+    Type: ObiRopeBlueprint
+    Bundle: main/plyaer.bundle
+    Tags: 
+    Group:
+      Name: Plyaer
+      Enable: 1
+      BundleMode: 0
+      AddressMode: 2
+      Tags: 
+      Collectors:
+      - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+      FilterEnum: 0
+      Filter: '*'
+  - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_4.asset
+    Address: Plyaer/RopeSegment_4
+    Type: ObiRopeBlueprint
+    Bundle: main/plyaer.bundle
+    Tags: 
+    Group:
+      Name: Plyaer
+      Enable: 1
+      BundleMode: 0
+      AddressMode: 2
+      Tags: 
+      Collectors:
+      - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+      FilterEnum: 0
+      Filter: '*'
   - Path: Assets/ResRaw/Prefabs/Line/Spool.mat
     Address: Plyaer/Spool
     Type: Material
@@ -18673,6 +18718,21 @@ MonoBehaviour:
       - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
       FilterEnum: 0
       Filter: '*'
+  - Path: Assets/ResRaw/Prefabs/Line/Tip.prefab
+    Address: Plyaer/Tip
+    Type: GameObject
+    Bundle: main/plyaer.bundle
+    Tags: 
+    Group:
+      Name: Plyaer
+      Enable: 1
+      BundleMode: 0
+      AddressMode: 2
+      Tags: 
+      Collectors:
+      - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+      FilterEnum: 0
+      Filter: '*'
   - Path: Assets/ResRaw/Prefabs/Player/Anim/AnimationClip/CameraCrouch.anim
     Address: Plyaer/CameraCrouch
     Type: AnimationClip
@@ -40983,8 +41043,8 @@ MonoBehaviour:
     Dependencies: []
     Tags: 
   - Name: main/plyaer.bundle
-    Hash: af0a9d60f2808f3ae1afadfa88d15c2c
-    Size: 393812126
+    Hash: e032c081ff79c687c6d4e0e0a50122cf
+    Size: 393869083
     Assets:
     - Path: Assets/ResRaw/Prefabs/chwytak/chwytak.prefab
       Address: Plyaer/chwytak
@@ -41466,6 +41526,21 @@ MonoBehaviour:
         - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
         FilterEnum: 0
         Filter: '*'
+    - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_1 1.asset
+      Address: Plyaer/RopeSegment_1 1
+      Type: ObiRopeBlueprint
+      Bundle: main/plyaer.bundle
+      Tags: 
+      Group:
+        Name: Plyaer
+        Enable: 1
+        BundleMode: 0
+        AddressMode: 2
+        Tags: 
+        Collectors:
+        - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+        FilterEnum: 0
+        Filter: '*'
     - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_1.asset
       Address: Plyaer/RopeSegment_1
       Type: ObiRopeBlueprint
@@ -41496,6 +41571,36 @@ MonoBehaviour:
         - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
         FilterEnum: 0
         Filter: '*'
+    - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_3.asset
+      Address: Plyaer/RopeSegment_3
+      Type: ObiRopeBlueprint
+      Bundle: main/plyaer.bundle
+      Tags: 
+      Group:
+        Name: Plyaer
+        Enable: 1
+        BundleMode: 0
+        AddressMode: 2
+        Tags: 
+        Collectors:
+        - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+        FilterEnum: 0
+        Filter: '*'
+    - Path: Assets/ResRaw/Prefabs/Line/RopeSegment_4.asset
+      Address: Plyaer/RopeSegment_4
+      Type: ObiRopeBlueprint
+      Bundle: main/plyaer.bundle
+      Tags: 
+      Group:
+        Name: Plyaer
+        Enable: 1
+        BundleMode: 0
+        AddressMode: 2
+        Tags: 
+        Collectors:
+        - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+        FilterEnum: 0
+        Filter: '*'
     - Path: Assets/ResRaw/Prefabs/Line/Spool.mat
       Address: Plyaer/Spool
       Type: Material
@@ -41511,6 +41616,21 @@ MonoBehaviour:
         - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
         FilterEnum: 0
         Filter: '*'
+    - Path: Assets/ResRaw/Prefabs/Line/Tip.prefab
+      Address: Plyaer/Tip
+      Type: GameObject
+      Bundle: main/plyaer.bundle
+      Tags: 
+      Group:
+        Name: Plyaer
+        Enable: 1
+        BundleMode: 0
+        AddressMode: 2
+        Tags: 
+        Collectors:
+        - {fileID: 102900000, guid: aa3f5467c0c153642ac320466aee0ec1, type: 3}
+        FilterEnum: 0
+        Filter: '*'
     - Path: Assets/ResRaw/Prefabs/Player/Anim/AnimationClip/CameraCrouch.anim
       Address: Plyaer/CameraCrouch
       Type: AnimationClip
diff --git a/Assets/CollectorSetting.asset b/Assets/CollectorSetting.asset
index 6c67b09f6..0adac03c4 100644
--- a/Assets/CollectorSetting.asset
+++ b/Assets/CollectorSetting.asset
@@ -13,7 +13,7 @@ MonoBehaviour:
   m_Name: CollectorSetting
   m_EditorClassIdentifier: 
   Packages:
-  - Name: Main
+  - Name: main
     Enable: 1
     Default: 1
     BundleOptions: 256
diff --git a/Assets/Obi.meta b/Assets/Obi.meta
index 9598b1984..a1435212a 100644
--- a/Assets/Obi.meta
+++ b/Assets/Obi.meta
@@ -1,8 +1,9 @@
 fileFormatVersion: 2
 guid: 36112b76e54ae47b48e48d646aee4ed0
 folderAsset: yes
+timeCreated: 1435850625
+licenseType: Store
 DefaultImporter:
-  externalObjects: {}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/CHANGELOG_rope.txt b/Assets/Obi/CHANGELOG_rope.txt
index 8183430e4..97384c8fa 100644
--- a/Assets/Obi/CHANGELOG_rope.txt
+++ b/Assets/Obi/CHANGELOG_rope.txt
@@ -1,22 +1,77 @@
 # Change Log
 All notable changes to “Obi - Advanced ropes for Unity” will be documented in this file.
 
-## [6.5.4]
+## [7.1]
+
+### Added
+- ObiBone now exposes one particle group per bone in the hierarchy, allowing to easily use attachments.
+- New ObiBoneOverride component that allows to override curve-driven properties for a specific sub-hierarchy.
+- Solvers can now optionally enforce boundary limits, so that particles can't go outside those limits. This is often more convenient than manually placing invisible colliders for the same purpose.
+- Dynamic ObiParticleAttachments now have a "projection" boolean, when enabled it forces the rendered position/orientation of the attached particles to match that of the attachment location, even if the constraint doesn't fully converge. This is useful to avoid visual gaps under extreme conditions.
+- Actors now have a "mass scale" parameter, that multiplies the mass of all particles in the blueprinyt at the time of loading it into the solver. This is handy to create actors of different masses without the need to create a new blueprint.
+- ObiForceZones now have a "color" parameter, that can be used to change the color of particles entering the zone.
+
+### Changed
+- Improved performance for large amounts of static colliders: they're not processed at all during ObiSolver.Update().
 
 ### Fixed
-- Workaround for kinematic rigidbody velocities not writable in Unity 2022.1 and above.
+- Null reference exception when using a ObiRopeExtrudedRenderer that doesn't reference a section asset.
 
-## [6.5.3]
+## [7.0.5]
+
+### Added
+- New pinhole constraint type and ObiPinhole component, that allows to constrain ropes to a point in space while allowing it to slide trough it. Supports two-way rigidbody coupling and can be motor driven.
+
+### Fixed
+- Erratic bend/twist constraint behavior when darboux vector is close to identity.
+- Crash when attempting to bake ObiRopeExtrudedRenderer paired with an ObiPathSmoother that uses a non-zero decimation factor.
+- IndexOutOfRangeError when having ropes using multiple different section assets and disabling all rope instances using one of them.
+- InvalidOperationException in Burst backend when having simulateWhenInvisible = false and solver not seen by any camera.
+
+## [7.0.4]
+
+### Fixed
+- Bug that caused inactive particles to still be rendered by ObiInstancedParticleRenderer.
+- Bug that preventing pin constraints' break threshold from working when using the Compute backend. 
+
+## [7.0.3]
+
+### Added
+- Object layer support for all renderers.
+- New "Synchronous Fixed" solver synchronization mode, similar to Obi 6, offers tighter integration with rigidbody physics.
+- New "Tangled Ropes" sample scene.
+
+## [7.0.2]
+
+### Fixed
+- Solvers not placed at the scene origin would result in actors having incorrect motion blur in HDRP.
+- Fixed issue when disabling all solvers and colliders simultaneously: ipon re-enabling them, the colliders would be ignored.
+- Issue withe ElectricalSparks sample scene, ObiRopePrefabPlugger sample component may sometimes thorw an exception dependin on Unity's OnEnable call order.
+- Rope would sometimes disappear when using aerodynamic constraints with zero wind in Burst, due to a math.project returning NaN. Replaced with math.projectsafe.
+
+## [7.0.1]
+
+### Added
+- BakeMesh functionality to ObiRopeChainRenderer, you can now export baked chain meshes.
+- Render layer mask support to all rope renderers and particle renderers.
+
+### Fixed
+- Sceneview mouse lookaround in flytrough mode (right click + drag) didn't work in the path editor in Windows.
+- Having a ObiParticleRenderer with no material applied resulted in a exception in builds due GetInstanceID() returning 0 in editor but raising a nullref exception in the build.
+
+## [7.0]
+
+### Added
+- Compute shader based GPU solver backend.
+- More efficient solver update cycle, that also removes the need to have ObiUpdater components.
+- Aerodynamic constraint support for ObiRope, ObiRod and ObiBone.
 
 ### Changed
-- Updated UnsafeList with its generic version for supporting newer versions of the Collections package.
+- Rendering system is now fully multithreaded, integrated with the solver backend.
 
-## [6.5.2]
-
-### Changed
-- Slightly improved overall performance by only updating collision material references during OnValidate()
-- Exposed solver.activeParticles and solver.colors as a ObiNativeIntList instead of int[], which allows to use them directly in jobs.
-- Updated for compatibility with newest Collections package.
+### Removed
+- Native library based 'Oni' solver backend.
+- ObiUpdater and all derived classes have been removed.
 
 ## [6.5.1]
 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
index 0676df0d8..c2c9e1233 100644
--- a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
@@ -85,7 +85,7 @@ namespace Obi
 
             EditorGUI.BeginChangeCheck();
             meshBasedEditor.particleCulling = (ObiMeshBasedActorBlueprintEditor.ParticleCulling)EditorGUILayout.EnumPopup("Culling", meshBasedEditor.particleCulling);
-            if (editor.selectedCount == 0)
+            if (ObiActorBlueprintEditor.selectedCount == 0)
             {
                 EditorGUILayout.HelpBox("Select at least one particle to use selection mask.", MessageType.Info);
                 selectionMask = false;
@@ -111,13 +111,16 @@ namespace Obi
 
         public override bool Editable(int index)
         {
-            return editor.visible[index] && (!selectionMask || editor.selectionStatus[index]);
+            return editor.visible[index] && (!selectionMask || ObiActorBlueprintEditor.selectionStatus[index]);
         }
 
         public override void OnSceneGUI(SceneView view)
         {
             if (Camera.current != null)
             {
+                var blueprint = meshBasedEditor.blueprint as ObiMeshBasedActorBlueprint;
+                paintBrush.raycastTransform = blueprint != null ? Matrix4x4.TRS(Vector3.zero, blueprint.rotation, blueprint.scale) : Matrix4x4.identity;
+
                 paintBrush.raycastTarget = meshBasedEditor.sourceMesh;
                 paintBrush.DoBrush(editor.blueprint.positions);
             }
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
index 99ff3bcdc..6a21eb662 100644
--- a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
@@ -32,8 +32,8 @@ namespace Obi
 
         public override string GetHelpString()
         {
-            if (editor.selectedCount > 0)
-                return "" + editor.selectedCount + " selected particles.";
+            if (ObiActorBlueprintEditor.selectedCount > 0)
+                return "" + ObiActorBlueprintEditor.selectedCount + " selected particles.";
             else
                 return "No particles selected. Click and drag over particles to select them.";
         }
@@ -65,12 +65,12 @@ namespace Obi
                 {
                     if ((Event.current.modifiers & EventModifiers.Shift) == 0)
                     {
-                        for (int p = 0; p < editor.selectionStatus.Length; p++)
-                            editor.selectionStatus[p] = false;
+                        for (int p = 0; p < ObiActorBlueprintEditor.selectionStatus.Length; p++)
+                            ObiActorBlueprintEditor.selectionStatus[p] = false;
                     }
 
                     foreach (int p in group.particleIndices)
-                        editor.selectionStatus[p] = true;
+                        ObiActorBlueprintEditor.selectionStatus[p] = true;
 
                     UpdateSelection();
                 }
@@ -78,9 +78,9 @@ namespace Obi
                 if (GUI.Button(new Rect(rect.x + rect.width * 0.5f, rect.y, rect.width * 0.5f, EditorGUIUtility.singleLineHeight), "Set", EditorStyles.miniButtonRight))
                 {
                     group.particleIndices.Clear();
-                    for (int p = 0; p < editor.selectionStatus.Length; p++)
+                    for (int p = 0; p < ObiActorBlueprintEditor.selectionStatus.Length; p++)
                     {
-                        if (editor.selectionStatus[p])
+                        if (ObiActorBlueprintEditor.selectionStatus[p])
                             group.particleIndices.Add(p);
                     }
                 }
@@ -95,9 +95,9 @@ namespace Obi
 
                 var group = editor.blueprint.AppendNewParticleGroup("new group");
 
-                for (int i = 0; i < editor.selectionStatus.Length; i++)
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
                 {
-                    if (editor.selectionStatus[i])
+                    if (ObiActorBlueprintEditor.selectionStatus[i])
                         group.particleIndices.Add(i);
                 }
 
@@ -116,33 +116,33 @@ namespace Obi
             GUILayout.FlexibleSpace();
             if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("InvertButton"), "Invert selection"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
             {
-                for (int i = 0; i < editor.selectionStatus.Length; i++)
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
                 {
                     if (editor.blueprint.IsParticleActive(i))
-                        editor.selectionStatus[i] = !editor.selectionStatus[i];
+                        ObiActorBlueprintEditor.selectionStatus[i] = !ObiActorBlueprintEditor.selectionStatus[i];
                 }
                 UpdateSelection();
             }
 
-            GUI.enabled = editor.selectedCount > 0;
+            GUI.enabled = ObiActorBlueprintEditor.selectedCount > 0;
             if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("ClearButton"), "Clear selection"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
             {
-                for (int i = 0; i < editor.selectionStatus.Length; i++)
-                    editor.selectionStatus[i] = false;
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
+                    ObiActorBlueprintEditor.selectionStatus[i] = false;
                 UpdateSelection();
             }
 
             if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("OptimizeButton"), "Optimize selected"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
             {
                 Undo.RecordObject(editor.blueprint, "Optimize particles away");
-                editor.blueprint.RemoveSelectedParticles(ref editor.selectionStatus);
+                editor.blueprint.RemoveSelectedParticles(ref ObiActorBlueprintEditor.selectionStatus);
                 editor.Refresh();
             }
 
             if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("RemoveButton"), "Remove selected"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
             {
                 Undo.RecordObject(editor.blueprint, "Remove particles");
-                editor.blueprint.RemoveSelectedParticles(ref editor.selectionStatus, false);
+                editor.blueprint.RemoveSelectedParticles(ref ObiActorBlueprintEditor.selectionStatus, false);
                 editor.Refresh();
             }
             GUI.enabled = true;
@@ -175,12 +175,12 @@ namespace Obi
                     maxSelectionValue = EditorGUILayout.FloatField("Maximum " + property.name, maxSelectionValue);
                     if (EditorGUI.EndChangeCheck())
                     {
-                        for (int i = 0; i < editor.selectionStatus.Length; i++)
+                        for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
                         {
                             if (editor.blueprint.IsParticleActive(i))
                             {
                                 var value = property.Get(i);
-                                editor.selectionStatus[i] = value >= minSelectionValue && value <= maxSelectionValue;
+                                ObiActorBlueprintEditor.selectionStatus[i] = value >= minSelectionValue && value <= maxSelectionValue;
                             }
                         }
                         UpdateSelection();
@@ -244,9 +244,9 @@ namespace Obi
             if (EditorGUI.EndChangeCheck())
             {
                 Undo.RecordObject(editor.blueprint, "Set particle property");
-                for (int i = 0; i < editor.selectionStatus.Length; i++)
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
                 {
-                    if (!editor.selectionStatus[i]) continue;
+                    if (!ObiActorBlueprintEditor.selectionStatus[i]) continue;
                     editor.currentProperty.SetDefaultToIndex(i);
                 }
                 editor.Refresh();
@@ -287,7 +287,7 @@ namespace Obi
             EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
 
                 editor.RenderModeSelector();
-                editor.dotRadiusScale = EditorGUILayout.Slider(new GUIContent("Particle dot size"), editor.dotRadiusScale, 0, 5);
+                ObiActorBlueprintEditor.dotRadiusScale = EditorGUILayout.Slider(new GUIContent("Particle dot size"), ObiActorBlueprintEditor.dotRadiusScale, 0, 5);
                 editor.currentProperty.VisualizationOptions();
            
             EditorGUILayout.EndVertical();
@@ -301,31 +301,31 @@ namespace Obi
 
         protected void UpdateSelection()
         {
-            editor.selectedCount = 0;
+            ObiActorBlueprintEditor.selectedCount = 0;
             mixedPropertyValue = false;
 
             // Find out how many selected particles we have, and whether they all have the same value for the current property:
-            for (int i = 0; i < editor.selectionStatus.Length; i++)
+            for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; i++)
             {
-                if (editor.blueprint.IsParticleActive(i) && editor.selectionStatus[i])
+                if (editor.blueprint.IsParticleActive(i) && ObiActorBlueprintEditor.selectionStatus[i])
                 {
-                    editor.selectedCount++;
+                    ObiActorBlueprintEditor.selectedCount++;
 
-                    if (editor.activeParticle >= 0)
+                    if (ObiActorBlueprintEditor.activeParticle >= 0)
                     {
-                        if (!editor.currentProperty.Equals(editor.activeParticle, i))
+                        if (!editor.currentProperty.Equals(ObiActorBlueprintEditor.activeParticle, i))
                             mixedPropertyValue = true;
                     }
                     else
-                        editor.activeParticle = i;
+                        ObiActorBlueprintEditor.activeParticle = i;
                 }
-                else if (editor.activeParticle == i)
-                    editor.activeParticle = -1;
+                else if (ObiActorBlueprintEditor.activeParticle == i)
+                    ObiActorBlueprintEditor.activeParticle = -1;
             }
 
             // Set initial property value:
-            if (!mixedPropertyValue && editor.activeParticle >= 0)
-                editor.currentProperty.GetDefaultFromIndex(editor.activeParticle);
+            if (!mixedPropertyValue && ObiActorBlueprintEditor.activeParticle >= 0)
+                editor.currentProperty.GetDefaultFromIndex(ObiActorBlueprintEditor.activeParticle);
 
             editor.Repaint();
             SceneView.RepaintAll();
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
index 2eb81ee9d..8ceee4b05 100644
--- a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
@@ -52,7 +52,7 @@ namespace Obi
 
         private void FloatFromTexture(int i, Color color)
         {
-            if (!selectionMask || editor.selectionStatus[i])
+            if (!selectionMask || ObiActorBlueprintEditor.selectionStatus[i])
             {
                 float value = minPropertyValue + color[(int)textureChannel] * (maxPropertyValue - minPropertyValue);
                 floatProperty.Set(i, value);
@@ -61,7 +61,7 @@ namespace Obi
 
         private void ColorFromTexture(int i, Color color)
         {
-            if (!selectionMask || editor.selectionStatus[i])
+            if (!selectionMask || ObiActorBlueprintEditor.selectionStatus[i])
                 colorProperty.Set(i, color);
         }
 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
index f89078b36..a1e4d29fe 100644
--- a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
@@ -57,20 +57,20 @@ namespace Obi
             if (GUILayout.Button("Generate tethers",GUILayout.MinHeight(32)))
             {
                 // Select all particles in the tethered groups:
-                for (int i = 0; i < editor.selectionStatus.Length; ++i)
+                for (int i = 0; i < ObiActorBlueprintEditor.selectionStatus.Length; ++i)
                 {
-                    editor.selectionStatus[i] = false;
+                    ObiActorBlueprintEditor.selectionStatus[i] = false;
                     for (int j = 0; j < tetheredGroups.Length; ++j)
                     {
                         if (tetheredGroups[j] && editor.blueprint.groups[j].ContainsParticle(i))
                         {
-                            editor.selectionStatus[i] = true;
+                            ObiActorBlueprintEditor.selectionStatus[i] = true;
                             break;
                         }
                     }
                 }
 
-                editor.blueprint.GenerateTethers(editor.selectionStatus);
+                editor.blueprint.GenerateTethers(ObiActorBlueprintEditor.selectionStatus);
                 editor.Refresh();
             }
 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
index 953b3220d..341b491bb 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
@@ -17,7 +17,7 @@ namespace Obi
         protected override float WeightFromDistance(float distance)
         {
             // anything outside the brush should have zero weight:
-            if (distance > radius)
+            if (distance * EditorGUIUtility.pixelsPerPoint > radius)
                 return 0;
             return 1;
         }
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
index 490c584b5..0e819c697 100644
--- a/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
@@ -14,29 +14,27 @@ namespace Obi
     [CustomEditor(typeof(ObiActorBlueprint), true)]
     public class ObiActorBlueprintEditor : Editor, IObiSelectableParticleProvider
     {
-        protected IEnumerator routine;
-
         public List<ObiBlueprintEditorTool> tools = new List<ObiBlueprintEditorTool>();
         public int currentToolIndex = 0;
 
-        protected List<ObiBlueprintPropertyBase> properties = new List<ObiBlueprintPropertyBase>();
+        public List<ObiBlueprintPropertyBase> properties = new List<ObiBlueprintPropertyBase>();
         public int currentPropertyIndex = 0;
 
-        protected List<ObiBlueprintRenderMode> renderModes = new List<ObiBlueprintRenderMode>();
+        public List<ObiBlueprintRenderMode> renderModes = new List<ObiBlueprintRenderMode>();
         public int renderModeFlags = 0;
         BooleanPreference showRenderModes;
 
+        public bool autoGenerate = false;
         public bool editMode = false;
         public bool isEditing = false;
-        protected List<SceneStateCache> m_SceneStates;
-        protected SceneSetup[] oldSetup;
         protected UnityEngine.Object oldSelection;
 
         //Additional status info for all particles:
-        public float dotRadiusScale = 1;
-        public int selectedCount = 0;
-        public int activeParticle = -1;
-        public bool[] selectionStatus = new bool[0];
+        public static float dotRadiusScale = 1;
+        public static int selectedCount = 0;
+        public static int activeParticle = -1;
+        public static bool[] selectionStatus = new bool[0];
+
         public bool[] visible = new bool[0];
         public Color[] tint = new Color[0];
         protected float[] sqrDistanceToCamera = new float[0];
@@ -78,6 +76,10 @@ namespace Obi
 
         public virtual void OnEnable()
         {
+            properties.Clear();
+            renderModes.Clear();
+            tools.Clear();
+
             properties.Add(new ObiBlueprintMass(this));
             properties.Add(new ObiBlueprintRadius(this));
             properties.Add(new ObiBlueprintFilterCategory(this));
@@ -88,11 +90,12 @@ namespace Obi
 
 #if (UNITY_2019_1_OR_NEWER)
             renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { DrawWithCamera(cam); });
-            RenderPipelineManager.beginCameraRendering -= renderCallback;
             RenderPipelineManager.beginCameraRendering += renderCallback;
 #endif
-            Camera.onPreCull -= DrawWithCamera;
             Camera.onPreCull += DrawWithCamera;
+            SceneView.duringSceneGui += OnSceneGUI;
+
+            EditorApplication.playModeStateChanged += OnPlayModeStateChanged;
         }
 
         public virtual void OnDisable()
@@ -103,8 +106,8 @@ namespace Obi
             RenderPipelineManager.beginCameraRendering -= renderCallback;
 #endif
             Camera.onPreCull -= DrawWithCamera;
-
-            ObiParticleEditorDrawing.DestroyParticlesMesh();
+            SceneView.duringSceneGui -= OnSceneGUI;
+            EditorApplication.playModeStateChanged -= OnPlayModeStateChanged;
 
             foreach (var tool in tools)
             {
@@ -116,51 +119,77 @@ namespace Obi
             {
                 renderMode.OnDestroy();
             }
-
-            properties.Clear();
-            renderModes.Clear();
         }
 
-        protected void Generate()
+        void OnPlayModeStateChanged(PlayModeStateChange playmodeState)
         {
-            if (blueprint.empty)
+            if (playmodeState == PlayModeStateChange.ExitingEditMode)
+            {
+                if (StageUtility.GetCurrentStage() is ObiActorBlueprintEditorStage)
+                    StageUtility.GoToMainStage();
+            }
+        }
+
+        protected bool Generate()
+        {
+            if (!blueprint.edited)
             {
                 EditorUtility.SetDirty(target);
                 CoroutineJob job = new CoroutineJob();
-                routine = job.Start(blueprint.Generate());
-                EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", ref routine);
+                IEnumerator routine = job.Start(blueprint.Generate());
+                EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", routine);
                 Refresh();
                 EditorGUIUtility.ExitGUI();
             }
             else
             {
-                if (EditorUtility.DisplayDialog("Blueprint generation", "This blueprint already contains data. Are you sure you want to re-generate this blueprint from scratch?", "Ok", "Cancel"))
+                if (EditorUtility.DisplayDialog("Blueprint generation", "This blueprint contains manually edited data. If you regenerate the blueprint, these changes will be lost. Are you sure you want to proceed?", "Ok", "Cancel"))
                 {
                     EditorUtility.SetDirty(target);
                     CoroutineJob job = new CoroutineJob();
-                    routine = job.Start(blueprint.Generate());
-                    EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", ref routine);
+                    IEnumerator routine = job.Start(blueprint.Generate());
+                    EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", routine);
                     Refresh();
                     EditorGUIUtility.ExitGUI();
                 }
+                else return false;
             }
+            return true;
         }
 
         protected virtual bool ValidateBlueprint() { return true; }
 
+        private void DrawGenerationControls()
+        {
+            GUILayout.BeginHorizontal();
+
+                float originalLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 72;
+                autoGenerate = EditorGUILayout.ToggleLeft("Auto Generate", autoGenerate, GUILayout.ExpandWidth(false));
+                EditorGUIUtility.labelWidth = originalLabelWidth;
+
+                GUI.enabled = !autoGenerate;
+                if (GUILayout.Button("Generate", GUI.skin.FindStyle("LargeButton"), GUILayout.Height(32)))
+                    Generate();
+
+            GUILayout.EndHorizontal();
+        }
+
         public override void OnInspectorGUI()
         {
-
             serializedObject.UpdateIfRequiredOrScript();
 
             EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
 
+            EditorGUI.BeginChangeCheck();
             DrawBlueprintProperties();
+            bool blueprintPropertiesChanged = EditorGUI.EndChangeCheck();
+            bool blueprintValid = ValidateBlueprint();
 
             GUILayout.Space(10);
-            GUI.enabled = ValidateBlueprint();
-            if (GUILayout.Button("Generate", GUI.skin.FindStyle("LargeButton"), GUILayout.Height(32)))
-                Generate();
+
+            GUI.enabled = blueprintValid;
+            DrawGenerationControls();
 
             GUI.enabled = (blueprint != null && !blueprint.empty && !Application.isPlaying);
             EditorGUI.BeginChangeCheck();
@@ -180,7 +209,10 @@ namespace Obi
 
             if (GUI.changed)
             {
-                serializedObject.ApplyModifiedProperties();
+                serializedObject.ApplyModifiedPropertiesWithoutUndo();
+
+                if (autoGenerate && blueprintValid && blueprintPropertiesChanged)             
+                    blueprint.GenerateImmediate();
 
                 // There might be blueprint editing operations that have no undo entry, so do this to 
                 // ensure changes are serialized to disk by Unity.
@@ -206,51 +238,17 @@ namespace Obi
             }
         }
 
-
-        [System.Serializable]
-        protected class SceneStateCache
-        {
-            public SceneView view;
-            public SceneView.SceneViewState state;
-        }
-
         void EnterBlueprintEditMode()
         {
             if (!isEditing)
             {
-#if (UNITY_2019_1_OR_NEWER)
-                SceneView.duringSceneGui -= this.OnSceneGUI;
-                SceneView.duringSceneGui += this.OnSceneGUI;
-#else
-                SceneView.onSceneGUIDelegate -= this.OnSceneGUI;
-                SceneView.onSceneGUIDelegate += this.OnSceneGUI;
-#endif
+                ActiveEditorTracker.sharedTracker.isLocked = true;
 
-                oldSelection = Selection.activeObject;
-                if (EditorSceneManager.SaveCurrentModifiedScenesIfUserWantsTo())
-                {
-                    ActiveEditorTracker.sharedTracker.isLocked = true;
+                string assetPath = AssetDatabase.GetAssetPath(blueprint);
+                ObiActorBlueprintEditorStage stage = ObiActorBlueprintEditorStage.CreateStage(assetPath, this);
+                StageUtility.GoToStage(stage, true);
 
-                    oldSetup = EditorSceneManager.GetSceneManagerSetup();
-                    EditorSceneManager.NewScene(NewSceneSetup.EmptyScene);
-
-                    // Set properties for all scene views:
-                    m_SceneStates = new List<SceneStateCache>();
-                    foreach (SceneView s in SceneView.sceneViews)
-                    {
-                        m_SceneStates.Add(new SceneStateCache { state = new SceneView.SceneViewState(s.sceneViewState), view = s });
-                        s.sceneViewState.showFlares = false;
-                        s.sceneViewState.alwaysRefresh = false;
-                        s.sceneViewState.showFog = false;
-                        s.sceneViewState.showSkybox = false;
-                        s.sceneViewState.showImageEffects = false;
-                        s.sceneViewState.showParticleSystems = false;
-                        s.Frame(blueprint.bounds);
-                    }
-
-                    isEditing = true;
-                    Repaint();
-                }
+                isEditing = true;
             }
         }
 
@@ -258,52 +256,18 @@ namespace Obi
         {
             if (isEditing)
             {
-
                 isEditing = false;
-
                 AssetDatabase.SaveAssets();
-
-                // Reset all scene views:
-                foreach (var state in m_SceneStates)
-                {
-                    if (state.view == null)
-                        continue;
-
-                    state.view.sceneViewState.showFog = state.state.showFog;
-                    state.view.sceneViewState.showFlares = state.state.showFlares;
-                    state.view.sceneViewState.alwaysRefresh = state.state.alwaysRefresh;
-                    state.view.sceneViewState.showSkybox = state.state.showSkybox;
-                    state.view.sceneViewState.showImageEffects = state.state.showImageEffects;
-                    state.view.sceneViewState.showParticleSystems = state.state.showParticleSystems;
-                }
-
-                ActiveEditorTracker.sharedTracker.isLocked = false;
-
-                if (SceneManager.GetActiveScene().path.Length <= 0)
-                {
-                    if (oldSetup != null && oldSetup.Length > 0)
-                    {
-                        EditorSceneManager.RestoreSceneManagerSetup(oldSetup);
-                        oldSetup = null;
-                    }
-                    else
-                    {
-                        EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
-                    }
-                }
-
-                Selection.activeObject = oldSelection;
-
-#if (UNITY_2019_1_OR_NEWER)
-                SceneView.duringSceneGui -= this.OnSceneGUI;
-#else
-                SceneView.onSceneGUIDelegate -= this.OnSceneGUI;
-#endif
-
-                Repaint();
+                StageUtility.GoToMainStage();
             }
         }
 
+        public void CleanupEditor()
+        {
+            ActiveEditorTracker.sharedTracker.isLocked = false;
+            ObiParticleEditorDrawing.DestroyParticlesMesh();
+        }
+
         public virtual void OnSceneGUI(SceneView sceneView)
         {
 
@@ -318,7 +282,7 @@ namespace Obi
             {
 
                 // Update camera facing status and world space positions array:
-                UpdateParticleVisibility();
+                UpdateParticleVisibility(sceneView.camera);
 
                 // Generate sorted indices for back-to-front rendering:
                 for (int i = 0; i < sortedIndices.Length; i++)
@@ -339,7 +303,7 @@ namespace Obi
                 UpdateTintColor();
 
                 // Draw particle handles:
-                ObiParticleEditorDrawing.DrawParticles(sceneView.camera, blueprint, activeParticle, visible, tint, sortedIndices, dotRadiusScale);
+                ObiParticleEditorDrawing.DrawParticles(sceneView.camera, blueprint, visible, tint, sortedIndices, dotRadiusScale);
 
             }
 
@@ -370,6 +334,7 @@ namespace Obi
         {
             if (blueprint.positions != null)
             {
+                activeParticle = Mathf.Min(activeParticle, blueprint.positions.Length - 1);
                 Array.Resize(ref selectionStatus, blueprint.positions.Length);
                 Array.Resize(ref visible, blueprint.positions.Length);
                 Array.Resize(ref tint, blueprint.positions.Length);
@@ -413,7 +378,9 @@ namespace Obi
 
         public void Refresh()
         {
-            currentProperty.RecalculateMinMax();
+            // currentProperty might be null after reloading editor during
+            // asset saving.
+            currentProperty?.RecalculateMinMax();
 
             // refresh render modes:
             for (int i = 0; i < renderModes.Count; ++i)
@@ -425,7 +392,7 @@ namespace Obi
             SceneView.RepaintAll();
         }
 
-        public virtual void UpdateParticleVisibility()
+        public virtual void UpdateParticleVisibility(Camera cam)
         {
 
             for (int i = 0; i < blueprint.positions.Length; i++)
@@ -436,7 +403,7 @@ namespace Obi
 
                     if (Camera.current != null)
                     {
-                        Vector3 camToParticle = Camera.current.transform.position - blueprint.positions[i];
+                        Vector3 camToParticle = cam.transform.position - blueprint.positions[i];
                         sqrDistanceToCamera[i] = camToParticle.sqrMagnitude;
                     }
                 }
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs
new file mode 100644
index 000000000..561ee8976
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs
@@ -0,0 +1,72 @@
+using System;
+using System.IO;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    class ObiActorBlueprintEditorStage : PreviewSceneStage
+    {
+        ObiActorBlueprintEditor m_BlueprintEditor;
+
+        string m_AssetPath;
+        public override string assetPath { get { return m_AssetPath; } }
+
+        internal static ObiActorBlueprintEditorStage CreateStage(string assetPath, ObiActorBlueprintEditor avatarEditor)
+        {
+            ObiActorBlueprintEditorStage stage = CreateInstance<ObiActorBlueprintEditorStage>();
+            stage.Init(assetPath, avatarEditor);
+            return stage;
+        }
+
+        private void Init(string modelAssetPath, ObiActorBlueprintEditor avatarEditor)
+        {
+            m_AssetPath = modelAssetPath;
+            m_BlueprintEditor = avatarEditor;
+        }
+
+        protected override bool OnOpenStage()
+        {
+            base.OnOpenStage();
+
+            if (!File.Exists(assetPath))
+            {
+                Debug.LogError("ActivateStage called on BlueprintStage with an invalid path: Blueprint file not found " + assetPath);
+                return false;
+            }
+
+            return true;
+        }
+
+        protected override void OnCloseStage()
+        {
+            m_BlueprintEditor.CleanupEditor();
+
+            base.OnCloseStage();
+        }
+
+        protected override void OnFirstTimeOpenStageInSceneView(SceneView sceneView)
+        {
+            // Frame in scene view
+            sceneView.Frame(m_BlueprintEditor.blueprint.bounds);
+
+            // Setup Scene view state
+            sceneView.sceneViewState.showFlares = false;
+            sceneView.sceneViewState.alwaysRefresh = false;
+            sceneView.sceneViewState.showFog = false;
+            sceneView.sceneViewState.showSkybox = false;
+            sceneView.sceneViewState.showImageEffects = false;
+            sceneView.sceneViewState.showParticleSystems = false;
+            sceneView.sceneLighting = true;
+        }
+
+        protected override GUIContent CreateHeaderContent()
+        {
+            return new GUIContent(
+                "Blueprint Editor",
+                Resources.Load<Texture2D>("Icons/ObiActorBlueprint Icon"));
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta
similarity index 83%
rename from Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta
rename to Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta
index d0ff571de..91b16abee 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditorStage.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 7834dd4a6de2346b5b36154d6aaa531a
+guid: 4c8d9d8042d49436c89c515b001088ac
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
index 2bedb1c7a..98630677a 100644
--- a/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
@@ -18,6 +18,7 @@ namespace Obi
         }
 
         protected Mesh visualizationMesh;
+        protected Mesh visualizationWireMesh;
         public ParticleCulling particleCulling = ParticleCulling.Back;
        
         protected Material gradientMaterial;
@@ -75,46 +76,50 @@ namespace Obi
 
         public abstract int VertexToParticle(int vertexIndex);
 
-        public override void UpdateParticleVisibility()
+        public override void UpdateParticleVisibility(Camera cam)
         {
-            if (sourceMesh != null && Camera.current != null)
+            if (cam != null)
             {
-                Vector3[] meshNormals = sourceMesh.normals;
-                for (int i = 0; i < sourceMesh.vertexCount; i++)
+                for (int i = 0; i < blueprint.positions.Length; i++)
                 {
-                    int particle = VertexToParticle(i);
-
-                    if (particle >= 0 && particle < blueprint.positions.Length)
+                    if (blueprint.IsParticleActive(i))
                     {
-                        Vector3 camToParticle = Camera.current.transform.position - blueprint.positions[particle];
+                        Vector3 camToParticle = cam.transform.position - blueprint.positions[i];
+                        sqrDistanceToCamera[i] = camToParticle.sqrMagnitude;
 
-                        sqrDistanceToCamera[particle] = camToParticle.sqrMagnitude;
+                        Vector3 normal;
 
                         switch (particleCulling)
                         {
                             case ParticleCulling.Off:
-                                visible[particle] = true;
+                                visible[i] = true;
                                 break;
                             case ParticleCulling.Back:
-                                visible[particle] = Vector3.Dot(meshNormals[i], camToParticle) > 0;
+                                normal = blueprint.restOrientations[i] * Vector3.forward;
+                                visible[i] = Vector3.Dot(normal, camToParticle) > 0;
                                 break;
                             case ParticleCulling.Front:
-                                visible[particle] = Vector3.Dot(meshNormals[i], camToParticle) <= 0;
+                                normal = blueprint.restOrientations[i] * Vector3.forward;
+                                visible[i] = Vector3.Dot(normal, camToParticle) <= 0;
                                 break;
                         }
                     }
-
                 }
 
                 if ((renderModeFlags & 1) != 0)
                     Refresh();
             }
-
         }
 
         public void DrawGradientMesh(float[] vertexWeights = null, float[] wireframeWeights = null)
         {
+            // Due to this Unity bug: https://issuetracker.unity3d.com/issues/drawmeshnow-is-not-drawing-mesh-immediately-dx12
+            // we need to create two meshes insteaf of one :(
+            if (sourceMesh == null)
+                return;
+
             visualizationMesh = GameObject.Instantiate(sourceMesh);
+            visualizationWireMesh = GameObject.Instantiate(sourceMesh);
 
             if (gradientMaterial.SetPass(0))
             {
@@ -157,15 +162,16 @@ namespace Obi
                             colors[i] = Color.gray;
                     }
 
-                    visualizationMesh.colors = colors;
+                    visualizationWireMesh.colors = colors;
                     GL.wireframe = true;
-                    Graphics.DrawMeshNow(visualizationMesh, matrix);
+                    Graphics.DrawMeshNow(visualizationWireMesh, matrix);
                     GL.wireframe = false;
                 }
 
             }
 
             GameObject.DestroyImmediate(visualizationMesh);
+            GameObject.DestroyImmediate(visualizationWireMesh);
         }
 
       
@@ -223,7 +229,8 @@ namespace Obi
             RenderTexture.active = tempRT;
 
             GL.PushMatrix();
-            GL.LoadProjectionMatrix(Matrix4x4.Ortho(0, 1, 0, 1, -1, 1));
+
+            var proj = Matrix4x4.Ortho(0, 1, 0, 1, -1, 1);
            if (Camera.current != null) proj = proj * Camera.current.worldToCameraMatrix.inverse;
            GL.LoadProjectionMatrix(proj);
 
             Color[] colors = new Color[sourceMesh.vertexCount];
             for (int i = 0; i < colors.Length; i++)
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
index 37cc9734a..b3af4d4a8 100644
--- a/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
@@ -32,7 +32,7 @@ namespace Obi
             GameObject.DestroyImmediate(particlesMesh);
         }
 
-        public static void DrawParticles(Camera cam, ObiActorBlueprint blueprint, int activeParticle, bool[] visible, Color[] baseColor, int[] sortedIndices, float radiusScale = 1)
+        public static void DrawParticles(Camera cam, ObiActorBlueprint blueprint, bool[] visible, Color[] baseColor, int[] sortedIndices, float radiusScale = 1)
         {
             CreateParticlesMesh();
             CreateParticleMaterials();
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
index dfa50af4c..83d73b9fd 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
@@ -22,6 +22,7 @@ namespace Obi
         public override void Set(int index, Color value)
         {
             editor.blueprint.colors[index] = value;
+            editor.blueprint.edited = true;
         }
         public override bool Masked(int index)
         {
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
index 6441902ee..acd53eef4 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
@@ -22,6 +22,7 @@ namespace Obi
         public override void Set(int index, int value)
         {
             editor.blueprint.filters[index] = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(editor.blueprint.filters[index]), value);
+            editor.blueprint.edited = true;
         }
         public override bool Masked(int index)
         {
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
index 42dcc76f4..6c2d57b57 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
@@ -22,6 +22,7 @@
         public override void Set(int index, int value)
         {
             editor.blueprint.filters[index] = ObiUtils.MakeFilter(value,ObiUtils.GetCategoryFromFilter(editor.blueprint.filters[index]));
+            editor.blueprint.edited = true;
         }
         public override bool Masked(int index)
         {
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
index f45dcc2eb..32b0e3dd6 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
@@ -23,6 +23,7 @@ namespace Obi
         public override void Set(int index, float value)
         {
             editor.blueprint.invMasses[index] = ObiUtils.MassToInvMass(value);
+            editor.blueprint.edited = true;
         }
         public override bool Masked(int index)
         {
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
index 2c41466bb..21f8d384e 100644
--- a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
@@ -27,6 +27,7 @@ namespace Obi
             value = Mathf.Max(0.0000001f, value);
             float ratio = value / Get(index);
             editor.blueprint.principalRadii[index] = editor.blueprint.principalRadii[index] * ratio;
+            editor.blueprint.edited = true;
         }
         public override bool Masked(int index)
         {
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
index 634c56b95..2f3473b9d 100644
--- a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
@@ -24,10 +24,10 @@ namespace Obi
             {
                 ObiPaintBrushEditorTool paintTool = (ObiPaintBrushEditorTool)meshBasedEditor.currentTool;
 
-                float[] weights = new float[editor.selectionStatus.Length];
+                float[] weights = new float[ObiActorBlueprintEditor.selectionStatus.Length];
                 for (int i = 0; i < weights.Length; i++)
                 {
-                    if (paintTool.selectionMask && !editor.selectionStatus[i])
+                    if (paintTool.selectionMask && !ObiActorBlueprintEditor.selectionStatus[i])
                         weights[i] = 0;
                     else
                         weights[i] = 1;
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
index 4465ebfe3..47135af02 100644
--- a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
@@ -13,11 +13,13 @@ namespace Obi
         private Shader shader;
         private Material material;
         private ParticleImpostorRendering impostorDrawer;
+        private MaterialPropertyBlock mpb;
 
         public ObiBlueprintRenderModeParticles(ObiActorBlueprintEditor editor) :base(editor)
         {
             impostorDrawer = new ParticleImpostorRendering();
             impostorDrawer.UpdateMeshes(editor.blueprint);
+            mpb = new MaterialPropertyBlock();
         }
 
         void CreateMaterialIfNeeded()
@@ -43,8 +45,10 @@ namespace Obi
         public override void DrawWithCamera(Camera camera) 
         {
             CreateMaterialIfNeeded();
+            mpb.SetFloat("_RadiusScale", 1);
+            mpb.SetColor("_ParticleColor", Color.white);
             foreach (Mesh mesh in impostorDrawer.Meshes)
-                Graphics.DrawMesh(mesh, Matrix4x4.identity, material, 0, camera);
+                Graphics.DrawMesh(mesh, Matrix4x4.identity, material, 0, camera, 0, mpb);
         }
 
         public override void Refresh()
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
index 310bbddb8..548574a92 100644
--- a/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
+++ b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
@@ -1,11 +1,12 @@
 using UnityEditor;
 using UnityEngine;
 
-namespace Obi{
-	
-	[CustomEditor(typeof(ObiColliderBase), true), CanEditMultipleObjects] 
-	public class ObiColliderEditor : Editor
-	{
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiColliderBase), true), CanEditMultipleObjects]
+    public class ObiColliderEditor : Editor
+    {
 
         ObiColliderBase collider;
         SerializedProperty collisionFilter;
@@ -16,11 +17,42 @@ namespace Obi{
             collisionFilter = serializedObject.FindProperty("filter");
         }
 
+        protected void NonReadableMeshWarning(Mesh mesh)
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.helpBox);
+            Texture2D icon = EditorGUIUtility.Load("icons/console.erroricon.png") as Texture2D;
+            EditorGUILayout.LabelField(new GUIContent("The input mesh is not readable. Read/Write must be enabled in the mesh import settings.", icon), EditorStyles.wordWrappedMiniLabel);
+
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            if (GUILayout.Button("Fix now", GUILayout.MaxWidth(100), GUILayout.MinHeight(32)))
+            {
+                string assetPath = AssetDatabase.GetAssetPath(mesh);
+                ModelImporter modelImporter = AssetImporter.GetAtPath(assetPath) as ModelImporter;
+                if (modelImporter != null)
+                {
+                    modelImporter.isReadable = true;
+                }
+                modelImporter.SaveAndReimport();
+            }
+            EditorGUILayout.EndHorizontal();
+            EditorGUILayout.EndVertical();
+        }
+
         public override void OnInspectorGUI()
         {
 
             serializedObject.UpdateIfRequiredOrScript();
 
+            foreach (ObiColliderBase t in targets)
+            {
+                ObiMeshShapeTracker meshTracker = t.Tracker as ObiMeshShapeTracker;
+                if (meshTracker != null)
+                {
+                    if (meshTracker.targetMesh != null && !meshTracker.targetMesh.isReadable)
+                        NonReadableMeshWarning(meshTracker.targetMesh);
+                }
+            }
 
             var rect = EditorGUILayout.GetControlRect();
             var label = EditorGUI.BeginProperty(rect, new GUIContent("Collision category"), collisionFilter);
@@ -56,8 +88,13 @@ namespace Obi{
             }
             EditorGUI.EndProperty();
 
+            DrawPropertiesExcluding(serializedObject, "m_Script", "CollisionMaterial", "filter", "Thickness", "Inverted");
 
-            DrawPropertiesExcluding(serializedObject, "m_Script", "CollisionMaterial", "filter", "Thickness");
+            foreach (ObiColliderBase t in targets)
+            {
+                if (!t.gameObject.isStatic)
+                    t.ForceUpdate();
+            }
 
             // Apply changes to the serializedProperty
             if (GUI.changed)
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
index 2e205425e..1ca4989cb 100644
--- a/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
+++ b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
@@ -68,7 +68,7 @@ namespace Obi{
 				EditorUtility.SetDirty(target);
 				CoroutineJob job = new CoroutineJob();
 				routine = job.Start( distanceField.Generate());
-				EditorCoroutine.ShowCoroutineProgressBar("Generating distance field",ref routine);
+				EditorCoroutine.ShowCoroutineProgressBar("Generating distance field", routine);
 				UpdatePreview();
 				EditorGUIUtility.ExitGUI();
 			}
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs b/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs
new file mode 100644
index 000000000..884ac4c0e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs
@@ -0,0 +1,30 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+	 * Custom inspector for ObiForceZone component. 
+	 */
+
+    [CustomEditor(typeof(ObiForceZone)), CanEditMultipleObjects]
+    public class ObiForceZoneEditor : Editor
+    {
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+        }
+
+    }
+
+}
+
diff --git a/Assets/Obi/Editor/Common/ObiOniInitialize.cs.meta b/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta
similarity index 83%
rename from Assets/Obi/Editor/Common/ObiOniInitialize.cs.meta
rename to Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta
index 6551e37e3..99479b1eb 100644
--- a/Assets/Obi/Editor/Common/ObiOniInitialize.cs.meta
+++ b/Assets/Obi/Editor/Common/Collisions/ObiForceZoneEditor.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: e97d151316d5f4d16ac5ae6e68acccb6
+guid: 724435a7a84154b27bb0c8ea49b611df
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
index 65fb7e83f..579843b35 100644
--- a/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
+++ b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
@@ -24,10 +24,20 @@ namespace Obi
             GUI.Box(position,"",ObiEditorUtils.GetToggleablePropertyGroupStyle());
 			GUI.enabled = true;
 
-			// Draw main constraint toggle:
-            enabled.boolValue = EditorGUI.ToggleLeft(contRect, label.text, enabled.boolValue, EditorStyles.boldLabel);
+            // Draw main constraint toggle:
+            EditorGUI.BeginProperty(position, label, enabled);
+            EditorGUI.BeginChangeCheck();
+            var newEnabled = EditorGUI.ToggleLeft(contRect, label.text, enabled.boolValue, EditorStyles.boldLabel);
+            // Only assign the value back if it was actually changed by the user.
+            // Otherwise a single value will be assigned to all objects when multi-object editing,
+            // even when the user didn't touch the control.
+            if (EditorGUI.EndChangeCheck())
+            {
+                enabled.boolValue = newEnabled;
+            }
+            EditorGUI.EndProperty();
 
-			if (enabled.boolValue){
+            if (enabled.boolValue){
 	
 				Rect evalRect = new Rect(position.x+padding, position.y+propHeight+padding, position.width-padding*2, propHeight);
 	       		Rect iterRect = new Rect(position.x+padding, position.y+propHeight*2+padding, position.width-padding*2, propHeight);
diff --git a/Assets/Obi/Editor/Common/ObiOniInitialize.cs b/Assets/Obi/Editor/Common/ObiOniInitialize.cs
deleted file mode 100644
index 49c1e0fb0..000000000
--- a/Assets/Obi/Editor/Common/ObiOniInitialize.cs
+++ /dev/null
@@ -1,36 +0,0 @@
-using System;
-using System.Collections.Generic;
-using UnityEditor;
-
-namespace Obi
-{
-    [InitializeOnLoad]
-    public class ObiOniInitialize
-    {
-        private static BuildTargetGroup[] supportedBuildTargetGroups =
-        {
-                BuildTargetGroup.Standalone,
-                BuildTargetGroup.Android,
-                BuildTargetGroup.iOS
-        };
-
-        static ObiOniInitialize()
-        {
-
-            foreach(var group in supportedBuildTargetGroups)
-            {
-                var defines = GetDefinesList(group);
-                if (!defines.Contains("OBI_ONI_SUPPORTED"))
-                {
-                    defines.Add("OBI_ONI_SUPPORTED");
-                    PlayerSettings.SetScriptingDefineSymbolsForGroup(group, string.Join(";", defines.ToArray()));
-                }
-            }
-        }
-
-        private static List<string> GetDefinesList(BuildTargetGroup group)
-        {
-            return new List<string>(PlayerSettings.GetScriptingDefineSymbolsForGroup(group).Split(';'));
-        }
-    }
-}
diff --git a/Assets/Obi/Editor/Common/ObiSettingsProvider.cs b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
index 168c3046e..a03cb52b5 100644
--- a/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
+++ b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
@@ -15,7 +15,9 @@ namespace Obi
             public static GUIContent brushWireframe = new GUIContent("Brush wireframe");
             public static GUIContent particle = new GUIContent("Particle");
             public static GUIContent selectedParticle = new GUIContent("Selected particle");
+            public static GUIContent activeParticle = new GUIContent("Active particle");
             public static GUIContent propertyGradient = new GUIContent("Property gradient");
+            public static GUIContent particlePicking = new GUIContent("Particle GO picking");
         }
 
         const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
@@ -52,7 +54,11 @@ namespace Obi
             EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_BrushWireframe"),Styles.brushWireframe);
             EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_Particle"),Styles.particle);
             EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_SelectedParticle"),Styles.selectedParticle);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ActiveParticle"), Styles.activeParticle);
             EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_PropertyGradient"), Styles.propertyGradient);
+
+            EditorGUILayout.LabelField("Scene view", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ParticlePicking"), Styles.particlePicking);
         }
 
         // Register the SettingsProvider
diff --git a/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
index 1c9e190b7..bf3eebebb 100644
--- a/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
+++ b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
@@ -1,5 +1,6 @@
 using UnityEditor;
 using UnityEngine;
+using UnityEditor.IMGUI.Controls;
 using UnityEditorInternal;
 using System;
 using System.Collections;
@@ -40,13 +41,34 @@ namespace Obi
         ObiSolver solver;
 
         SerializedProperty backend;
+        SerializedProperty substeps;
+        SerializedProperty maxStepsPerFrame;
+        SerializedProperty synchronization;
         SerializedProperty simulateWhenInvisible;
         SerializedProperty parameters;
         SerializedProperty gravity;
         SerializedProperty gravitySpace;
+        SerializedProperty ambientWind;
+        SerializedProperty windSpace;
+        SerializedProperty useLimits;
+        SerializedProperty boundaryLimits;
+        SerializedProperty killOffLimitsParticles;
         SerializedProperty worldLinearInertiaScale;
         SerializedProperty worldAngularInertiaScale;
 
+        SerializedProperty foamSubsteps;
+        SerializedProperty foamMinNeighbors;
+        SerializedProperty foamCollisions;
+        SerializedProperty foamRadiusScale;
+        SerializedProperty foamVolumeDensity;
+        SerializedProperty foamAmbientDensity;
+        SerializedProperty foamScatterColor;
+        SerializedProperty foamAmbientColor;
+        SerializedProperty maxFoamVelocityStretch;
+        SerializedProperty foamFade;
+        SerializedProperty foamAccelAgingRange;
+        SerializedProperty foamAccelAging;
+
         SerializedProperty distanceConstraintParameters;
         SerializedProperty bendingConstraintParameters;
         SerializedProperty particleCollisionConstraintParameters;
@@ -58,37 +80,72 @@ namespace Obi
         SerializedProperty shapeMatchingConstraintParameters;
         SerializedProperty tetherConstraintParameters;
         SerializedProperty pinConstraintParameters;
+        SerializedProperty pinholeConstraintParameters;
         SerializedProperty stitchConstraintParameters;
         SerializedProperty densityConstraintParameters;
         SerializedProperty stretchShearConstraintParameters;
         SerializedProperty bendTwistConstraintParameters;
         SerializedProperty chainConstraintParameters;
 
+        SerializedProperty maxSurfaceChunks;
+        SerializedProperty maxQueryResults;
+        SerializedProperty maxFoamParticles;
+        SerializedProperty maxParticleNeighbors;
+        SerializedProperty maxParticleContacts;
+
         BooleanPreference solverFoldout;
         BooleanPreference simulationFoldout;
+        BooleanPreference advectionFoldout;
         BooleanPreference collisionsFoldout;
         BooleanPreference constraintsFoldout;
+        BooleanPreference memoryFoldout;
 
         GUIContent constraintLabelContent;
 
+        BoxBoundsHandle limitsBoxHandle;
+
         public void OnEnable()
         {
             solver = (ObiSolver)target;
             constraintLabelContent = new GUIContent();
+            limitsBoxHandle = new BoxBoundsHandle();
 
             solverFoldout = new BooleanPreference($"{target.GetType()}.solverFoldout", true);
             simulationFoldout = new BooleanPreference($"{target.GetType()}.simulationFoldout", false);
+            advectionFoldout = new BooleanPreference($"{target.GetType()}.advectionFoldout", false);
             collisionsFoldout = new BooleanPreference($"{target.GetType()}.collisionsFoldout", false);
             constraintsFoldout = new BooleanPreference($"{target.GetType()}.constraintsFoldout", false);
+            memoryFoldout = new BooleanPreference($"{target.GetType()}.memoryFoldout", false);
 
             backend = serializedObject.FindProperty("m_Backend");
+            substeps = serializedObject.FindProperty("substeps");
+            maxStepsPerFrame = serializedObject.FindProperty("maxStepsPerFrame");
+            synchronization = serializedObject.FindProperty("synchronization");
             simulateWhenInvisible = serializedObject.FindProperty("simulateWhenInvisible");
             parameters = serializedObject.FindProperty("parameters");
             gravity = serializedObject.FindProperty("gravity");
             gravitySpace = serializedObject.FindProperty("gravitySpace");
+            ambientWind = serializedObject.FindProperty("ambientWind");
+            windSpace = serializedObject.FindProperty("windSpace");
+            useLimits = serializedObject.FindProperty("useLimits");
+            boundaryLimits = serializedObject.FindProperty("boundaryLimits");
+            killOffLimitsParticles = serializedObject.FindProperty("killOffLimitsParticles");
             worldLinearInertiaScale = serializedObject.FindProperty("worldLinearInertiaScale");
             worldAngularInertiaScale = serializedObject.FindProperty("worldAngularInertiaScale");
 
+            foamSubsteps = serializedObject.FindProperty("foamSubsteps");
+            foamMinNeighbors = serializedObject.FindProperty("foamMinNeighbors");
+            foamCollisions = serializedObject.FindProperty("foamCollisions");
+            foamRadiusScale = serializedObject.FindProperty("foamRadiusScale");
+            foamVolumeDensity = serializedObject.FindProperty("foamVolumeDensity");
+            foamAmbientDensity = serializedObject.FindProperty("foamAmbientDensity");
+            foamScatterColor = serializedObject.FindProperty("foamScatterColor");
+            foamAmbientColor = serializedObject.FindProperty("foamAmbientColor");
+            maxFoamVelocityStretch = serializedObject.FindProperty("maxFoamVelocityStretch");
+            foamFade = serializedObject.FindProperty("foamFade");
+            foamAccelAgingRange = serializedObject.FindProperty("foamAccelAgingRange");
+            foamAccelAging = serializedObject.FindProperty("foamAccelAging");
+
             distanceConstraintParameters = serializedObject.FindProperty("distanceConstraintParameters");
             bendingConstraintParameters = serializedObject.FindProperty("bendingConstraintParameters");
             particleCollisionConstraintParameters = serializedObject.FindProperty("particleCollisionConstraintParameters");
@@ -100,19 +157,45 @@ namespace Obi
             shapeMatchingConstraintParameters = serializedObject.FindProperty("shapeMatchingConstraintParameters");
             tetherConstraintParameters = serializedObject.FindProperty("tetherConstraintParameters");
             pinConstraintParameters = serializedObject.FindProperty("pinConstraintParameters");
+            pinholeConstraintParameters = serializedObject.FindProperty("pinholeConstraintParameters");
             stitchConstraintParameters = serializedObject.FindProperty("stitchConstraintParameters");
             densityConstraintParameters = serializedObject.FindProperty("densityConstraintParameters");
             stretchShearConstraintParameters = serializedObject.FindProperty("stretchShearConstraintParameters");
             bendTwistConstraintParameters = serializedObject.FindProperty("bendTwistConstraintParameters");
             chainConstraintParameters = serializedObject.FindProperty("chainConstraintParameters");
+
+            maxSurfaceChunks = serializedObject.FindProperty("m_MaxSurfaceChunks");
+            maxQueryResults = serializedObject.FindProperty("maxQueryResults");
+            maxFoamParticles = serializedObject.FindProperty("maxFoamParticles");
+            maxParticleNeighbors = serializedObject.FindProperty("maxParticleNeighbors");
+            maxParticleContacts = serializedObject.FindProperty("maxParticleContacts");
+        }
+
+        public void OnSceneGUI()
+        {
+            if (solver.useLimits)
+            {
+                using (new Handles.DrawingScope(Color.red, solver.transform.localToWorldMatrix))
+                {
+                    limitsBoxHandle.center = solver.boundaryLimits.center;
+                    limitsBoxHandle.size = solver.boundaryLimits.size;
+
+                    EditorGUI.BeginChangeCheck();
+                    limitsBoxHandle.DrawHandle();
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        solver.boundaryLimits = new Bounds(limitsBoxHandle.center, limitsBoxHandle.size);
+                        EditorUtility.SetDirty(target);
+                    }
+                }
+            }
         }
 
         public override void OnInspectorGUI()
         {
-
             serializedObject.UpdateIfRequiredOrScript();
-            EditorGUILayout.HelpBox("Particles:" + solver.allocParticleCount +"\n"+
-                                    "Simplices:" + solver.simplexCounts.simplexCount+"\n" +
+            EditorGUILayout.HelpBox("Particles:" + solver.allocParticleCount + "\n" +
+                                    "Simplices:" + solver.simplexCounts.simplexCount + "\n" +
                                     "Contacts:" + solver.contactCount + "\n" +
                                     "Simplex contacts:" + solver.particleContactCount, MessageType.None);
 
@@ -123,13 +206,14 @@ namespace Obi
                 EditorGUILayout.PropertyField(backend);
 
 #if !(OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-            if (backend.enumValueIndex == (int)ObiSolver.BackendType.Burst)
-                EditorGUILayout.HelpBox("The Burst backend depends on the following packages: Mathematics, Collections, Jobs and Burst. The default backend (Oni) will be used instead, if possible.", MessageType.Warning);
-#endif
-#if !(OBI_ONI_SUPPORTED)
-            if (backend.enumValueIndex == (int)ObiSolver.BackendType.Oni)
-                EditorGUILayout.HelpBox("The Oni backend is not compatible with the target platform. Please switch to a compatible platform, or use the Burst backend instead.", MessageType.Warning);
+                if (backend.enumValueIndex == (int)ObiSolver.BackendType.Burst)
+                    EditorGUILayout.HelpBox("The Burst backend depends on the following packages: Mathematics, Collections, Jobs and Burst. Please install the required dependencies. The solver will try to fall back to the Compute backend instead.", MessageType.Warning);
 #endif
+                if (!SystemInfo.supportsComputeShaders)
+                {
+                    EditorGUILayout.HelpBox("This platform doesn't support compute shaders. Please switch to the Burst backend.", MessageType.Error);
+                }
+
 
                 if (EditorGUI.EndChangeCheck())
                 {
@@ -138,9 +222,11 @@ namespace Obi
                         (t as ObiSolver).UpdateBackend();
                 }
 
-
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("mode"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("interpolation"));
+                EditorGUILayout.PropertyField(synchronization);
+                EditorGUILayout.PropertyField(substeps);
+                EditorGUILayout.PropertyField(maxStepsPerFrame);
             }
             EditorGUILayout.EndFoldoutHeaderGroup();
 
@@ -149,24 +235,57 @@ namespace Obi
             {
                 EditorGUILayout.PropertyField(gravitySpace);
                 EditorGUILayout.PropertyField(gravity);
+                EditorGUILayout.PropertyField(windSpace);
+                EditorGUILayout.PropertyField(ambientWind);
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("sleepThreshold"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxVelocity"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxAngularVelocity"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("damping"));
                 EditorGUILayout.PropertyField(worldLinearInertiaScale);
                 EditorGUILayout.PropertyField(worldAngularInertiaScale);
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxAnisotropy"));
                 EditorGUILayout.PropertyField(simulateWhenInvisible);
+                EditorGUILayout.PropertyField(useLimits);
+                if (useLimits.boolValue)
+                {
+                    EditorGUI.indentLevel++;
+                    EditorGUILayout.PropertyField(killOffLimitsParticles);
+                    EditorGUILayout.PropertyField(boundaryLimits);
+                    EditorGUI.indentLevel--;
+                }
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            advectionFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(advectionFoldout, "Foam settings");
+            if (advectionFoldout)
+            {
+                EditorGUILayout.PropertyField(foamSubsteps);
+                EditorGUILayout.PropertyField(foamMinNeighbors);
+                EditorGUILayout.PropertyField(foamCollisions, new GUIContent("Foam Collisions (Compute only)"));
+                EditorGUILayout.PropertyField(foamRadiusScale);
+                EditorGUILayout.PropertyField(foamVolumeDensity);
+                EditorGUILayout.PropertyField(foamAmbientDensity);
+                EditorGUILayout.PropertyField(foamScatterColor);
+                EditorGUILayout.PropertyField(foamAmbientColor);
+                EditorGUILayout.PropertyField(maxFoamVelocityStretch);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("foamGravityScale"));
+                EditorGUILayout.PropertyField(foamFade);
+                EditorGUILayout.PropertyField(foamAccelAgingRange);
+                EditorGUILayout.PropertyField(foamAccelAging);
             }
             EditorGUILayout.EndFoldoutHeaderGroup();
 
             collisionsFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(collisionsFoldout, "Collision settings");
             if (collisionsFoldout)
             {
-                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("continuousCollisionDetection"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("colliderCCD"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("particleCCD"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("collisionMargin"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxDepenetration"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("shockPropagation"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("surfaceCollisionIterations"));
                 EditorGUILayout.PropertyField(parameters.FindPropertyRelative("surfaceCollisionTolerance"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("diffusionMask"));
             }
             EditorGUILayout.EndFoldoutHeaderGroup();
 
@@ -206,6 +325,9 @@ namespace Obi
                 constraintLabelContent.text = "Pin";
                 EditorGUILayout.PropertyField(pinConstraintParameters, constraintLabelContent);
 
+                constraintLabelContent.text = "Pinhole";
+                EditorGUILayout.PropertyField(pinholeConstraintParameters, constraintLabelContent);
+
                 constraintLabelContent.text = "Stitch";
                 EditorGUILayout.PropertyField(stitchConstraintParameters, constraintLabelContent);
 
@@ -223,13 +345,46 @@ namespace Obi
             }
             EditorGUILayout.EndFoldoutHeaderGroup();
 
+            memoryFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(memoryFoldout, "Memory budget");
+            if (memoryFoldout)
+            {
+                EditorGUILayout.PropertyField(maxQueryResults);
+                EditorGUILayout.PropertyField(maxFoamParticles);
+
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(maxSurfaceChunks);
+                if (EditorGUI.EndChangeCheck())
+                {
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiSolver).dirtyRendering |= (int)Oni.RenderingSystemType.Fluid;
+                }
+
+                EditorGUILayout.PropertyField(maxParticleNeighbors);
+                EditorGUILayout.PropertyField(maxParticleContacts);
+
+                uint usedChunks = solver.usedSurfaceChunks;
+                float usagePercentage = usedChunks / (float)maxSurfaceChunks.intValue;
+                uint foamParticles = solver.initialized ? solver.implementation.activeFoamParticleCount : 0;
+
+                // memory consumption per chunk:
+                // (8 + 12 + 64*4 + 64*6*4 + 64*16) = 2836 bytes
+                EditorGUILayout.HelpBox("Active foam particles: " + foamParticles + "/" + maxFoamParticles.intValue + "\n"+ 
+                                        "Surface memory (Mb): " + string.Format("{0:N2}", maxSurfaceChunks.intValue * 0.002836f)+ "\n"+
+                                        "Used surface chunks: "+ usedChunks + "/"+ maxSurfaceChunks.intValue + ", hashtable usage "+ string.Format("{0:N1}", usagePercentage * 100) + "%", MessageType.None);
+
+                if (usagePercentage >= 0.5f)
+                {
+                    EditorGUILayout.HelpBox("Hashtable usage should be below 50% for best performance. Increase max surface chunks if % is too high.", MessageType.Warning);
+                }
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
             // Apply changes to the serializedProperty
             if (GUI.changed)
             {
-
                 serializedObject.ApplyModifiedProperties();
                 solver.PushSolverParameters();
-
             }
 
         }
@@ -237,15 +392,12 @@ namespace Obi
         [DrawGizmo(GizmoType.InSelectionHierarchy | GizmoType.Selected)]
         static void DrawGizmoForSolver(ObiSolver solver, GizmoType gizmoType)
         {
-
             if ((gizmoType & GizmoType.InSelectionHierarchy) != 0)
             {
-
                 Gizmos.color = new Color(1, 1, 1, 0.5f);
-                Bounds bounds = solver.Bounds;
+                var bounds = solver.bounds;
                 Gizmos.DrawWireCube(bounds.center, bounds.size);
             }
-
         }
 
     }
diff --git a/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
index c3e8d2b15..be05d5a30 100644
--- a/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
+++ b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
@@ -4,6 +4,7 @@ using UnityEngine.SceneManagement;
 using UnityEditor;
 using UnityEditor.SceneManagement;
 using System.IO;
+using UnityEngine.Rendering;
 
 namespace Obi{
 
@@ -127,17 +128,7 @@ namespace Obi{
         public static GameObject CreateNewSolver()
         {
             // Root for the actors.
-            var root = new GameObject("Obi Solver");
-            ObiSolver solver = root.AddComponent<ObiSolver>();
-
-            // Try to find a fixed updater in the scene (though other kinds of updaters can exist, updating in FixedUpdate is the preferred option).
-            ObiFixedUpdater updater = StageUtility.GetCurrentStageHandle().FindComponentOfType<ObiFixedUpdater>();
-            // If we could not find an fixed updater in the scene, add one to the solver object.
-            if (updater == null)
-                updater = root.AddComponent<ObiFixedUpdater>();
-
-            // Add the solver to the updater:
-            updater.solvers.Add(solver);
+            var root = new GameObject("Obi Solver", typeof(ObiSolver));
 
             // Works for all stages.
             StageUtility.PlaceGameObjectInCurrentStage(root);
@@ -230,7 +221,34 @@ namespace Obi{
             // Return the currently selected item's index
             return selected;
         }
-	}
+
+        public static void DrawArrowHandle(Vector3 posA, Vector3 posB, float headAngle = 30, float headLength = 0.18f)
        {
+            Handles.DrawLine(posA, posB);
+
+            var look = Quaternion.LookRotation(posA - posB, Camera.current.transform.forward);
+            var one = look * Quaternion.Euler(0, 180 + headAngle, 0) * new Vector3(0, 0, 1);
+            var two = look * Quaternion.Euler(0, 180 - headAngle, 0) * new Vector3(0, 0, 1);
+
+            var sizeA = HandleUtility.GetHandleSize(posA) * headLength;
+            Handles.DrawLine(posA, posA + one * sizeA);
+            Handles.DrawLine(posA, posA + two * sizeA);
+
+            var sizeB = HandleUtility.GetHandleSize(posB) * headLength;
+            Handles.DrawLine(posB, posB - one * sizeB);
+            Handles.DrawLine(posB, posB - two * sizeB);
        }
+
+        public static Material GetDefaultMaterial()
+        {
+            if (GraphicsSettings.defaultRenderPipeline != null)
+            {
+                return GraphicsSettings.defaultRenderPipeline.defaultMaterial;
+            }
+            else
+            {
+                return AssetDatabase.GetBuiltinExtraResource<Material>("Default-Diffuse.mat");
+            }
+        }
+    }
 }
 
 
diff --git a/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs b/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs
new file mode 100644
index 000000000..42d4e21df
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs
@@ -0,0 +1,24 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiFoamGenerator)), CanEditMultipleObjects]
+    public class ObiFoamGeneratorEditor : Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+        }
+
+    }
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs.meta b/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta
similarity index 83%
rename from Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs.meta
rename to Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta
index 87288db8c..baab18072 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs.meta
+++ b/Assets/Obi/Editor/Common/Utils/ObiFoamGeneratorEditor.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: fac27eeae85e84131bebdf89ad1d6802
+guid: b9656e2c54d9e4c478c74ca6d97428f8
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
index 5b34b8eca..b9f0bf988 100644
--- a/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
+++ b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
@@ -15,6 +15,7 @@ namespace Obi
         SerializedProperty targetTransform;
         SerializedProperty particleGroup;
         SerializedProperty attachmentType;
+        SerializedProperty projectPosition;
         SerializedProperty constrainOrientation;
         SerializedProperty compliance;
         SerializedProperty breakThreshold;
@@ -28,9 +29,10 @@ namespace Obi
             targetTransform = serializedObject.FindProperty("m_Target");
             particleGroup = serializedObject.FindProperty("m_ParticleGroup");
             attachmentType = serializedObject.FindProperty("m_AttachmentType");
+            projectPosition = serializedObject.FindProperty("m_Projection");
             constrainOrientation = serializedObject.FindProperty("m_ConstrainOrientation");
             compliance = serializedObject.FindProperty("m_Compliance");
-            breakThreshold = serializedObject.FindProperty("m_BreakThreshold");
+            breakThreshold = serializedObject.FindProperty("breakThreshold");
         }
 
         public override void OnInspectorGUI()
@@ -55,7 +57,16 @@ namespace Obi
                 }
             }
 
-            EditorGUILayout.PropertyField(targetTransform, new GUIContent("Target"));
+            EditorGUI.BeginChangeCheck();
+            Transform trget = EditorGUILayout.ObjectField("Target", attachment.target, typeof(Transform), true) as Transform;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(attachment, "Set target");
+                attachment.target = trget;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(attachment);
+            }
+
+
             var blueprint = attachment.actor.sourceBlueprint;
 
             if (blueprint != null)
@@ -89,6 +100,7 @@ namespace Obi
 
             if (attachment.attachmentType == ObiParticleAttachment.AttachmentType.Dynamic)
             {
+                EditorGUILayout.PropertyField(projectPosition, new GUIContent("Projection"));
                 EditorGUILayout.PropertyField(compliance, new GUIContent("Compliance"));
                 EditorGUILayout.PropertyField(breakThreshold, new GUIContent("Break threshold"));
             }
diff --git a/Assets/Obi/Editor/ObiStitcherEditor.cs b/Assets/Obi/Editor/ObiStitcherEditor.cs
index 79af13d72..0c4b395ba 100644
--- a/Assets/Obi/Editor/ObiStitcherEditor.cs
+++ b/Assets/Obi/Editor/ObiStitcherEditor.cs
@@ -42,6 +42,9 @@ namespace Obi{
 			if (EditorGUI.EndChangeCheck()){
 				Undo.RecordObject(stitcher, "Set first actor");
 				stitcher.Actor1 = actor1;
+                if (actor1 != null)
+                    sewingToolHandle1 = actor1.transform.position;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
 			}
 
 			EditorGUI.BeginChangeCheck();
@@ -49,7 +52,10 @@ namespace Obi{
 			if (EditorGUI.EndChangeCheck()){
 				Undo.RecordObject(stitcher, "Set second actor");
 				stitcher.Actor2 = actor2;
-			}
+                if (actor2 != null)
+                    sewingToolHandle2 = actor2.transform.position;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+            }
 
 			if (stitcher.Actor1 != null && stitcher.Actor2 != null && stitcher.Actor1.solver != stitcher.Actor2.solver){
 				EditorGUILayout.HelpBox("Both actors must be managed by the same solver.",MessageType.Error);
@@ -63,14 +69,13 @@ namespace Obi{
 
 			if (editing){
 
-				EditorGUILayout.HelpBox("Remember that when working with the sewing tool, you can use Unity's snap to vertex feature by pressing 'V' in your keyboard.",MessageType.Info);
-
 				// Clear all stitches
 				if (GUILayout.Button("Clear all stitches")){
 					if (EditorUtility.DisplayDialog("Clearing stitches","Are you sure you want to remove all stitches?","Ok","Cancel")){
 						Undo.RecordObject(stitcher, "Clear all stitches");
 						stitcher.Clear();
-					}
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
 				}
 	
 				// Remove selected stitches
@@ -93,19 +98,22 @@ namespace Obi{
 						foreach(int i in removedStitches.OrderByDescending(i => i)){
 							stitcher.RemoveStitch(i);
 						}
-					}
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
 				}
 
 				// Add stitch:
-				if (GUILayout.Button("Add Stitch")){
-					Undo.RecordObject(stitcher, "Add stitch");
+				if (GUILayout.Button("Add Stitch"))
+                {
+                    FindClosestParticles(out int particle1, out int particle2);
 
-					int particle1 = 0;
-					int particle2 = 0;
-					UseSewingTool(ref particle1, ref particle2);
-
-					stitcher.AddStitch(particle1,particle2);
-				}
+                    if (particle1 >= 0 && particle2 >= 0)
+                    {
+                        Undo.RecordObject(stitcher, "Add stitch");
+                        stitcher.AddStitch(particle1, particle2);
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(stitcher);
+                    }
+                }
 			}
 			GUI.enabled = true;
 
@@ -120,16 +128,28 @@ namespace Obi{
 			
 		}
 
-		public void UseSewingTool(ref int particle1, ref int particle2){
+		public void FindClosestParticles(out int particle1, out int particle2)
+        {
+            particle1 = -1;
+            particle2 = -1;
+            float minDistance = float.MaxValue;
 
-			float minDistance = float.MaxValue;
+            if (stitcher.Actor1 == null || stitcher.Actor2 == null)
+                return;
 
-			if (stitcher.Actor1 == stitcher.Actor2){
+            var handle1 = HandleUtility.WorldToGUIPointWithDepth(sewingToolHandle1);
+            var handle2 = HandleUtility.WorldToGUIPointWithDepth(sewingToolHandle2);
+
+            if (stitcher.Actor1 == stitcher.Actor2)
+            {
 				float minDistance2 = float.MaxValue;
-                for (int i = 0; i < stitcher.Actor1.particleCount;++i){
+                for (int i = 0; i < stitcher.Actor1.activeParticleCount;++i)
+                {
 					Vector3 pos = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[i]);
-					float distance1 = (pos - sewingToolHandle1).sqrMagnitude;
-					float distance2 = (pos - sewingToolHandle2).sqrMagnitude;
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+					float distance1 = (pos - handle1).sqrMagnitude;
+					float distance2 = (pos - handle2).sqrMagnitude;
 					if (distance1 < minDistance){
 						minDistance = distance1;
 						particle1 = i;
@@ -142,24 +162,28 @@ namespace Obi{
 			}else{
 
 				// find closest particle to each end of the sewing tool:
-                for (int i = 0; i < stitcher.Actor1.particleCount;++i){
+                for (int i = 0; i < stitcher.Actor1.activeParticleCount; ++i)
+                {
 					Vector3 pos = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[i]);
-					float distance1 = (pos - sewingToolHandle1).sqrMagnitude;
-					float distance2 = (pos - sewingToolHandle2).sqrMagnitude;
-					float min = Mathf.Min(distance1,distance2);
-					if (min < minDistance){
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+                    float min = (pos - handle1).sqrMagnitude;
+					if (min < minDistance)
+                    {
 						minDistance = min;
 						particle1 = i;
 					}
 				}
 		
 				minDistance = float.MaxValue;
-                for (int i = 0; i < stitcher.Actor2.particleCount;++i){
+                for (int i = 0; i < stitcher.Actor2.activeParticleCount; ++i)
+                {
 					Vector3 pos = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[i]);
-					float distance1 = (pos - sewingToolHandle1).sqrMagnitude;
-					float distance2 = (pos - sewingToolHandle2).sqrMagnitude;
-					float min = Mathf.Min(distance1,distance2);
-					if (min < minDistance){
+                    pos = HandleUtility.WorldToGUIPointWithDepth(pos);
+
+					float min = (pos - handle2).sqrMagnitude;
+					if (min < minDistance)
+                    {
 						minDistance = min;
 						particle2 = i;
 					}
@@ -167,10 +191,32 @@ namespace Obi{
 			}
 		}
 
-		public void DrawSewingTool(){
-	        var fmh_171_72_639027316145683117 = Quaternion.identity; sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1,HandleUtility.GetHandleSize(sewingToolHandle1)*0.05f,new Vector3(.5f,.5f,.5f),Handles.RectangleHandleCap);
-			var fmh_172_66_639027316145718628 = Quaternion.identity; sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2,HandleUtility.GetHandleSize(sewingToolHandle2)*0.05f,new Vector3(.5f,.5f,.5f),Handles.RectangleHandleCap);
-			Handles.DrawDottedLine(sewingToolHandle1,sewingToolHandle2,2);
+		public void DrawSewingTool()
+        {
+
+            FindClosestParticles(out int particle1, out int particle2);
+
+            if (particle1 >= 0 && particle2 >= 0)
+            {
+                sewingToolHandle1 = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[particle1]);
+                sewingToolHandle2 = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[particle2]);
+
+                float radius1 = stitcher.Actor1.GetParticleMaxRadius(stitcher.Actor1.solverIndices[particle1]);
+                float radius2 = stitcher.Actor2.GetParticleMaxRadius(stitcher.Actor2.solverIndices[particle2]);
+
+                Handles.color = Color.white;
+#if (UNITY_2022_1_OR_NEWER)
+                sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1, radius1 * 2, new Vector3(.5f,.5f,.5f),Handles.SphereHandleCap);
+			    sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2, radius2 * 2, new Vector3(.5f,.5f,.5f),Handles.SphereHandleCap);
+#else
+                sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1, Quaternion.identity, radius1 * 2, new Vector3(.5f, .5f, .5f), Handles.SphereHandleCap);
+                sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2, Quaternion.identity, radius2 * 2, new Vector3(.5f, .5f, .5f), Handles.SphereHandleCap);
+#endif
+
+                Vector3 direction = Vector3.Normalize(sewingToolHandle2 - sewingToolHandle1);
+                Handles.color = Color.yellow;
+                ObiEditorUtils.DrawArrowHandle(sewingToolHandle1 + direction*(radius1 + 0.05f), sewingToolHandle2 - direction*(radius2+0.05f)); 
+            }
 		}
 
 		/**
@@ -221,7 +267,7 @@ namespace Obi{
 							}
 						break;
 						case EventType.Repaint:
-							Handles.color = selectionStatus[i]?Color.red:Color.green;
+							Handles.color = selectionStatus[i]?Color.red:Color.cyan;
 							Handles.DrawDottedLine(pos1,pos2,2);
 						break;
 					}
diff --git a/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat b/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat
index 7be81869b..8c7ff52c5 100644
--- a/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat
+++ b/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat
@@ -81,8 +81,8 @@ Material:
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
-    - _AABBMax: {r: 1.3624613, g: 1.3624613, b: 1.3624613, a: 0}
-    - _AABBMin: {r: -1.3624613, g: -1.3624613, b: -1.3624613, a: 0}
+    - _AABBMax: {r: 1.1746451, g: 1.1746451, b: 1.1746451, a: 0}
+    - _AABBMin: {r: -1.1746451, g: -1.1746451, b: -1.1746451, a: 0}
     - _Color: {r: 1, g: 1, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _InsideColor: {r: 1, g: 1, b: 1, a: 1}
diff --git a/Assets/Obi/Editor/Resources/EditorParticleShader.shader b/Assets/Obi/Editor/Resources/EditorParticleShader.shader
index 74670cb63..5db70c755 100644
--- a/Assets/Obi/Editor/Resources/EditorParticleShader.shader
+++ b/Assets/Obi/Editor/Resources/EditorParticleShader.shader
@@ -18,8 +18,8 @@
                 #pragma fragment frag
                 #pragma fragmentoption ARB_precision_hint_fastest
 
-                #include "../../Resources/ObiMaterials/ObiEllipsoids.cginc"
-                #include "../../Resources/ObiMaterials/ObiUtils.cginc"
+                #include "../../Resources/ObiMaterials/Common/ObiEllipsoids.cginc"
+                #include "../../Resources/ObiMaterials/Common/ObiUtils.cginc"
 
                 fixed4 _Color;
 
@@ -42,6 +42,7 @@
                 	float3 lightDir : TEXCOORD2;
                 	float3 a2 : TEXCOORD3;
                 	float3 a3 : TEXCOORD4;
+                  //float3x3 P : TEXCOORD5;
                 };
 
                 struct fout 
@@ -65,6 +66,7 @@
                 	o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
                 	o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
                 	o.color = v.color * _Color;
+                  //o.P = float3x3(v.t0.xyz,v.t1.xyz,v.t2.xyz);
 
                 	BuildAuxiliaryNormalVectors(v.vertex,worldPos,view,P,IP,o.a2,o.a3);
                 			
@@ -86,6 +88,19 @@
                     // clip space position:
                     float4 pos = mul(UNITY_MATRIX_P,float4(p,1.0));
 
+                    // local space normal, use to calculate UVs
+                   /*float3 ln = mul(mul((float3x3)i.P,UNITY_MATRIX_I_V) ,n);
+
+                    float2 uv = float2(
+                      // atan returns a value between -pi and pi
+                      // so we divide by pi * 2 to get -0.5 to 0.5
+                      atan2(ln.x, ln.y) / (3.1415 * 2.0),
+                      // acos returns 0.0 at the top, pi at the bottom
+                      // so we flip the y to align with Unity's OpenGL style
+                      // texture UVs so 0.0 is at the bottom
+                      acos(-ln.z) / 3.1415
+                    );*/
+
                     // simple lighting: ambient
                     float3 modelUp = mul (UNITY_MATRIX_IT_MV,float3(0,1,0));
                     float vecHemi = dot(n, modelUp) * 0.5f + 0.5f;
diff --git a/Assets/Obi/Editor/Resources/Icons/ObiAmbientForceZone Icon.png b/Assets/Obi/Editor/Resources/Icons/ObiAmbientForceZone Icon.png
deleted file mode 100644
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diff --git a/Assets/Obi/Editor/Resources/Icons/ObiClothProxy Icon.png b/Assets/Obi/Editor/Resources/Icons/ObiClothProxy Icon.png
deleted file mode 100644
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similarity index 75%
rename from Assets/Obi/Editor/Resources/Icons/ObiUpdater Icon.png.meta
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index 777fbae73..9e9122967 100644
--- a/Assets/Obi/Editor/Resources/Icons/ObiUpdater Icon.png.meta	
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rename from Assets/Obi/Editor/Resources/Icons/ObiAmbientForceZone Icon.png.meta
rename to Assets/Obi/Editor/Resources/Icons/ObiPathSmoother Icon.png.meta
index 9764026ac..61b9afb8d 100644
--- a/Assets/Obi/Editor/Resources/Icons/ObiAmbientForceZone Icon.png.meta	
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diff --git a/Assets/Obi/Editor/Resources/Icons/ObiClothProxy Icon.png.meta b/Assets/Obi/Editor/Resources/Icons/ObiPinhole Icon.png.meta
similarity index 54%
rename from Assets/Obi/Editor/Resources/Icons/ObiClothProxy Icon.png.meta
rename to Assets/Obi/Editor/Resources/Icons/ObiPinhole Icon.png.meta
index f7d2521b7..25f78f309 100644
--- a/Assets/Obi/Editor/Resources/Icons/ObiClothProxy Icon.png.meta	
+++ b/Assets/Obi/Editor/Resources/Icons/ObiPinhole Icon.png.meta	
@@ -1,17 +1,18 @@
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-licenseType: Store
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   bumpmap:
@@ -20,17 +21,24 @@ TextureImporter:
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     normalMapFilter: 0
   isReadable: 0
+  streamingMipmaps: 0
+  streamingMipmapsPriority: 0
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+  ignoreMasterTextureLimit: 0
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   generateCubemap: 6
   cubemapConvolution: 0
   seamlessCubemap: 0
-  textureFormat: -1
+  textureFormat: 1
   maxTextureSize: 2048
   textureSettings:
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+    serializedVersion: 2
+    filterMode: 1
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+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spriteGenerateFallbackPhysicsShape: 1
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   spriteTessellationDetail: -1
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-  - buildTarget: Standalone
+    androidETC2FallbackOverride: 0
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diff --git a/Assets/Obi/Editor/Resources/Icons/ObiRod Icon.png b/Assets/Obi/Editor/Resources/Icons/ObiRod Icon.png
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diff --git a/Assets/Obi/Editor/Resources/Icons/ObiVoidZone Icon.png.meta b/Assets/Obi/Editor/Resources/Icons/ObiVoidZone Icon.png.meta
new file mode 100644
index 000000000..083fee0f9
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/Icons/ObiVoidZone Icon.png.meta	
@@ -0,0 +1,122 @@
+fileFormatVersion: 2
+guid: eac6271e2e50d4b2dbf2dfeff9b65604
+TextureImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 11
+  mipmaps:
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+    alphaTestReferenceValue: 0.5
+    mipMapFadeDistanceStart: 1
+    mipMapFadeDistanceEnd: 3
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+  isReadable: 0
+  streamingMipmaps: 0
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+  ignoreMasterTextureLimit: 0
+  grayScaleToAlpha: 0
+  generateCubemap: 6
+  cubemapConvolution: 0
+  seamlessCubemap: 0
+  textureFormat: 1
+  maxTextureSize: 2048
+  textureSettings:
+    serializedVersion: 2
+    filterMode: 1
+    aniso: 1
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+    wrapU: 1
+    wrapV: 1
+    wrapW: 0
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+  spritePivot: {x: 0.5, y: 0.5}
+  spritePixelsToUnits: 100
+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spriteGenerateFallbackPhysicsShape: 1
+  alphaUsage: 1
+  alphaIsTransparency: 1
+  spriteTessellationDetail: -1
+  textureType: 2
+  textureShape: 1
+  singleChannelComponent: 0
+  flipbookRows: 1
+  flipbookColumns: 1
+  maxTextureSizeSet: 0
+  compressionQualitySet: 0
+  textureFormatSet: 0
+  ignorePngGamma: 0
+  applyGammaDecoding: 0
+  platformSettings:
+  - serializedVersion: 3
+    buildTarget: DefaultTexturePlatform
+    maxTextureSize: 2048
+    resizeAlgorithm: 0
+    textureFormat: -1
+    textureCompression: 1
+    compressionQuality: 50
+    crunchedCompression: 0
+    allowsAlphaSplitting: 0
+    overridden: 0
+    androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
+  - serializedVersion: 3
+    buildTarget: Standalone
+    maxTextureSize: 2048
+    resizeAlgorithm: 0
+    textureFormat: -1
+    textureCompression: 1
+    compressionQuality: 50
+    crunchedCompression: 0
+    allowsAlphaSplitting: 0
+    overridden: 0
+    androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
+  - serializedVersion: 3
+    buildTarget: Server
+    maxTextureSize: 2048
+    resizeAlgorithm: 0
+    textureFormat: -1
+    textureCompression: 1
+    compressionQuality: 50
+    crunchedCompression: 0
+    allowsAlphaSplitting: 0
+    overridden: 0
+    androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
+  spriteSheet:
+    serializedVersion: 2
+    sprites: []
+    outline: []
+    physicsShape: []
+    bones: []
+    spriteID: 
+    internalID: 0
+    vertices: []
+    indices: 
+    edges: []
+    weights: []
+    secondaryTextures: []
+    nameFileIdTable: {}
+  spritePackingTag: 
+  pSDRemoveMatte: 0
+  pSDShowRemoveMatteOption: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
index e3f56cf78..73c3cebd5 100644
--- a/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
+++ b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
@@ -8,8 +8,8 @@
 
 		Pass {
        
-            Offset 0, -50
-			Cull Back 
+             Offset -0.5, -0.5
+		    Cull Back 
 			Fog { Mode Off }
 
             CGPROGRAM
@@ -49,7 +49,7 @@
 
         Pass {
 
-            Offset 0, -100
+            Offset -1, -1
             Cull Back 
             ZWrite Off
             Blend SrcAlpha OneMinusSrcAlpha
diff --git a/Assets/Obi/Editor/Resources/TextureIcon.psd.meta b/Assets/Obi/Editor/Resources/TextureIcon.psd.meta
index 63fa7b668..0821ef678 100644
--- a/Assets/Obi/Editor/Resources/TextureIcon.psd.meta
+++ b/Assets/Obi/Editor/Resources/TextureIcon.psd.meta
@@ -1,17 +1,18 @@
 fileFormatVersion: 2
 guid: 931c48569a82e4dae84d4702bf6da199
-timeCreated: 1478802054
-licenseType: Store
 TextureImporter:
-  fileIDToRecycleName: {}
-  serializedVersion: 2
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 11
   mipmaps:
     mipMapMode: 0
     enableMipMap: 0
+    sRGBTexture: 1
     linearTexture: 1
-    correctGamma: 0
     fadeOut: 0
     borderMipMap: 0
+    mipMapsPreserveCoverage: 0
+    alphaTestReferenceValue: 0.5
     mipMapFadeDistanceStart: 1
     mipMapFadeDistanceEnd: 3
   bumpmap:
@@ -20,40 +21,78 @@ TextureImporter:
     heightScale: 0.25
     normalMapFilter: 0
   isReadable: 0
+  streamingMipmaps: 0
+  streamingMipmapsPriority: 0
+  vTOnly: 0
+  ignoreMasterTextureLimit: 0
   grayScaleToAlpha: 0
-  generateCubemap: 0
+  generateCubemap: 6
   cubemapConvolution: 0
-  cubemapConvolutionSteps: 7
-  cubemapConvolutionExponent: 1.5
   seamlessCubemap: 0
   textureFormat: -1
   maxTextureSize: 2048
   textureSettings:
-    filterMode: -1
+    serializedVersion: 2
+    filterMode: 1
     aniso: 1
-    mipBias: -1
-    wrapMode: 1
+    mipBias: 0
+    wrapU: 1
+    wrapV: 1
+    wrapW: 1
   nPOTScale: 0
   lightmap: 0
-  rGBM: 0
   compressionQuality: 50
-  allowsAlphaSplitting: 0
   spriteMode: 0
   spriteExtrude: 1
   spriteMeshType: 1
   alignment: 0
   spritePivot: {x: 0.5, y: 0.5}
-  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
   spritePixelsToUnits: 100
+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spriteGenerateFallbackPhysicsShape: 1
+  alphaUsage: 1
   alphaIsTransparency: 1
   spriteTessellationDetail: -1
   textureType: 2
-  buildTargetSettings: []
+  textureShape: 1
+  singleChannelComponent: 0
+  flipbookRows: 1
+  flipbookColumns: 1
+  maxTextureSizeSet: 0
+  compressionQualitySet: 0
+  textureFormatSet: 0
+  ignorePngGamma: 0
+  applyGammaDecoding: 1
+  platformSettings:
+  - serializedVersion: 3
+    buildTarget: DefaultTexturePlatform
+    maxTextureSize: 2048
+    resizeAlgorithm: 0
+    textureFormat: -1
+    textureCompression: 1
+    compressionQuality: 50
+    crunchedCompression: 0
+    allowsAlphaSplitting: 0
+    overridden: 0
+    androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
   spriteSheet:
     serializedVersion: 2
     sprites: []
     outline: []
+    physicsShape: []
+    bones: []
+    spriteID: 
+    internalID: 0
+    vertices: []
+    indices: 
+    edges: []
+    weights: []
+    secondaryTextures: []
+    nameFileIdTable: {}
   spritePackingTag: 
+  pSDRemoveMatte: 1
+  pSDShowRemoveMatteOption: 1
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
index adf371436..0aedd61e2 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
@@ -33,6 +33,10 @@ namespace Obi
         SerializedProperty plasticYield;
         SerializedProperty plasticCreep;
 
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
         SerializedProperty fixRoot;
         SerializedProperty stretchBones;
         SerializedProperty ignored;
@@ -69,6 +73,9 @@ namespace Obi
             plasticYield = serializedObject.FindProperty("_plasticYield");
             plasticCreep = serializedObject.FindProperty("_plasticCreep");
 
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
         }
 
         public void OnDisable()
@@ -144,6 +151,12 @@ namespace Obi
                 EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
             });
 
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
+
             if (GUI.changed)
                 serializedObject.ApplyModifiedProperties();
 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
index df630acf4..7056a44e6 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
@@ -2,12 +2,38 @@ using UnityEngine;
 using UnityEditor;
 using UnityEditor.EditorTools;
 using System;
+using UnityEditor.Overlays;
+using UnityEngine.UIElements;
 
 namespace Obi
 {
     [EditorTool("Obi Path Editor Tool",typeof(ObiRopeBase))]
     public class ObiPathEditor : EditorTool
     {
+
+        [Overlay(typeof(SceneView), "Obi Path Editor", "Obi Path Editor", "Obi Path Editor", true)]
+        [Icon("Assets/Obi/Editor/Resources/EditCurves.psd")]
+        class PathEditorOverlay : Overlay, ITransientOverlay
+        {
+            public static ObiPathEditor editor;
+
+            public override VisualElement CreatePanelContent()
+            {
+                var root = new VisualElement();
+                root.Add(new IMGUIContainer(editor.DrawToolPanel));
+                return root;
+            }
+
+            // Use the visible property to hide or show this instance from within the class.
+            public bool visible
+            {
+                get
+                {
+                    return ToolManager.activeToolType == typeof(ObiPathEditor);
+                }
+            }
+        }
+
         enum PathEditorTool
         {
             TranslatePoints,
@@ -64,6 +90,7 @@ namespace Obi
         {
             this.useOrientation = target is ObiRod;
             selectedStatus = new bool[0];
+            PathEditorOverlay.editor = this;
         }
 
         public void ResizeCPArrays()
@@ -71,7 +98,6 @@ namespace Obi
             Array.Resize(ref selectedStatus, path.ControlPointCount);
         }
 
-        int windowId;
         public override void OnToolGUI(EditorWindow window)
         {
             needsRepaint = false;
@@ -82,11 +108,7 @@ namespace Obi
 
             ResizeCPArrays();
 
-            HandleUtility.AddDefaultControl(GUIUtility.GetControlID(FocusType.Passive));
-
-            // get a window ID:
-            if (Event.current.type != EventType.Used)
-                windowId = GUIUtility.GetControlID(FocusType.Passive);
+            HandleUtility.AddDefaultControl(GUIUtility.GetControlID("PathEditor".GetHashCode(), FocusType.Passive));
 
             Matrix4x4 prevMatrix = Handles.matrix;
             Handles.matrix = matrix;
@@ -98,9 +120,6 @@ namespace Obi
                 needsRepaint |= DrawControlPoint(i);
             }
 
-            // Control point selection handle:
-            needsRepaint |= ObiPathHandles.SplineCPSelector(path, selectedStatus);
-
             // Count selected and calculate average position:
             selectionAverage = GetControlPointAverage(out lastSelected, out selectedCount);
 
@@ -110,10 +129,8 @@ namespace Obi
             if (showThicknessHandles)
                 needsRepaint |= DoThicknessHandles(thicknessScale);
 
-            // Sceneview GUI:
-            Handles.BeginGUI();
-            GUILayout.Window(windowId, new Rect(10, 28, 0, 0), DrawUIWindow, "Path editor");
-            Handles.EndGUI();
+            // Control point selection handle:
+            needsRepaint |= ObiPathHandles.SplineCPSelector(path, selectedStatus);
 
             Handles.matrix = prevMatrix;
 
@@ -545,7 +562,7 @@ namespace Obi
             return false;
         }
 
-        public void DrawUIWindow(int windowID)
+        public void DrawToolPanel()
         {
 
             DrawToolButtons();
@@ -1056,7 +1073,7 @@ namespace Obi
             }
 
             EditorGUI.BeginChangeCheck();
-            color = EditorGUILayout.ColorField("Color", color, GUILayout.MinWidth(94));
+            color = EditorGUILayout.ColorField(new GUIContent("Color"), color, true, true, true, GUILayout.MinWidth(94));
             EditorGUI.showMixedValue = false;
             if (EditorGUI.EndChangeCheck())
             {
@@ -1153,7 +1170,7 @@ namespace Obi
 
             for (int index = 0; index < 4; ++index)
             {
-                int controlId = GUIUtility.GetControlID("ObiPathThicknessHandle".GetHashCode(), FocusType.Keyboard);
+                int controlId = GUIUtility.GetControlID("ObiPathThicknessHandle".GetHashCode(), FocusType.Passive);
                 Vector3 position1 = position + radius * vector3Array[index];
                 bool changed = GUI.changed;
                 GUI.changed = false;
@@ -1197,7 +1214,7 @@ namespace Obi
                         Vector2 currentPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, i * step));
 
                         float mu;
-                        float distance = Vector2.SqrMagnitude((Vector2)ObiUtils.ProjectPointLine(screenPoint, lastPoint, currentPoint, out mu) - screenPoint);
+                        float distance = Vector2.SqrMagnitude((Vector2)ObiUtils.ProjectPointLine(lastPoint, currentPoint, screenPoint, out mu) - screenPoint);
 
                         if (distance < minDistance)
                         {
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
index 9e47ccaca..2a0bc1b67 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
@@ -28,27 +28,9 @@ namespace Obi
             // select vertex on mouse click:
             switch (Event.current.GetTypeForControl(controlID))
             {
-
-                case EventType.MouseDown:
-                    {
-
-                        if ((Event.current.modifiers & EventModifiers.Control) == 0 &&
-                            (HandleUtility.nearestControl != controlID || Event.current.button != 0)) break;
-
-                        startPos = Event.current.mousePosition;
-                        marquee.Set(0, 0, 0, 0);
-
-                        // If the user is pressing shift, accumulate selection.
-                        if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
-                        {
-                            for (int i = 0; i < selectionStatus.Length; i++)
-                                selectionStatus[i] = false;
-                        }
-
-                        // If the user is holding down control, dont allow selection of other objects and use marquee tool.
-                        if ((Event.current.modifiers & EventModifiers.Control) != 0)
-                            GUIUtility.hotControl = controlID;
-
+                case EventType.Layout:
+                case EventType.MouseMove:
+                    
                         float minSqrDistance = System.Single.MaxValue;
                         float sqrMinSelectionDistance = minSelectionDistance * minSelectionDistance;
 
@@ -59,50 +41,94 @@ namespace Obi
                             Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
 
                             // get distance from mouse position to particle position:
-                            float sqrDistance = Vector2.SqrMagnitude(startPos - pos);
+                            float sqrDistance = Vector2.SqrMagnitude(Event.current.mousePosition - pos);
 
                             // check if this control point is closer to the cursor that any previously considered point.
                             if (sqrDistance < sqrMinSelectionDistance && sqrDistance < minSqrDistance)
-                            {
+                            { 
                                 minSqrDistance = sqrDistance;
-                                selectedCPIndex = i;
                             }
 
                         }
+                        HandleUtility.AddControl(controlID, Mathf.Sqrt(minSqrDistance));
+                    
+                    break;
 
-                        if (selectedCPIndex >= 0)
-                        { // toggle particle selection status.
+                case EventType.MouseDown:
+                    
+                        marquee.Set(0, 0, 0, 0);
+                        startPos = Event.current.mousePosition;
 
-                            selectionStatus[selectedCPIndex] = !selectionStatus[selectedCPIndex];
-                            selectionStatusChanged = true;
+                        if (Event.current.button == 0)
+                        {
 
-                            // Prevent spline deselection if we have selected a particle:
-                            GUIUtility.hotControl = controlID;
-                            Event.current.Use();
+                            if (HandleUtility.nearestControl == controlID)
+                            {
+                                GUIUtility.hotControl = controlID;
 
+                                // If the user is pressing shift or ctrl, accumulate selection.
+                                if ((Event.current.modifiers & (EventModifiers.Shift | EventModifiers.Control)) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                                {
+                                    for (int i = 0; i < selectionStatus.Length; i++)
+                                        selectionStatus[i] = false;
+
+                                    selectionStatusChanged = true;
+                                }
+
+                                minSqrDistance = System.Single.MaxValue;
+                                sqrMinSelectionDistance = minSelectionDistance * minSelectionDistance;
+
+                                for (int i = 0; i < path.ControlPointCount; i++)
+                                {
+
+                                    // get particle position in gui space:
+                                    Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
+
+                                    // get distance from mouse position to particle position:
+                                    float sqrDistance = Vector2.SqrMagnitude(startPos - pos);
+
+                                    // check if this control point is closer to the cursor that any previously considered point.
+                                    if (sqrDistance < sqrMinSelectionDistance && sqrDistance < minSqrDistance)
+                                    {
+                                        minSqrDistance = sqrDistance;
+                                        selectedCPIndex = i;
+                                    }
+
+                                }
+
+                                if (selectedCPIndex >= 0)
+                                { // toggle particle selection status.
+
+                                    selectionStatus[selectedCPIndex] = !selectionStatus[selectedCPIndex];
+                                    selectionStatusChanged = true;
+
+                                    // Prevent spline deselection if we have selected a particle:
+                                    Event.current.Use();
+
+                                }
+                            }
+                            else if ((Event.current.modifiers & (EventModifiers.Shift | EventModifiers.Control)) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
+                            {
+                                for (int i = 0; i < selectionStatus.Length; i++)
+                                    selectionStatus[i] = false;
+
+                                selectionStatusChanged = true;
+                            }
                         }
-                        else if (Event.current.modifiers == EventModifiers.None)
-                        { // deselect all particles:
-                            for (int i = 0; i < selectionStatus.Length; i++)
-                                selectionStatus[i] = false;
-
-                            selectionStatusChanged = true;
-                        }
-
-                    }
+                    
                     break;
 
                 case EventType.MouseDrag:
 
-                    if (GUIUtility.hotControl == controlID)
+                    if (Event.current.button == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0)
                     {
-
                         currentPos = Event.current.mousePosition;
                         if (!dragging && Vector2.Distance(startPos, currentPos) > 5)
                         {
                             dragging = true;
                         }
-                        else
+
+                        if (dragging)
                         {
                             GUIUtility.hotControl = controlID;
                             Event.current.Use();
@@ -161,34 +187,6 @@ namespace Obi
 
                     break;
 
-
-                case EventType.Layout:
-                    {
-
-                        float minSqrDistance = System.Single.MaxValue;
-                        float sqrMinSelectionDistance = minSelectionDistance * minSelectionDistance;
-
-                        for (int i = 0; i < path.ControlPointCount; i++)
-                        {
-
-                            // get particle position in gui space:
-                            Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
-
-                            // get distance from mouse position to particle position:
-                            float sqrDistance = Vector2.SqrMagnitude(Event.current.mousePosition - pos);
-
-                            // check if this control point is closer to the cursor that any previously considered point.
-                            if (sqrDistance < sqrMinSelectionDistance && sqrDistance < minSqrDistance)
-                            { //magic number 900 = 30*30, where 30 is min distance in pixels to select a particle.
-                                minSqrDistance = sqrDistance;
-                            }
-
-                        }
-
-                        HandleUtility.AddControl(controlID, Mathf.Sqrt(minSqrDistance));
-                    }
-                    break;
-
             }
 
             return selectionStatusChanged;
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
index dd519a094..cb807468f 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
@@ -17,6 +17,8 @@ namespace Obi
         static void CreateObiRod(MenuCommand menuCommand)
         {
             GameObject go = new GameObject("Obi Rod", typeof(ObiRod), typeof(ObiRopeExtrudedRenderer));
+            var renderer = go.GetComponent<ObiRopeExtrudedRenderer>();
+            renderer.material = ObiEditorUtils.GetDefaultMaterial();
             ObiEditorUtils.PlaceActorRoot(go, menuCommand);
         }
 
@@ -26,7 +28,8 @@ namespace Obi
 
         SerializedProperty collisionMaterial;
         SerializedProperty selfCollisions;
-        SerializedProperty surfaceCollisions; 
+        SerializedProperty surfaceCollisions;
+        SerializedProperty massScale;
 
         SerializedProperty stretchShearConstraintsEnabled;
         SerializedProperty stretchCompliance;
@@ -40,6 +43,10 @@ namespace Obi
         SerializedProperty plasticYield;
         SerializedProperty plasticCreep;
 
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
         SerializedProperty chainConstraintsEnabled;
         SerializedProperty tightness;
 
@@ -54,6 +61,7 @@ namespace Obi
             collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
             selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
             surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+            massScale = serializedObject.FindProperty("m_MassScale");
 
             stretchShearConstraintsEnabled = serializedObject.FindProperty("_stretchShearConstraintsEnabled");
             stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
@@ -67,6 +75,10 @@ namespace Obi
             plasticYield = serializedObject.FindProperty("_plasticYield");
             plasticCreep = serializedObject.FindProperty("_plasticCreep");
 
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
+
             chainConstraintsEnabled = serializedObject.FindProperty("_chainConstraintsEnabled");
             tightness = serializedObject.FindProperty("_tightness");
         }
@@ -110,8 +122,30 @@ namespace Obi
 
             using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
             {
+                GUILayout.BeginHorizontal();
+
                 EditorGUI.BeginChangeCheck();
+
                 EditorGUILayout.PropertyField(rodBlueprint, new GUIContent("Blueprint"));
+
+                if (actor.rodBlueprint == null)
+                {
+                    if (GUILayout.Button("Create", EditorStyles.miniButton, GUILayout.MaxWidth(80)))
+                    {
+                        string path = EditorUtility.SaveFilePanel("Save blueprint", "Assets/", "RodBlueprint", "asset");
+                        if (!string.IsNullOrEmpty(path))
+                        {
+                            path = FileUtil.GetProjectRelativePath(path);
+                            ObiRodBlueprint asset = ScriptableObject.CreateInstance<ObiRodBlueprint>();
+
+                            AssetDatabase.CreateAsset(asset, path);
+                            AssetDatabase.SaveAssets();
+
+                            actor.rodBlueprint = asset;
+                        }
+                    }
+                }
+
                 if (EditorGUI.EndChangeCheck())
                 {
                     foreach (var t in targets)
@@ -123,8 +157,12 @@ namespace Obi
                     foreach (var t in targets)
                         (t as ObiRod).AddToSolver();
                 }
+
+                GUILayout.EndHorizontal();
             }
 
+            EditorGUILayout.PropertyField(massScale, new GUIContent("m_MassScale"));
+
             DoEditButton();
 
             EditorGUILayout.Space();
@@ -150,6 +188,12 @@ namespace Obi
                 EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
             });
 
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
+
             ObiEditorUtils.DoToggleablePropertyGroup(chainConstraintsEnabled, new GUIContent("Chain Constraints", Resources.Load<Texture2D>("Icons/ObiChainConstraints Icon")),
             () => {
                 EditorGUILayout.PropertyField(tightness, new GUIContent("Tightness"));
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
index cace6a09d..76570ef57 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
@@ -15,8 +15,27 @@ namespace Obi{
 		public void OnEnable(){
 			renderer = (ObiRopeChainRenderer)target;
 		}
-		
-		public override void OnInspectorGUI() {
+
+        [MenuItem("CONTEXT/ObiRopeChainRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
+        {
+            ObiRopeChainRenderer renderer = (ObiRopeChainRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
+            {
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeChainRenderer>() as ObiChainRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save chain mesh", "chain mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
+            }
+        }
+
+        public override void OnInspectorGUI() {
 			
 			serializedObject.UpdateIfRequiredOrScript();
 			
@@ -25,12 +44,7 @@ namespace Obi{
 			// Apply changes to the serializedProperty
 			if (GUI.changed){
 				
-				serializedObject.ApplyModifiedProperties();
-				
-				renderer.ClearChainLinkInstances();
-                renderer.CreateChainLinkInstances(renderer.GetComponent<ObiRopeBase>());
-                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
-				
+				serializedObject.ApplyModifiedProperties();				
 			}
 			
 		}
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
index 18d81009f..f902539de 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
@@ -65,17 +65,19 @@ namespace Obi
         private static void DrawGizmos(ObiRopeCursor cursor, GizmoType gizmoType)
         {
             var rope = cursor.GetComponent<ObiRope>();
-            if (rope.solver != null)
+            if (rope.isLoaded)
             {
-                Gizmos.color = new Color(1, 0.5f, 0, 0.75f);
+                Handles.matrix = rope.solver.transform.localToWorldMatrix;
+                Handles.color = new Color(1, 0.5f, 0.2f, 1);
 
                 // draw source particle:
                 int sourceIndex = cursor.sourceParticleIndex;
 
                 if (sourceIndex >= 0 && rope.IsParticleActive(rope.solver.particleToActor[sourceIndex].indexInActor))
                 {
-                    Vector3 pos = rope.GetParticlePosition(sourceIndex);
-                    Gizmos.DrawWireSphere(pos, HandleUtility.GetHandleSize(pos) * 0.4f);
+                    Vector3 pos = rope.solver.positions[sourceIndex];
+                    float size = HandleUtility.GetHandleSize(pos) * 0.15f;
+                    Handles.SphereHandleCap(0, pos, Quaternion.identity, size, EventType.Repaint);
                 }
 
                 // draw cursor:
@@ -83,13 +85,12 @@ namespace Obi
 
                 if (element != null && element.particle1 != element.particle2)
                 {
-                    Vector3 pos = rope.GetParticlePosition(cursor.direction ? element.particle1 : element.particle2);
-                    Vector3 pos2 = rope.GetParticlePosition(cursor.direction ? element.particle2 : element.particle1);
+                    Vector3 pos = rope.solver.positions[cursor.direction ? element.particle1 : element.particle2];
+                    Vector3 pos2 = rope.solver.positions[cursor.direction ? element.particle2 : element.particle1];
                     Vector3 direction = pos2 - pos;
 
-                    float size = HandleUtility.GetHandleSize(pos) * 0.4f;
-                    Gizmos.matrix = Matrix4x4.TRS(pos, Quaternion.LookRotation(direction), Vector3.one * size);
-                    DrawArrow();
+                    float size = HandleUtility.GetHandleSize(pos) * 0.25f;
+                    Handles.ConeHandleCap(0, pos + Vector3.Normalize(direction)*size*0.5f, Quaternion.LookRotation(direction), size, EventType.Repaint);
                 }
             }
         }
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
index 6dc04ad7f..9d18998bb 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
@@ -1,11 +1,6 @@
 using UnityEditor;
 using UnityEditor.EditorTools;
-using UnityEditorInternal;
 using UnityEngine;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-
 
 namespace Obi
 {
@@ -18,6 +13,8 @@ namespace Obi
         static void CreateObiRope(MenuCommand menuCommand)
         {
             GameObject go = new GameObject("Obi Rope", typeof(ObiRope), typeof(ObiRopeExtrudedRenderer));
+            var renderer = go.GetComponent<ObiRopeExtrudedRenderer>();
+            renderer.material = ObiEditorUtils.GetDefaultMaterial();
             ObiEditorUtils.PlaceActorRoot(go, menuCommand);
         }
 
@@ -28,6 +25,7 @@ namespace Obi
         SerializedProperty collisionMaterial;
         SerializedProperty selfCollisions;
         SerializedProperty surfaceCollisions;
+        SerializedProperty massScale;
 
         SerializedProperty distanceConstraintsEnabled;
         SerializedProperty stretchingScale;
@@ -40,6 +38,10 @@ namespace Obi
         SerializedProperty plasticYield;
         SerializedProperty plasticCreep;
 
+        SerializedProperty aerodynamicsEnabled;
+        SerializedProperty drag;
+        SerializedProperty lift;
+
         SerializedProperty tearingEnabled;
         SerializedProperty tearResistanceMultiplier;
         SerializedProperty tearRate;
@@ -55,6 +57,7 @@ namespace Obi
             collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
             selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
             surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+            massScale = serializedObject.FindProperty("m_MassScale");
 
             distanceConstraintsEnabled = serializedObject.FindProperty("_distanceConstraintsEnabled");
             stretchingScale = serializedObject.FindProperty("_stretchingScale");
@@ -67,6 +70,10 @@ namespace Obi
             plasticYield = serializedObject.FindProperty("_plasticYield");
             plasticCreep = serializedObject.FindProperty("_plasticCreep");
 
+            aerodynamicsEnabled = serializedObject.FindProperty("_aerodynamicsEnabled");
+            drag = serializedObject.FindProperty("_drag");
+            lift = serializedObject.FindProperty("_lift");
+
             tearingEnabled = serializedObject.FindProperty("tearingEnabled");
             tearResistanceMultiplier = serializedObject.FindProperty("tearResistanceMultiplier");
             tearRate = serializedObject.FindProperty("tearRate");
@@ -112,8 +119,29 @@ namespace Obi
 
             using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
             {
+                GUILayout.BeginHorizontal();
                 EditorGUI.BeginChangeCheck();
+
                 EditorGUILayout.PropertyField(ropeBlueprint, new GUIContent("Blueprint"));
+
+                if (actor.ropeBlueprint == null)
+                {
+                    if (GUILayout.Button("Create", EditorStyles.miniButton, GUILayout.MaxWidth(80)))
+                    {
+                        string path = EditorUtility.SaveFilePanel("Save blueprint", "Assets/", "RopeBlueprint", "asset");
+                        if (!string.IsNullOrEmpty(path))
+                        {
+                            path = FileUtil.GetProjectRelativePath(path);
+                            ObiRopeBlueprint asset = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+
+                            AssetDatabase.CreateAsset(asset, path);
+                            AssetDatabase.SaveAssets();
+
+                            actor.ropeBlueprint = asset;
+                        }
+                    }
+                }
+
                 if (EditorGUI.EndChangeCheck())
                 {
                     foreach (var t in targets)
@@ -125,8 +153,14 @@ namespace Obi
                     foreach (var t in targets)
                         (t as ObiRope).AddToSolver();
                 }
+
+                GUILayout.EndHorizontal();
             }
 
+            GUI.enabled = !Application.isPlaying;
+            EditorGUILayout.PropertyField(massScale, new GUIContent("Mass scale"));
+            GUI.enabled = true;
+
             DoEditButton();
 
             EditorGUILayout.Space();
@@ -159,6 +193,11 @@ namespace Obi
                 EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
             });
 
+            ObiEditorUtils.DoToggleablePropertyGroup(aerodynamicsEnabled, new GUIContent("Aerodynamics", Resources.Load<Texture2D>("Icons/ObiAerodynamicConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(drag, new GUIContent("Drag"));
+                EditorGUILayout.PropertyField(lift, new GUIContent("Lift"));
+            });
 
             if (GUI.changed)
                 serializedObject.ApplyModifiedProperties();
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
index de1b48fbc..02a4983f0 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
@@ -16,22 +16,28 @@ namespace Obi{
 			renderer = (ObiRopeExtrudedRenderer)target;
 		}
 
-        private void BakeMesh()
+        [MenuItem("CONTEXT/ObiRopeExtrudedRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
         {
-            if (renderer != null && renderer.extrudedMesh != null)
+            ObiRopeExtrudedRenderer renderer = (ObiRopeExtrudedRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
             {
-                ObiEditorUtils.SaveMesh(renderer.extrudedMesh, "Save extruded mesh", "rope mesh");
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeExtrudedRenderer>() as ObiExtrudedRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save rope mesh", "rope mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
             }
         }
 
         public override void OnInspectorGUI() {
 			
 			serializedObject.UpdateIfRequiredOrScript();
-
-            if (GUILayout.Button("BakeMesh"))
-            {
-                BakeMesh();
-            }
 			
 			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
 			
@@ -40,8 +46,6 @@ namespace Obi{
 				
 				serializedObject.ApplyModifiedProperties();
 				
-                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
-				
 			}
 			
 		}
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
index 4e21bf8ce..586d69b18 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
@@ -27,7 +27,7 @@ namespace Obi{
 				
 				serializedObject.ApplyModifiedProperties();
 				
-                renderer.UpdateRenderer(null);
+                //renderer.UpdateRenderer(null);
 				
 			}
 			
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
index 8263a50a6..2d110592d 100644
--- a/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
@@ -1,8 +1,5 @@
 using UnityEditor;
 using UnityEngine;
-using System;
-using System.Collections;
-using System.Collections.Generic;
 
 namespace Obi{
 	
@@ -11,28 +8,34 @@ namespace Obi{
 	{
 		
 		ObiRopeMeshRenderer renderer;
-		
-		public void OnEnable(){
-			renderer = (ObiRopeMeshRenderer)target;
-		}
 
-        private void BakeMesh()
+        [MenuItem("CONTEXT/ObiRopeMeshRenderer/Bake mesh")]
+        static void Bake(MenuCommand command)
         {
-            if (renderer != null && renderer.deformedMesh != null)
+            ObiRopeMeshRenderer renderer = (ObiRopeMeshRenderer)command.context;
+
+            if (renderer.actor.isLoaded)
             {
-                ObiEditorUtils.SaveMesh(renderer.deformedMesh, "Save deformed mesh", "rope mesh");
+                var system = renderer.actor.solver.GetRenderSystem<ObiRopeMeshRenderer>() as ObiMeshRopeRenderSystem;
+
+                if (system != null)
+                {
+                    var mesh = new Mesh();
+                    system.BakeMesh(renderer, ref mesh, true);
+                    ObiEditorUtils.SaveMesh(mesh, "Save rope mesh", "rope mesh");
+                    GameObject.DestroyImmediate(mesh);
+                }
             }
         }
 
+        public void OnEnable(){
+			renderer = (ObiRopeMeshRenderer)target;
+		}
+
         public override void OnInspectorGUI() {
 			
 			serializedObject.UpdateIfRequiredOrScript();
 
-            if (GUILayout.Button("BakeMesh"))
-            {
-                BakeMesh();
-            }
-
             Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
 			
 			// Apply changes to the serializedProperty
@@ -40,8 +43,6 @@ namespace Obi{
 				
 				serializedObject.ApplyModifiedProperties();
 				
-                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
-				
 			}
 			
 		}
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents.meta b/Assets/Obi/Editor/RopeAndRod/Utils.meta
similarity index 77%
rename from Assets/Obi/Plugins/libOni.bundle/Contents.meta
rename to Assets/Obi/Editor/RopeAndRod/Utils.meta
index 8bdbdc030..9115ebae6 100644
--- a/Assets/Obi/Plugins/libOni.bundle/Contents.meta
+++ b/Assets/Obi/Editor/RopeAndRod/Utils.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: b0f57a84cadd44090a54d60174a2e7e9
+guid: 72e3dd3ad91bf485099095b5e59ff81b
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs b/Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs
new file mode 100644
index 000000000..f2380581a
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs
@@ -0,0 +1,169 @@
+using UnityEditor;
+using UnityEditorInternal;
+using UnityEngine;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiPinhole))]
+    public class ObiPinholeEditor : Editor
+    {
+
+        SerializedProperty targetTransform;
+        SerializedProperty position;
+        SerializedProperty limitRange;
+        SerializedProperty range;
+        SerializedProperty compliance;
+        SerializedProperty friction;
+        SerializedProperty motorSpeed;
+        SerializedProperty motorForce;
+        SerializedProperty clamp;
+        SerializedProperty breakThreshold;
+
+        ObiPinhole pinhole;
+
+        public void OnEnable()
+        {
+
+            pinhole = target as ObiPinhole;
+            targetTransform = serializedObject.FindProperty("m_Target");
+            position = serializedObject.FindProperty("m_Position");
+            limitRange = serializedObject.FindProperty("m_LimitRange");
+            range = serializedObject.FindProperty("m_Range");
+            friction = serializedObject.FindProperty("m_Friction");
+            motorSpeed = serializedObject.FindProperty("m_MotorSpeed");
+            motorForce = serializedObject.FindProperty("m_MotorForce");
+            compliance = serializedObject.FindProperty("m_Compliance");
+            clamp = serializedObject.FindProperty("m_ClampAtEnds");
+            breakThreshold = serializedObject.FindProperty("breakThreshold");
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            // warn about incorrect setups:
+            if (!targetTransform.hasMultipleDifferentValues)
+            {
+                var targetValue = targetTransform.objectReferenceValue as UnityEngine.Component;
+                if (targetValue != null)
+                {
+                    var collider = targetValue.GetComponent<ObiColliderBase>();
+                    if (collider == null)
+                    {
+                        EditorGUILayout.HelpBox("Pinholes require the target object to have a ObiCollider component. Please add one.", MessageType.Warning);
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            Transform trget = EditorGUILayout.ObjectField("Target", pinhole.target, typeof(Transform), true) as Transform;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(pinhole, "Set target");
+                pinhole.target = trget;
+                PrefabUtility.RecordPrefabInstancePropertyModifications(pinhole);
+            }
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(position, new GUIContent("Position"));
+            if (EditorGUI.EndChangeCheck())
+            {
+                serializedObject.ApplyModifiedProperties();
+                pinhole.CalculateMu();
+            }
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(limitRange, new GUIContent("Limit Range"));
+            if (EditorGUI.EndChangeCheck())
+            {
+                serializedObject.ApplyModifiedProperties();
+                pinhole.CalculateRange();
+            }
+
+            if (limitRange.boolValue)
+            {
+                EditorGUI.indentLevel++;
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(range, new GUIContent("Range"));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    serializedObject.ApplyModifiedProperties();
+                    pinhole.CalculateRange();
+                }
+                EditorGUI.indentLevel--;
+            }
+            EditorGUILayout.PropertyField(clamp, new GUIContent("Clamp at ends"));
+            EditorGUILayout.PropertyField(friction, new GUIContent("Friction"));
+            EditorGUILayout.PropertyField(motorSpeed, new GUIContent("Motor Target Speed"));
+            EditorGUILayout.PropertyField(motorForce, new GUIContent("Motor Max Force"));
+            EditorGUILayout.PropertyField(compliance, new GUIContent("Compliance"));
+            EditorGUILayout.PropertyField(breakThreshold, new GUIContent("Break threshold"));
+            
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiPinhole pinhole, GizmoType gizmoType)
+        {
+            var rope = pinhole.GetComponent<ObiRope>();
+
+            var ropeBlueprint = rope.sharedBlueprint as ObiRopeBlueprintBase;
+            if (rope.isLoaded && ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+            {
+                Handles.color = new Color(1, 0.5f, 0.2f, 1);
+                Handles.matrix = rope.solver.transform.localToWorldMatrix;
+
+                // draw limits:
+                if (pinhole.limitRange)
+                {
+                    for (int i = pinhole.firstEdge.edgeIndex; i <= pinhole.lastEdge.edgeIndex; ++i)
+                    {
+                        if (i >= 0 && i < ropeBlueprint.deformableEdges.Length)
+                        {
+                            int p1 = ropeBlueprint.deformableEdges[i * 2];
+                            int p2 = ropeBlueprint.deformableEdges[i * 2 + 1];
+                            var pos1 = rope.solver.positions[rope.solverIndices[p1]];
+                            var pos2 = rope.solver.positions[rope.solverIndices[p2]];
+
+                            if (i == pinhole.firstEdge.edgeIndex)
+                            {
+                                pos1 = Vector4.Lerp(pos1, pos2, pinhole.firstEdge.coordinate);
+                                Handles.DrawSolidDisc(pos1, pos2 - pos1, HandleUtility.GetHandleSize(pos1) * 0.05f);
+                            }
+                            if (i == pinhole.lastEdge.edgeIndex)
+                            {
+                                pos2 = Vector4.Lerp(pos1, pos2, pinhole.lastEdge.coordinate);
+                                Handles.DrawSolidDisc(pos2, pos1 - pos2, HandleUtility.GetHandleSize(pos2) * 0.05f);
+                            }
+
+                            Handles.DrawLine(pos1, pos2, 2);
+                        }
+                    }
+                }
+
+                // draw source particle:
+                int edgeIndex = pinhole.edgeIndex;
+
+                if (edgeIndex >= 0 && edgeIndex < ropeBlueprint.deformableEdges.Length)
+                {
+                    int p1 = ropeBlueprint.deformableEdges[edgeIndex * 2];
+                    int p2 = ropeBlueprint.deformableEdges[edgeIndex * 2 + 1];
+                    var pos1 = rope.solver.positions[rope.solverIndices[p1]];
+                    var pos2 = rope.solver.positions[rope.solverIndices[p2]];
+                    Vector4 pos = Vector4.Lerp(pos1, pos2, pinhole.edgeCoordinate);
+                    Handles.DrawWireDisc(pos, pos1 - pos2,  HandleUtility.GetHandleSize(pos) * 0.1f, 2);
+                }
+            }
+        }
+    }
+
+}
+
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta b/Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs.meta
similarity index 83%
rename from Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta
rename to Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs.meta
index 63ab565a5..97fc35243 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta
+++ b/Assets/Obi/Editor/RopeAndRod/Utils/ObiPinholeEditor.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 424c135125b644408aeda26a57bd6e40
+guid: f58defb5faddb428ea91cd06eecd8729
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Plugins.meta b/Assets/Obi/Plugins.meta
deleted file mode 100644
index 536d60324..000000000
--- a/Assets/Obi/Plugins.meta
+++ /dev/null
@@ -1,9 +0,0 @@
-fileFormatVersion: 2
-guid: 8e4e86215c462421ab9ce3fb2940e67e
-folderAsset: yes
-timeCreated: 1453095262
-licenseType: Store
-DefaultImporter:
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Plugins/Android.meta b/Assets/Obi/Plugins/Android.meta
deleted file mode 100644
index ef9a766ef..000000000
--- a/Assets/Obi/Plugins/Android.meta
+++ /dev/null
@@ -1,9 +0,0 @@
-fileFormatVersion: 2
-guid: bd54dd4041414433090806277fe28ec5
-folderAsset: yes
-timeCreated: 1469612501
-licenseType: Store
-DefaultImporter:
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Plugins/Android/arm64-v8a/libOni.so b/Assets/Obi/Plugins/Android/arm64-v8a/libOni.so
deleted file mode 100644
index dcd5812757fd221b387ceb769375c2170feb481e..0000000000000000000000000000000000000000
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diff --git a/Assets/Obi/Plugins/Android/arm64-v8a/libOni.so.meta b/Assets/Obi/Plugins/Android/arm64-v8a/libOni.so.meta
deleted file mode 100644
index fc75de83a..000000000
--- a/Assets/Obi/Plugins/Android/arm64-v8a/libOni.so.meta
+++ /dev/null
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diff --git a/Assets/Obi/Plugins/Android/x86/libc++_shared.so b/Assets/Obi/Plugins/Android/x86/libc++_shared.so
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diff --git a/Assets/Obi/Plugins/iOS.meta b/Assets/Obi/Plugins/iOS.meta
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diff --git a/Assets/Obi/Plugins/iOS/Oni.h b/Assets/Obi/Plugins/iOS/Oni.h
deleted file mode 100644
index 4927e7747..000000000
--- a/Assets/Obi/Plugins/iOS/Oni.h
+++ /dev/null
@@ -1,435 +0,0 @@
-/*
- *  Oni.h
- *  Oni
- *
- *  Created by José María Méndez González on 21/9/15.
- *  Copyright (c) 2015 ArK. All rights reserved.
- *
- */
-
-#ifndef Oni_
-#define Oni_
-
-#include "Solver.h"
-#include "HalfEdgeMesh.h"
-#include "ParticleGrid.h"
-#include "ColliderGrid.h"
-
-#if defined(__APPLE__) || defined(ANDROID) || defined(__linux__)
-    #define EXPORT __attribute__((visibility("default")))
-#else
-    #define EXPORT __declspec(dllexport)
-#endif
-
-namespace Oni
-{
-    
-    struct ConstraintGroupParameters;
-    class ConstraintBatchBase;
-    struct Collider;
-    struct Rigidbody;
-    class TriangleSkinMap;
-    class DistanceField;
-    struct CollisionMaterial;
-    struct ProfileInfo;
-    struct DFNode;
-    struct TriangleMeshHeader;
-    struct EdgeMeshHeader;
-    struct BIHNode;
-    struct Triangle;
-    struct Edge;
-    
-    template<class T>
-    struct ObjHandle
-    {
-        std::shared_ptr<T> ptr;
-        
-        ObjHandle(T* obj):ptr(std::shared_ptr<T>(obj)){}
-        
-        ObjHandle(std::shared_ptr<T> obj):ptr(obj){}
-        
-        std::shared_ptr<T> operator->() const{
-            return ptr;
-        }
-    };
-    
-    extern "C"
-    {
-    
-        typedef ObjHandle<ConstraintBatchBase> ConstraintBatchHandle;
-        typedef ObjHandle<Collider> ColliderHandle;
-        typedef ObjHandle<Rigidbody> RigidbodyHandle;
-        typedef ObjHandle<CollisionMaterial> CollisionMaterialHandle;
-        typedef ObjHandle<DistanceField> DistanceFieldHandle;
-        typedef ObjHandle<Task> TaskHandle;
-        
-        // Colliders ********************:
-        EXPORT void UpdateColliderGrid(float dt);
-        
-        EXPORT void SetColliders(Collider* shapes, Bounds* bounds, Transform* transforms, int count);
-        
-        EXPORT void SetRigidbodies(Rigidbody* rigidbodies);
-    
-        EXPORT void SetCollisionMaterials(CollisionMaterial* materials);
-    
-        EXPORT void SetTriangleMeshData(TriangleMeshHeader* headers, BIHNode* nodes, Triangle* triangles, Eigen::Vector3f* vertices);
-        EXPORT void SetEdgeMeshData(EdgeMeshHeader* headers, BIHNode* nodes, Edge* edges, Eigen::Vector2f* vertices);
-        EXPORT void SetDistanceFieldData(DistanceFieldHeader* headers, DFNode* nodes);
-        EXPORT void SetHeightFieldData(HeightFieldHeader* hf_headers, float* hf_samples);
-        
-        // Distance fields ********************:
-
-        EXPORT DistanceFieldHandle* CreateDistanceField();
-        EXPORT void DestroyDistanceField(DistanceFieldHandle* df);
-        
-        EXPORT void StartBuildingDistanceField(DistanceFieldHandle* df,float max_error,
-                                                                       int max_depth,
-                                                                       Eigen::Vector3f* vertex_positions,
-                                                                       int* triangle_indices_,
-                                                                       int num_vertices,
-                                                                       int num_triangles);
-        
-        EXPORT bool ContinueBuildingDistanceField(DistanceFieldHandle* df);
-        
-        EXPORT float SampleDistanceField(DistanceFieldHandle* df, float x, float y, float z);
-        
-        EXPORT int GetDistanceFieldNodeCount(DistanceFieldHandle* df);
-        EXPORT void GetDistanceFieldNodes(DistanceFieldHandle* df, DFNode* nodes);
-        EXPORT void SetDistanceFieldNodes(DistanceFieldHandle* df, const DFNode* nodes, int num);
-        
-        // Collision materials *****************:
-        
-        EXPORT CollisionMaterialHandle* CreateCollisionMaterial();
-        EXPORT void UpdateCollisionMaterial(CollisionMaterialHandle* material, const CollisionMaterial& adaptor);
-        EXPORT void DestroyCollisionMaterial(CollisionMaterialHandle* collider);
-        
-        // Solver ********************:
-        
-		EXPORT Solver* CreateSolver(int capacity);
-		EXPORT void DestroySolver(Solver* solver);
-        
-        EXPORT void SetCapacity(Solver* solver,int capacity);
-        EXPORT void InitializeFrame(Solver* solver,const Vector4fUnaligned& position, const Vector4fUnaligned& scale, const QuaternionfUnaligned& rotation);
-        EXPORT void UpdateFrame(Solver* solver,const Vector4fUnaligned& position, const Vector4fUnaligned& scale, const QuaternionfUnaligned& rotation, float dt);
-        EXPORT void ApplyFrame(Solver* solver, float linear_velocity_scale, float angular_velocity_scale, float linear_inertia_scale,float angular_inertia_scale, float dt);
-        
-		EXPORT void GetBounds(Solver* solver, Eigen::Vector3f& min, Eigen::Vector3f& max);
-        EXPORT int GetParticleGridSize(Solver* solver);
-        EXPORT void GetParticleGrid(Solver* solver, Bounds* cells);
-        
-		EXPORT void SetSolverParameters(Solver* solver, const SolverParameters* parameters);
-		EXPORT void GetSolverParameters(Solver* solver, SolverParameters* parameters);
-        
-        EXPORT TaskHandle* CollisionDetection(Solver* solver, float step_time);
-		EXPORT TaskHandle* Step(Solver* solver, float step_time, float substep_time, int substeps);
-    
-        EXPORT int SpatialQuery(Solver* solver, QueryShape* shapes, Transform* transforms, int shape_count);
-        EXPORT void GetQueryResults(Solver* solver, QueryResult* results, int num);
-        
-		EXPORT void ApplyPositionInterpolation(Solver* solver,
-                                               Eigen::Vector4f* start_positions,
-                                               Eigen::Quaternionf* start_orientations,
-                                               float step_time,
-                                               float unsimulated_time);
-        
-        EXPORT void UpdateSkeletalAnimation(Solver* solver);
-        
-        EXPORT void RecalculateInertiaTensors(Solver* solver);
-        
-        EXPORT void ResetForces(Solver* solver);
-    
-        EXPORT void SetRigidbodyLinearDeltas(Solver* solver, Eigen::Vector4f* linear_deltas);
-        EXPORT void SetRigidbodyAngularDeltas(Solver* solver, Eigen::Vector4f* angular_deltas);
-    
-
-		EXPORT int GetConstraintCount(Solver* solver, const Solver::ConstraintType type);
-        
-		EXPORT int SetActiveParticles(Solver* solver, const int* active, int num);
-        
-        EXPORT void SetParticleCollisionMaterials(Solver* solver, int* material_indices);
-    
-		EXPORT void SetParticlePhases(Solver* solver, int* phases);
-    
-        EXPORT void SetParticleFilters(Solver* solver, int* filters);
-        
-		EXPORT void SetParticlePositions(Solver* solver, Eigen::Vector4f* positions);
-        
-        EXPORT void SetParticlePreviousPositions(Solver* solver, Eigen::Vector4f* prev_positions);
-        
-        EXPORT void SetParticleOrientations(Solver* solver,Eigen::Quaternionf* orientations);
-        
-        EXPORT void SetParticlePreviousOrientations(Solver* solver, Eigen::Quaternionf* prev_orientations);
-        
-        EXPORT void SetRenderableParticleOrientations(Solver* solver, Eigen::Quaternionf* orientations);
-        
-		EXPORT void SetRenderableParticlePositions(Solver* solver, Eigen::Vector4f* positions);
-        
-		EXPORT void SetParticleInverseMasses(Solver* solver, float* inv_masses);
-        
-        EXPORT void SetParticleInverseRotationalMasses(Solver* solver, float* inv_rot_masses);
-        
-        EXPORT void SetParticlePrincipalRadii(Solver* solver, Eigen::Vector4f* radii);
-        
-		EXPORT void SetParticleVelocities(Solver* solver, Eigen::Vector4f* velocities);
-        
-        EXPORT void SetParticleAngularVelocities(Solver* solver, Eigen::Vector4f* velocities);
-        
-        EXPORT void SetParticleExternalForces(Solver* solver, Eigen::Vector4f* forces);
-        
-        EXPORT void SetParticleExternalTorques(Solver* solver, Eigen::Vector4f* torques);
-        
-        EXPORT void SetParticleWinds(Solver* solver, Eigen::Vector4f* wind);
-        
-        EXPORT void SetParticlePositionDeltas(Solver* solver, Eigen::Vector4f* deltas);
-        
-        EXPORT void SetParticleOrientationDeltas(Solver* solver, Eigen::Quaternionf* deltas);
-        
-        EXPORT void SetParticlePositionConstraintCounts(Solver* solver, int* counts);
-        
-        EXPORT void SetParticleOrientationConstraintCounts(Solver* solver, int* counts);
-        
-        EXPORT void SetParticleNormals(Solver* solver, Eigen::Vector4f* normals);
-        
-        EXPORT void SetParticleInverseInertiaTensors(Solver* solver, Eigen::Vector4f* tensors);
-    
-        EXPORT int SetSimplices(Solver* solver, const int* simplices, int point_count, int edge_count, int triangle_count);
-    
-        
-        EXPORT int GetDeformableTriangleCount(Solver* solver);
-        
-        EXPORT void SetDeformableTriangles(Solver* solver, const int* indices, int num, int dest_offset);
-        
-        EXPORT int RemoveDeformableTriangles(Solver* solver, int num, int source_offset);
-        
-        
-        // Fluid ********************:
-        
-        EXPORT void SetParticleSmoothingRadii(Solver* solver,float* radii);
-        
-        EXPORT void SetParticleBuoyancy(Solver* solver,float* buoyancy);
-        
-        EXPORT void SetParticleRestDensities(Solver* solver,float* rest_densities);
-        
-        EXPORT void SetParticleViscosities(Solver* solver,float* viscosities);
-        
-        EXPORT void SetParticleSurfaceTension(Solver* solver,float* surf_tension);
-        
-        EXPORT void SetParticleVorticityConfinement(Solver* solver,float* vort_confinement);
-        
-        EXPORT void SetParticleAtmosphericDragPressure(Solver* solver,float* atmospheric_drag, float* atmospheric_pressure);
-        
-        EXPORT void SetParticleDiffusion(Solver* solver,float* diffusion);
-        
-        
-        EXPORT void SetParticleVorticities(Solver* solver, Eigen::Vector4f* vorticities);
-        
-        EXPORT void SetParticleFluidData(Solver* solver, Eigen::Vector4f* fluid_data);
-        
-        EXPORT void SetParticleUserData(Solver* solver, Eigen::Vector4f* user_data);
-        
-        EXPORT void SetParticleAnisotropies(Solver* solver, Eigen::Vector4f* anisotropies);
-        
-        
-        
-		EXPORT void SetConstraintGroupParameters(Solver* solver, const Solver::ConstraintType type, const ConstraintGroupParameters* parameters);
-        
-		EXPORT void GetConstraintGroupParameters(Solver* solver, const Solver::ConstraintType type, ConstraintGroupParameters* parameters);
-        
-        EXPORT void SetRestPositions(Solver* solver, Eigen::Vector4f* rest_positions);
-        
-        EXPORT void SetRestOrientations(Solver* solver, Eigen::Quaternionf* rest_orientations);
-        
-        
-        // Batches ********************:
-        
-        EXPORT ConstraintBatchHandle* CreateBatch(const Solver::ConstraintType type);
-        
-        EXPORT void DestroyBatch(ConstraintBatchHandle* batch);
-        
-        EXPORT void AddBatch(Solver* solver, ConstraintBatchHandle* batch);
-        
-        EXPORT void RemoveBatch(Solver* solver, ConstraintBatchHandle* batch);
-        
-        EXPORT void EnableBatch(ConstraintBatchHandle* batch, bool enabled);
-        
-        EXPORT int GetBatchConstraintForces(ConstraintBatchHandle* batch, float* forces, int num, int source_offset);
-        
-        // Constraints ********************:
-        
-        EXPORT void SetBatchConstraintCount(ConstraintBatchHandle* batch, int num);
-    
-        EXPORT int GetBatchConstraintCount(ConstraintBatchHandle* batch);
-        
-		EXPORT void SetDistanceConstraints(ConstraintBatchHandle* batch,
-                                      int* indices,
-                                      float* restLengths,
-                                      float* stiffnesses,
-                                      float* lambdas,
-                                     int num);
-    
-		EXPORT void SetBendingConstraints(ConstraintBatchHandle* batch,
-                                          int* indices,
-                                          float* rest_bends,
-                                          float* bending_stiffnesses,
-                                          float* plasticity,
-                                          float* lambdas,
-                                          int num);
-        
-		EXPORT void SetSkinConstraints(ConstraintBatchHandle* batch,
-                                       int* indices,
-                                       Eigen::Vector4f* skin_points,
-                                       Eigen::Vector4f* skin_normals,
-                                       float* radii_backstops,
-                                       float* stiffnesses,
-                                       float* lambdas,
-                                       int num);
-        
-		EXPORT void SetAerodynamicConstraints(ConstraintBatchHandle* batch,
-                                              int* triangle_indices,
-                                              float* aerodynamic_coeffs,
-                                              int num);
-        
-		EXPORT  void SetVolumeConstraints(ConstraintBatchHandle* batch,
-                                          int* triangle_indices,
-                                          int* first_triangle,
-                                          int* num_triangles,
-                                          float* rest_volumes,
-                                          float* pressure_stiffnesses,
-                                          float* lambdas,
-                                          int num);
-        
-        EXPORT  void SetShapeMatchingConstraints(ConstraintBatchHandle* batch,
-                                                 int* shape_indices,
-                                                 int* first_index,
-                                                 int* num_indices,
-                                                 int* explicit_group,
-                                                 float* shape_material_parameters,
-                                                 Eigen::Vector4f* rest_coms,
-                                                 Eigen::Vector4f* coms,
-                                                 Eigen::Quaternionf* orientations,
-                                                 Eigen::Matrix4f* linear_transforms,
-                                                 Eigen::Matrix4f* plastic_deformations,
-                                                 int num);
-        
-        EXPORT  void CalculateRestShapeMatching(Solver* solver, ConstraintBatchHandle* batch);
-        
-        EXPORT  void SetStretchShearConstraints(ConstraintBatchHandle* batch,
-                                                int* particle_indices,
-                                                int* orientation_indices,
-                                                float* rest_lengths,
-                                                Eigen::Quaternionf* rest_orientations,
-                                                Eigen::Vector3f* stiffnesses,
-                                                Eigen::Vector3f* lambdas,
-                                                int num);
-        
-        EXPORT void SetBendTwistConstraints(ConstraintBatchHandle* batch,
-                                                 int* orientation_indices,
-                                                 Eigen::Quaternionf* rest_darboux,
-                                                 Eigen::Vector3f* stiffnesses,
-                                                 float* plasticity,
-                                                 Eigen::Vector3f* lambdas,
-                                                 int num);
-        
-        EXPORT void SetTetherConstraints(ConstraintBatchHandle* batch,
-                                         int* indices,
-                                         float* max_lenght_scales,
-                                         float* stiffnesses,
-                                         float* lambdas,
-                                         int num);
-        
-        EXPORT void SetPinConstraints(ConstraintBatchHandle* batch,
-                                      int* indices,
-                                      Vector4f* pin_offsets,
-                                      Quaternionf* rest_darboux,
-                                      int* colliders,
-                                      float* stiffnesses,
-                                      Eigen::Vector4f* lambdas,
-                                      int num);
-        
-        EXPORT void SetStitchConstraints(ConstraintBatchHandle* batch,
-                                         int* indices,
-                                         float* stiffnesses,
-                                         float* lambdas,
-                                         int num);
-        
-        EXPORT void SetChainConstraints(ConstraintBatchHandle* batch,
-                                        int* indices,
-                                        float* rest_lengths,
-                                        int* first_index,
-                                        int* num_indices,
-                                        int num);
-        
-        // Collision data ********************:
-        
-        EXPORT void GetCollisionContacts(Solver* solver,Contact* contacts, int num);
-        
-        EXPORT void GetParticleCollisionContacts(Solver* solver,Contact* contacts, int num);
-        
-        // Diffuse particles ********************:
-        
-        EXPORT void InterpolateDiffuseParticles(Solver* solver,
-                                                const Eigen::Vector4f* properties,
-                                                const Eigen::Vector4f* diffuse_positions,
-                                                Eigen::Vector4f* diffuse_properties,
-                                                int* neighbour_count,
-                                                int count);
-        
-        // Skin maps ********************:
-        
-        EXPORT TriangleSkinMap* CreateTriangleSkinMap();
-        
-        EXPORT void DestroyTriangleSkinMap(TriangleSkinMap* map);
-        
-        EXPORT void Bind(TriangleSkinMap* map, Mesh* source, Mesh* target,
-                         const unsigned int* source_master_flags,
-                         const unsigned int* target_slave_flags);
-        
-        EXPORT int GetSkinnedVertexCount(TriangleSkinMap* map);
-        
-        EXPORT void GetSkinInfo(TriangleSkinMap* map,
-                                int* skin_indices,
-                                int* source_tri_indices,
-                                Eigen::Vector3f* bary_pos,
-                                Eigen::Vector3f* bary_nrm,
-                                Eigen::Vector3f* bary_tan);
-        
-       EXPORT  void SetSkinInfo(TriangleSkinMap* map,
-                                const int* skin_indices,
-                                const int* source_tri_indices,
-                                const Eigen::Vector3f* bary_pos,
-                                const Eigen::Vector3f* bary_nrm,
-                                const Eigen::Vector3f* bary_tan,
-                                int num);
-
-        // Tasks ********************:
-        
-        EXPORT void CompleteAll();
-        
-        EXPORT void Complete(TaskHandle* task);
-        
-        EXPORT TaskHandle* CreateEmpty();
-        
-        EXPORT void Schedule(TaskHandle* task);
-        
-        EXPORT void AddChild(TaskHandle* task, TaskHandle* child);
-        
-        // Profiling ****************:
-        
-        EXPORT int GetMaxSystemConcurrency();
-        
-        EXPORT void ClearProfiler();
-        
-        EXPORT void EnableProfiler(bool enabled);
-        
-        EXPORT void BeginSample(const char* name, unsigned char type);
-        
-        EXPORT void EndSample();
-        
-        EXPORT int GetProfilingInfoCount();
-        
-        EXPORT void GetProfilingInfo(ProfileInfo* info, int count);
-    }
-    
-}
-
-#endif
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diff --git a/Assets/Obi/Plugins/iOS/OniHelpers.h b/Assets/Obi/Plugins/iOS/OniHelpers.h
deleted file mode 100644
index 7b98e3ed4..000000000
--- a/Assets/Obi/Plugins/iOS/OniHelpers.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- *  OniHelpers.h
- *  Oni
- *
- *  Created by José María Méndez González on 21/9/15.
- *  Copyright (c) 2015 ArK. All rights reserved.
- *
- */
-
-#ifndef OniHelpers_
-#define OniHelpers_
-
-#include "Dense"
-#include "HalfEdgeMesh.h"
-
-#if defined(__APPLE__) || defined(ANDROID) || defined(__linux__)
-    #define EXPORT __attribute__((visibility("default")))
-#else
-    #define EXPORT __declspec(dllexport)
-#endif
-
-namespace Oni
-{
-    extern "C"
-    {
-        
-		EXPORT int MakePhase(int group, int flags);
-        EXPORT int GetGroupFromPhase(int phase);
-        
-        /**
-         * Calculates the rest bend factor for a bending constraint between 3 particles.
-         * @param coordinates an array of 9 floats: x,y,z of the first particle, x,y,z of the second particle, x,y,z of the third (central) particle.
-         */
-		EXPORT float BendingConstraintRest(float* coordinates);
-        
-		EXPORT HalfEdgeMesh* CreateHalfEdgeMesh();
-        
-		EXPORT void DestroyHalfEdgeMesh(HalfEdgeMesh* mesh);
-		EXPORT void GetHalfEdgeMeshInfo(HalfEdgeMesh* mesh, HalfEdgeMesh::MeshInformation* mesh_info);
-        
-        EXPORT void CalculatePrimitiveCounts(HalfEdgeMesh* mesh,
-                                             Eigen::Vector3f* vertices,
-                                             int* triangles,
-                                             int vertex_count,
-                                             int triangle_count);
-        
-		EXPORT void Generate(HalfEdgeMesh* mesh,
-                             Eigen::Vector3f* vertices,
-                             int* triangles,
-                             int vertex_count,
-                             int triangle_count,
-                             float* scale);
-        
-		EXPORT void SetHalfEdges(HalfEdgeMesh* mesh,HalfEdgeMesh::HalfEdge* half_edges, int count);
-		EXPORT void SetVertices(HalfEdgeMesh* mesh,HalfEdgeMesh::Vertex* vertices, int count);
-		EXPORT void SetFaces(HalfEdgeMesh* mesh,HalfEdgeMesh::Face* faces, int count);
-        
-        EXPORT void SetNormals(HalfEdgeMesh* mesh,Eigen::Vector3f* normals);
-        EXPORT void SetTangents(HalfEdgeMesh* mesh,Vector4fUnaligned* tangents);
-        EXPORT void SetInverseOrientations(HalfEdgeMesh* mesh,QuaternionfUnaligned* orientations);
-        EXPORT void SetVisualMap(HalfEdgeMesh* mesh,int* map);
-        
-		EXPORT int GetHalfEdgeCount(HalfEdgeMesh* mesh);
-		EXPORT int GetVertexCount(HalfEdgeMesh* mesh);
-		EXPORT int GetFaceCount(HalfEdgeMesh* mesh);
-        
-        EXPORT void GetPointCloudAnisotropy(Eigen::Vector3f* points,int count,float max_anisotropy,float radius, const Eigen::Vector3f& hint_normal, Eigen::Vector3f& centroid, QuaternionfUnaligned& orientation,Eigen::Vector3f& principal_values);
-    }
-    
-}
-
-#endif
diff --git a/Assets/Obi/Plugins/iOS/OniHelpers.h.meta b/Assets/Obi/Plugins/iOS/OniHelpers.h.meta
deleted file mode 100644
index 5675557e1..000000000
--- a/Assets/Obi/Plugins/iOS/OniHelpers.h.meta
+++ /dev/null
@@ -1,90 +0,0 @@
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-guid: 4f88b733d928048638365465e86b8f3b
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
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-    second:
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-  - first:
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-  - first:
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-    second:
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-  - first:
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-        DefaultValueInitialized: true
-        OS: AnyOS
-  - first:
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-  - first:
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-    second:
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-      settings:
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-      iPhone: iOS
-    second:
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-      settings:
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diff --git a/Assets/Obi/Plugins/iOS/libOni.a b/Assets/Obi/Plugins/iOS/libOni.a
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diff --git a/Assets/Obi/Plugins/iOS/libOni.a.meta b/Assets/Obi/Plugins/iOS/libOni.a.meta
deleted file mode 100644
index d532c806e..000000000
--- a/Assets/Obi/Plugins/iOS/libOni.a.meta
+++ /dev/null
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CMakeLists.txt b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CMakeLists.txt
deleted file mode 100644
index 9eb502b79..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CMakeLists.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-include(RegexUtils)
-test_escape_string_as_regex()
-
-file(GLOB Eigen_directory_files "*")
-
-escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-
-foreach(f ${Eigen_directory_files})
-  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
-    list(APPEND Eigen_directory_files_to_install ${f})
-  endif()
-endforeach(f ${Eigen_directory_files})
-
-install(FILES
-  ${Eigen_directory_files_to_install}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
-  )
-
-install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Cholesky b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Cholesky
deleted file mode 100644
index 1332b540d..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Cholesky
+++ /dev/null
@@ -1,46 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CHOLESKY_MODULE_H
-#define EIGEN_CHOLESKY_MODULE_H
-
-#include "Core"
-#include "Jacobi"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Cholesky_Module Cholesky module
-  *
-  *
-  *
-  * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are also accessible via the following methods:
-  *  - MatrixBase::llt()
-  *  - MatrixBase::ldlt()
-  *  - SelfAdjointView::llt()
-  *  - SelfAdjointView::ldlt()
-  *
-  * \code
-  * #include <Eigen/Cholesky>
-  * \endcode
-  */
-
-#include "src/Cholesky/LLT.h"
-#include "src/Cholesky/LDLT.h"
-#ifdef EIGEN_USE_LAPACKE
-#ifdef EIGEN_USE_MKL
-#include "mkl_lapacke.h"
-#else
-#include "src/misc/lapacke.h"
-#endif
-#include "src/Cholesky/LLT_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CHOLESKY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CholmodSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CholmodSupport
deleted file mode 100644
index bed8924d3..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CholmodSupport
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CHOLMODSUPPORT_MODULE_H
-#define EIGEN_CHOLMODSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-  #include <cholmod.h>
-}
-
-/** \ingroup Support_modules
-  * \defgroup CholmodSupport_Module CholmodSupport module
-  *
-  * This module provides an interface to the Cholmod library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  * It provides the two following main factorization classes:
-  * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization.
-  * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial).
-  *
-  * For the sake of completeness, this module also propose the two following classes:
-  * - class CholmodSimplicialLLT
-  * - class CholmodSimplicialLDLT
-  * Note that these classes does not bring any particular advantage compared to the built-in
-  * SimplicialLLT and SimplicialLDLT factorization classes.
-  *
-  * \code
-  * #include <Eigen/CholmodSupport>
-  * \endcode
-  *
-  * In order to use this module, the cholmod headers must be accessible from the include paths, and your binary must be linked to the cholmod library and its dependencies.
-  * The dependencies depend on how cholmod has been compiled.
-  * For a cmake based project, you can use our FindCholmod.cmake module to help you in this task.
-  *
-  */
-
-#include "src/CholmodSupport/CholmodSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CHOLMODSUPPORT_MODULE_H
-
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Core b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Core
deleted file mode 100644
index b923b8c00..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Core
+++ /dev/null
@@ -1,537 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2007-2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CORE_H
-#define EIGEN_CORE_H
-
-// first thing Eigen does: stop the compiler from committing suicide
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#if defined(__CUDACC__) && !defined(EIGEN_NO_CUDA)
-  #define EIGEN_CUDACC __CUDACC__
-#endif
-
-#if defined(__CUDA_ARCH__) && !defined(EIGEN_NO_CUDA)
-  #define EIGEN_CUDA_ARCH __CUDA_ARCH__
-#endif
-
-#if defined(__CUDACC_VER_MAJOR__) && (__CUDACC_VER_MAJOR__ >= 9)
-#define EIGEN_CUDACC_VER  ((__CUDACC_VER_MAJOR__ * 10000) + (__CUDACC_VER_MINOR__ * 100))
-#elif defined(__CUDACC_VER__)
-#define EIGEN_CUDACC_VER __CUDACC_VER__
-#else
-#define EIGEN_CUDACC_VER 0
-#endif
-
-// Handle NVCC/CUDA/SYCL
-#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__)
-  // Do not try asserts on CUDA and SYCL!
-  #ifndef EIGEN_NO_DEBUG
-  #define EIGEN_NO_DEBUG
-  #endif
-
-  #ifdef EIGEN_INTERNAL_DEBUGGING
-  #undef EIGEN_INTERNAL_DEBUGGING
-  #endif
-
-  #ifdef EIGEN_EXCEPTIONS
-  #undef EIGEN_EXCEPTIONS
-  #endif
-
-  // All functions callable from CUDA code must be qualified with __device__
-  #ifdef __CUDACC__
-    // Do not try to vectorize on CUDA and SYCL!
-    #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-    #endif
-
-    #define EIGEN_DEVICE_FUNC __host__ __device__
-    // We need cuda_runtime.h to ensure that that EIGEN_USING_STD_MATH macro
-    // works properly on the device side
-    #include <cuda_runtime.h>
-  #else
-    #define EIGEN_DEVICE_FUNC
-  #endif
-
-#else
-  #define EIGEN_DEVICE_FUNC
-
-#endif
-
-// When compiling CUDA device code with NVCC, pull in math functions from the
-// global namespace.  In host mode, and when device doee with clang, use the
-// std versions.
-#if defined(__CUDA_ARCH__) && defined(__NVCC__)
-  #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
-#else
-  #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
-#endif
-
-#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
-  #define EIGEN_EXCEPTIONS
-#endif
-
-#ifdef EIGEN_EXCEPTIONS
-  #include <new>
-#endif
-
-// then include this file where all our macros are defined. It's really important to do it first because
-// it's where we do all the alignment settings (platform detection and honoring the user's will if he
-// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
-#include "src/Core/util/Macros.h"
-
-// Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
-// See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
-#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
-  #pragma GCC optimize ("-fno-ipa-cp-clone")
-#endif
-
-#include <complex>
-
-// this include file manages BLAS and MKL related macros
-// and inclusion of their respective header files
-#include "src/Core/util/MKL_support.h"
-
-// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
-// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
-#if EIGEN_MAX_ALIGN_BYTES==0
-  #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-  #endif
-#endif
-
-#if EIGEN_COMP_MSVC
-  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
-    // Remember that usage of defined() in a #define is undefined by the standard.
-    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
-    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64
-      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
-    #endif
-  #endif
-#else
-  // Remember that usage of defined() in a #define is undefined by the standard
-  #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
-    #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
-  #endif
-#endif
-
-#ifndef EIGEN_DONT_VECTORIZE
-
-  #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
-
-    // Defines symbols for compile-time detection of which instructions are
-    // used.
-    // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_SSE
-    #define EIGEN_VECTORIZE_SSE2
-
-    // Detect sse3/ssse3/sse4:
-    // gcc and icc defines __SSE3__, ...
-    // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
-    // want to force the use of those instructions with msvc.
-    #ifdef __SSE3__
-      #define EIGEN_VECTORIZE_SSE3
-    #endif
-    #ifdef __SSSE3__
-      #define EIGEN_VECTORIZE_SSSE3
-    #endif
-    #ifdef __SSE4_1__
-      #define EIGEN_VECTORIZE_SSE4_1
-    #endif
-    #ifdef __SSE4_2__
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __AVX__
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_SSE3
-      #define EIGEN_VECTORIZE_SSSE3
-      #define EIGEN_VECTORIZE_SSE4_1
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __AVX2__
-      #define EIGEN_VECTORIZE_AVX2
-    #endif
-    #ifdef __FMA__
-      #define EIGEN_VECTORIZE_FMA
-    #endif
-    #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512)
-      #define EIGEN_VECTORIZE_AVX512
-      #define EIGEN_VECTORIZE_AVX2
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_FMA
-      #ifdef __AVX512DQ__
-        #define EIGEN_VECTORIZE_AVX512DQ
-      #endif
-      #ifdef __AVX512ER__
-        #define EIGEN_VECTORIZE_AVX512ER
-      #endif
-    #endif
-
-    // include files
-
-    // This extern "C" works around a MINGW-w64 compilation issue
-    // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
-    // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
-    // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
-    // with conflicting linkage.  The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
-    // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
-    // notice that since these are C headers, the extern "C" is theoretically needed anyways.
-    extern "C" {
-      // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
-      // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
-      #if EIGEN_COMP_ICC >= 1110
-        #include <immintrin.h>
-      #else
-        #include <mmintrin.h>
-        #include <emmintrin.h>
-        #include <xmmintrin.h>
-        #ifdef  EIGEN_VECTORIZE_SSE3
-        #include <pmmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSSE3
-        #include <tmmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSE4_1
-        #include <smmintrin.h>
-        #endif
-        #ifdef EIGEN_VECTORIZE_SSE4_2
-        #include <nmmintrin.h>
-        #endif
-        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
-        #include <immintrin.h>
-        #endif
-      #endif
-    } // end extern "C"
-  #elif defined __VSX__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_VSX
-    #include <altivec.h>
-    // We need to #undef all these ugly tokens defined in <altivec.h>
-    // => use __vector instead of vector
-    #undef bool
-    #undef vector
-    #undef pixel
-  #elif defined __ALTIVEC__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ALTIVEC
-    #include <altivec.h>
-    // We need to #undef all these ugly tokens defined in <altivec.h>
-    // => use __vector instead of vector
-    #undef bool
-    #undef vector
-    #undef pixel
-  #elif (defined  __ARM_NEON) || (defined __ARM_NEON__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_NEON
-    #include <arm_neon.h>
-  #elif (defined __s390x__ && defined __VEC__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ZVECTOR
-    #include <vecintrin.h>
-  #endif
-#endif
-
-#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
-  // We can use the optimized fp16 to float and float to fp16 conversion routines
-  #define EIGEN_HAS_FP16_C
-#endif
-
-#if defined __CUDACC__
-  #define EIGEN_VECTORIZE_CUDA
-  #include <vector_types.h>
-  #if EIGEN_CUDACC_VER >= 70500
-    #define EIGEN_HAS_CUDA_FP16
-  #endif
-#endif
-
-#if defined EIGEN_HAS_CUDA_FP16
-  #include <host_defines.h>
-  #include <cuda_fp16.h>
-#endif
-
-#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
-  #define EIGEN_HAS_OPENMP
-#endif
-
-#ifdef EIGEN_HAS_OPENMP
-#include <omp.h>
-#endif
-
-// MSVC for windows mobile does not have the errno.h file
-#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM
-#define EIGEN_HAS_ERRNO
-#endif
-
-#ifdef EIGEN_HAS_ERRNO
-#include <cerrno>
-#endif
-#include <cstddef>
-#include <cstdlib>
-#include <cmath>
-#include <cassert>
-#include <functional>
-#include <iosfwd>
-#include <cstring>
-#include <string>
-#include <limits>
-#include <climits> // for CHAR_BIT
-// for min/max:
-#include <algorithm>
-
-// for std::is_nothrow_move_assignable
-#ifdef EIGEN_INCLUDE_TYPE_TRAITS
-#include <type_traits>
-#endif
-
-// for outputting debug info
-#ifdef EIGEN_DEBUG_ASSIGN
-#include <iostream>
-#endif
-
-// required for __cpuid, needs to be included after cmath
-#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
-  #include <intrin.h>
-#endif
-
-/** \brief Namespace containing all symbols from the %Eigen library. */
-namespace Eigen {
-
-inline static const char *SimdInstructionSetsInUse(void) {
-#if defined(EIGEN_VECTORIZE_AVX512)
-  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_AVX)
-  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_SSE4_2)
-  return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_SSE4_1)
-  return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
-#elif defined(EIGEN_VECTORIZE_SSSE3)
-  return "SSE, SSE2, SSE3, SSSE3";
-#elif defined(EIGEN_VECTORIZE_SSE3)
-  return "SSE, SSE2, SSE3";
-#elif defined(EIGEN_VECTORIZE_SSE2)
-  return "SSE, SSE2";
-#elif defined(EIGEN_VECTORIZE_ALTIVEC)
-  return "AltiVec";
-#elif defined(EIGEN_VECTORIZE_VSX)
-  return "VSX";
-#elif defined(EIGEN_VECTORIZE_NEON)
-  return "ARM NEON";
-#elif defined(EIGEN_VECTORIZE_ZVECTOR)
-  return "S390X ZVECTOR";
-#else
-  return "None";
-#endif
-}
-
-} // end namespace Eigen
-
-#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
-// This will generate an error message:
-#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information
-#endif
-
-namespace Eigen {
-
-// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
-// ensure QNX/QCC support
-using std::size_t;
-// gcc 4.6.0 wants std:: for ptrdiff_t
-using std::ptrdiff_t;
-
-}
-
-/** \defgroup Core_Module Core module
-  * This is the main module of Eigen providing dense matrix and vector support
-  * (both fixed and dynamic size) with all the features corresponding to a BLAS library
-  * and much more...
-  *
-  * \code
-  * #include <Eigen/Core>
-  * \endcode
-  */
-
-#include "src/Core/util/Constants.h"
-#include "src/Core/util/Meta.h"
-#include "src/Core/util/ForwardDeclarations.h"
-#include "src/Core/util/StaticAssert.h"
-#include "src/Core/util/XprHelper.h"
-#include "src/Core/util/Memory.h"
-
-#include "src/Core/NumTraits.h"
-#include "src/Core/MathFunctions.h"
-#include "src/Core/GenericPacketMath.h"
-#include "src/Core/MathFunctionsImpl.h"
-#include "src/Core/arch/Default/ConjHelper.h"
-
-#if defined EIGEN_VECTORIZE_AVX512
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/AVX/PacketMath.h"
-  #include "src/Core/arch/AVX512/PacketMath.h"
-  #include "src/Core/arch/AVX512/MathFunctions.h"
-#elif defined EIGEN_VECTORIZE_AVX
-  // Use AVX for floats and doubles, SSE for integers
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/MathFunctions.h"
-  #include "src/Core/arch/AVX/PacketMath.h"
-  #include "src/Core/arch/AVX/MathFunctions.h"
-  #include "src/Core/arch/AVX/Complex.h"
-  #include "src/Core/arch/AVX/TypeCasting.h"
-  #include "src/Core/arch/SSE/TypeCasting.h"
-#elif defined EIGEN_VECTORIZE_SSE
-  #include "src/Core/arch/SSE/PacketMath.h"
-  #include "src/Core/arch/SSE/MathFunctions.h"
-  #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/TypeCasting.h"
-#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
-  #include "src/Core/arch/AltiVec/PacketMath.h"
-  #include "src/Core/arch/AltiVec/MathFunctions.h"
-  #include "src/Core/arch/AltiVec/Complex.h"
-#elif defined EIGEN_VECTORIZE_NEON
-  #include "src/Core/arch/NEON/PacketMath.h"
-  #include "src/Core/arch/NEON/MathFunctions.h"
-  #include "src/Core/arch/NEON/Complex.h"
-#elif defined EIGEN_VECTORIZE_ZVECTOR
-  #include "src/Core/arch/ZVector/PacketMath.h"
-  #include "src/Core/arch/ZVector/MathFunctions.h"
-  #include "src/Core/arch/ZVector/Complex.h"
-#endif
-
-// Half float support
-#include "src/Core/arch/CUDA/Half.h"
-#include "src/Core/arch/CUDA/PacketMathHalf.h"
-#include "src/Core/arch/CUDA/TypeCasting.h"
-
-#if defined EIGEN_VECTORIZE_CUDA
-  #include "src/Core/arch/CUDA/PacketMath.h"
-  #include "src/Core/arch/CUDA/MathFunctions.h"
-#endif
-
-#include "src/Core/arch/Default/Settings.h"
-
-#include "src/Core/functors/TernaryFunctors.h"
-#include "src/Core/functors/BinaryFunctors.h"
-#include "src/Core/functors/UnaryFunctors.h"
-#include "src/Core/functors/NullaryFunctors.h"
-#include "src/Core/functors/StlFunctors.h"
-#include "src/Core/functors/AssignmentFunctors.h"
-
-// Specialized functors to enable the processing of complex numbers
-// on CUDA devices
-#include "src/Core/arch/CUDA/Complex.h"
-
-#include "src/Core/IO.h"
-#include "src/Core/DenseCoeffsBase.h"
-#include "src/Core/DenseBase.h"
-#include "src/Core/MatrixBase.h"
-#include "src/Core/EigenBase.h"
-
-#include "src/Core/Product.h"
-#include "src/Core/CoreEvaluators.h"
-#include "src/Core/AssignEvaluator.h"
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
-                                // at least confirmed with Doxygen 1.5.5 and 1.5.6
-  #include "src/Core/Assign.h"
-#endif
-
-#include "src/Core/ArrayBase.h"
-#include "src/Core/util/BlasUtil.h"
-#include "src/Core/DenseStorage.h"
-#include "src/Core/NestByValue.h"
-
-// #include "src/Core/ForceAlignedAccess.h"
-
-#include "src/Core/ReturnByValue.h"
-#include "src/Core/NoAlias.h"
-#include "src/Core/PlainObjectBase.h"
-#include "src/Core/Matrix.h"
-#include "src/Core/Array.h"
-#include "src/Core/CwiseTernaryOp.h"
-#include "src/Core/CwiseBinaryOp.h"
-#include "src/Core/CwiseUnaryOp.h"
-#include "src/Core/CwiseNullaryOp.h"
-#include "src/Core/CwiseUnaryView.h"
-#include "src/Core/SelfCwiseBinaryOp.h"
-#include "src/Core/Dot.h"
-#include "src/Core/StableNorm.h"
-#include "src/Core/Stride.h"
-#include "src/Core/MapBase.h"
-#include "src/Core/Map.h"
-#include "src/Core/Ref.h"
-#include "src/Core/Block.h"
-#include "src/Core/VectorBlock.h"
-#include "src/Core/Transpose.h"
-#include "src/Core/DiagonalMatrix.h"
-#include "src/Core/Diagonal.h"
-#include "src/Core/DiagonalProduct.h"
-#include "src/Core/Redux.h"
-#include "src/Core/Visitor.h"
-#include "src/Core/Fuzzy.h"
-#include "src/Core/Swap.h"
-#include "src/Core/CommaInitializer.h"
-#include "src/Core/GeneralProduct.h"
-#include "src/Core/Solve.h"
-#include "src/Core/Inverse.h"
-#include "src/Core/SolverBase.h"
-#include "src/Core/PermutationMatrix.h"
-#include "src/Core/Transpositions.h"
-#include "src/Core/TriangularMatrix.h"
-#include "src/Core/SelfAdjointView.h"
-#include "src/Core/products/GeneralBlockPanelKernel.h"
-#include "src/Core/products/Parallelizer.h"
-#include "src/Core/ProductEvaluators.h"
-#include "src/Core/products/GeneralMatrixVector.h"
-#include "src/Core/products/GeneralMatrixMatrix.h"
-#include "src/Core/SolveTriangular.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
-#include "src/Core/products/SelfadjointMatrixVector.h"
-#include "src/Core/products/SelfadjointMatrixMatrix.h"
-#include "src/Core/products/SelfadjointProduct.h"
-#include "src/Core/products/SelfadjointRank2Update.h"
-#include "src/Core/products/TriangularMatrixVector.h"
-#include "src/Core/products/TriangularMatrixMatrix.h"
-#include "src/Core/products/TriangularSolverMatrix.h"
-#include "src/Core/products/TriangularSolverVector.h"
-#include "src/Core/BandMatrix.h"
-#include "src/Core/CoreIterators.h"
-#include "src/Core/ConditionEstimator.h"
-
-#include "src/Core/BooleanRedux.h"
-#include "src/Core/Select.h"
-#include "src/Core/VectorwiseOp.h"
-#include "src/Core/Random.h"
-#include "src/Core/Replicate.h"
-#include "src/Core/Reverse.h"
-#include "src/Core/ArrayWrapper.h"
-
-#ifdef EIGEN_USE_BLAS
-#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
-#include "src/Core/products/GeneralMatrixVector_BLAS.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
-#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
-#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
-#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
-#include "src/Core/products/TriangularMatrixVector_BLAS.h"
-#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
-#endif // EIGEN_USE_BLAS
-
-#ifdef EIGEN_USE_MKL_VML
-#include "src/Core/Assign_MKL.h"
-#endif
-
-#include "src/Core/GlobalFunctions.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_CORE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Dense b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Dense
deleted file mode 100644
index 5768910bd..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Dense
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "Core"
-#include "LU"
-#include "Cholesky"
-#include "QR"
-#include "SVD"
-#include "Geometry"
-#include "Eigenvalues"
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigen b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigen
deleted file mode 100644
index 654c8dc63..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigen
+++ /dev/null
@@ -1,2 +0,0 @@
-#include "Dense"
-#include "Sparse"
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues
deleted file mode 100644
index f3f661b07..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues
+++ /dev/null
@@ -1,61 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EIGENVALUES_MODULE_H
-#define EIGEN_EIGENVALUES_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Cholesky"
-#include "Jacobi"
-#include "Householder"
-#include "LU"
-#include "Geometry"
-
-/** \defgroup Eigenvalues_Module Eigenvalues module
-  *
-  *
-  *
-  * This module mainly provides various eigenvalue solvers.
-  * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::eigenvalues(),
-  *  - MatrixBase::operatorNorm()
-  *
-  * \code
-  * #include <Eigen/Eigenvalues>
-  * \endcode
-  */
-
-#include "src/misc/RealSvd2x2.h"
-#include "src/Eigenvalues/Tridiagonalization.h"
-#include "src/Eigenvalues/RealSchur.h"
-#include "src/Eigenvalues/EigenSolver.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
-#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
-#include "src/Eigenvalues/HessenbergDecomposition.h"
-#include "src/Eigenvalues/ComplexSchur.h"
-#include "src/Eigenvalues/ComplexEigenSolver.h"
-#include "src/Eigenvalues/RealQZ.h"
-#include "src/Eigenvalues/GeneralizedEigenSolver.h"
-#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
-#ifdef EIGEN_USE_LAPACKE
-#ifdef EIGEN_USE_MKL
-#include "mkl_lapacke.h"
-#else
-#include "src/misc/lapacke.h"
-#endif
-#include "src/Eigenvalues/RealSchur_LAPACKE.h"
-#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_EIGENVALUES_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Geometry b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Geometry
deleted file mode 100644
index 716d52952..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Geometry
+++ /dev/null
@@ -1,62 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GEOMETRY_MODULE_H
-#define EIGEN_GEOMETRY_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "SVD"
-#include "LU"
-#include <limits>
-
-/** \defgroup Geometry_Module Geometry module
-  *
-  * This module provides support for:
-  *  - fixed-size homogeneous transformations
-  *  - translation, scaling, 2D and 3D rotations
-  *  - \link Quaternion quaternions \endlink
-  *  - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
-  *  - orthognal vector generation (\ref MatrixBase::unitOrthogonal)
-  *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
-  *  - \link AlignedBox axis aligned bounding boxes \endlink
-  *  - \link umeyama least-square transformation fitting \endlink
-  *
-  * \code
-  * #include <Eigen/Geometry>
-  * \endcode
-  */
-
-#include "src/Geometry/OrthoMethods.h"
-#include "src/Geometry/EulerAngles.h"
-
-#include "src/Geometry/Homogeneous.h"
-#include "src/Geometry/RotationBase.h"
-#include "src/Geometry/Rotation2D.h"
-#include "src/Geometry/Quaternion.h"
-#include "src/Geometry/AngleAxis.h"
-#include "src/Geometry/Transform.h"
-#include "src/Geometry/Translation.h"
-#include "src/Geometry/Scaling.h"
-#include "src/Geometry/Hyperplane.h"
-#include "src/Geometry/ParametrizedLine.h"
-#include "src/Geometry/AlignedBox.h"
-#include "src/Geometry/Umeyama.h"
-
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-#include "src/Geometry/arch/Geometry_SSE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_GEOMETRY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
-
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Householder b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Householder
deleted file mode 100644
index 89cd81b1a..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Householder
+++ /dev/null
@@ -1,30 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HOUSEHOLDER_MODULE_H
-#define EIGEN_HOUSEHOLDER_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Householder_Module Householder module
-  * This module provides Householder transformations.
-  *
-  * \code
-  * #include <Eigen/Householder>
-  * \endcode
-  */
-
-#include "src/Householder/Householder.h"
-#include "src/Householder/HouseholderSequence.h"
-#include "src/Householder/BlockHouseholder.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_HOUSEHOLDER_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/IterativeLinearSolvers b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/IterativeLinearSolvers
deleted file mode 100644
index 957d5750b..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/IterativeLinearSolvers
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
-#define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup IterativeLinearSolvers_Module IterativeLinearSolvers module
-  *
-  * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse.
-  * Those solvers are accessible via the following classes:
-  *  - ConjugateGradient for selfadjoint (hermitian) matrices,
-  *  - LeastSquaresConjugateGradient for rectangular least-square problems,
-  *  - BiCGSTAB for general square matrices.
-  *
-  * These iterative solvers are associated with some preconditioners:
-  *  - IdentityPreconditioner - not really useful
-  *  - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices.
-  *  - IncompleteLUT - incomplete LU factorization with dual thresholding
-  *
-  * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport.
-  *
-    \code
-    #include <Eigen/IterativeLinearSolvers>
-    \endcode
-  */
-
-#include "src/IterativeLinearSolvers/SolveWithGuess.h"
-#include "src/IterativeLinearSolvers/IterativeSolverBase.h"
-#include "src/IterativeLinearSolvers/BasicPreconditioners.h"
-#include "src/IterativeLinearSolvers/ConjugateGradient.h"
-#include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h"
-#include "src/IterativeLinearSolvers/BiCGSTAB.h"
-#include "src/IterativeLinearSolvers/IncompleteLUT.h"
-#include "src/IterativeLinearSolvers/IncompleteCholesky.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Jacobi b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Jacobi
deleted file mode 100644
index 17c1d785a..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Jacobi
+++ /dev/null
@@ -1,33 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_JACOBI_MODULE_H
-#define EIGEN_JACOBI_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup Jacobi_Module Jacobi module
-  * This module provides Jacobi and Givens rotations.
-  *
-  * \code
-  * #include <Eigen/Jacobi>
-  * \endcode
-  *
-  * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
-  *  - MatrixBase::applyOnTheLeft()
-  *  - MatrixBase::applyOnTheRight().
-  */
-
-#include "src/Jacobi/Jacobi.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_JACOBI_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
-
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/LU b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/LU
deleted file mode 100644
index 6418a86e1..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/LU
+++ /dev/null
@@ -1,50 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LU_MODULE_H
-#define EIGEN_LU_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup LU_Module LU module
-  * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
-  * This module defines the following MatrixBase methods:
-  *  - MatrixBase::inverse()
-  *  - MatrixBase::determinant()
-  *
-  * \code
-  * #include <Eigen/LU>
-  * \endcode
-  */
-
-#include "src/misc/Kernel.h"
-#include "src/misc/Image.h"
-#include "src/LU/FullPivLU.h"
-#include "src/LU/PartialPivLU.h"
-#ifdef EIGEN_USE_LAPACKE
-#ifdef EIGEN_USE_MKL
-#include "mkl_lapacke.h"
-#else
-#include "src/misc/lapacke.h"
-#endif
-#include "src/LU/PartialPivLU_LAPACKE.h"
-#endif
-#include "src/LU/Determinant.h"
-#include "src/LU/InverseImpl.h"
-
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-  #include "src/LU/arch/Inverse_SSE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_LU_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/MetisSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/MetisSupport
deleted file mode 100644
index 85c41bf34..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/MetisSupport
+++ /dev/null
@@ -1,35 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_METISSUPPORT_MODULE_H
-#define EIGEN_METISSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <metis.h>
-}
-
-
-/** \ingroup Support_modules
-  * \defgroup MetisSupport_Module MetisSupport module
-  *
-  * \code
-  * #include <Eigen/MetisSupport>
-  * \endcode
-  * This module defines an interface to the METIS reordering package (http://glaros.dtc.umn.edu/gkhome/views/metis). 
-  * It can be used just as any other built-in method as explained in \link OrderingMethods_Module here. \endlink
-  */
-
-
-#include "src/MetisSupport/MetisSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_METISSUPPORT_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/OrderingMethods b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/OrderingMethods
deleted file mode 100644
index d8ea36193..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/OrderingMethods
+++ /dev/null
@@ -1,73 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ORDERINGMETHODS_MODULE_H
-#define EIGEN_ORDERINGMETHODS_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup OrderingMethods_Module OrderingMethods module
-  *
-  * This module is currently for internal use only
-  * 
-  * It defines various built-in and external ordering methods for sparse matrices. 
-  * They are typically used to reduce the number of elements during 
-  * the sparse matrix decomposition (LLT, LU, QR).
-  * Precisely, in a preprocessing step, a permutation matrix P is computed using 
-  * those ordering methods and applied to the columns of the matrix. 
-  * Using for instance the sparse Cholesky decomposition, it is expected that 
-  * the nonzeros elements in LLT(A*P) will be much smaller than that in LLT(A).
-  * 
-  * 
-  * Usage : 
-  * \code
-  * #include <Eigen/OrderingMethods>
-  * \endcode
-  * 
-  * A simple usage is as a template parameter in the sparse decomposition classes : 
-  * 
-  * \code 
-  * SparseLU<MatrixType, COLAMDOrdering<int> > solver;
-  * \endcode 
-  * 
-  * \code 
-  * SparseQR<MatrixType, COLAMDOrdering<int> > solver;
-  * \endcode
-  * 
-  * It is possible as well to call directly a particular ordering method for your own purpose, 
-  * \code 
-  * AMDOrdering<int> ordering;
-  * PermutationMatrix<Dynamic, Dynamic, int> perm;
-  * SparseMatrix<double> A; 
-  * //Fill the matrix ...
-  * 
-  * ordering(A, perm); // Call AMD
-  * \endcode
-  * 
-  * \note Some of these methods (like AMD or METIS), need the sparsity pattern 
-  * of the input matrix to be symmetric. When the matrix is structurally unsymmetric, 
-  * Eigen computes internally the pattern of \f$A^T*A\f$ before calling the method.
-  * If your matrix is already symmetric (at leat in structure), you can avoid that
-  * by calling the method with a SelfAdjointView type.
-  * 
-  * \code
-  *  // Call the ordering on the pattern of the lower triangular matrix A
-  * ordering(A.selfadjointView<Lower>(), perm);
-  * \endcode
-  */
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/OrderingMethods/Amd.h"
-#endif
-
-#include "src/OrderingMethods/Ordering.h"
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_ORDERINGMETHODS_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PaStiXSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PaStiXSupport
deleted file mode 100644
index de3a63b4d..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PaStiXSupport
+++ /dev/null
@@ -1,48 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PASTIXSUPPORT_MODULE_H
-#define EIGEN_PASTIXSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <pastix_nompi.h>
-#include <pastix.h>
-}
-
-#ifdef complex
-#undef complex
-#endif
-
-/** \ingroup Support_modules
-  * \defgroup PaStiXSupport_Module PaStiXSupport module
-  * 
-  * This module provides an interface to the <a href="http://pastix.gforge.inria.fr/">PaSTiX</a> library.
-  * PaSTiX is a general \b supernodal, \b parallel and \b opensource sparse solver.
-  * It provides the two following main factorization classes:
-  * - class PastixLLT : a supernodal, parallel LLt Cholesky factorization.
-  * - class PastixLDLT: a supernodal, parallel LDLt Cholesky factorization.
-  * - class PastixLU : a supernodal, parallel LU factorization (optimized for a symmetric pattern).
-  * 
-  * \code
-  * #include <Eigen/PaStiXSupport>
-  * \endcode
-  *
-  * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies.
-  * The dependencies depend on how PaSTiX has been compiled.
-  * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task.
-  *
-  */
-
-#include "src/PaStiXSupport/PaStiXSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_PASTIXSUPPORT_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PardisoSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PardisoSupport
deleted file mode 100644
index 340edf51f..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PardisoSupport
+++ /dev/null
@@ -1,35 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PARDISOSUPPORT_MODULE_H
-#define EIGEN_PARDISOSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include <mkl_pardiso.h>
-
-/** \ingroup Support_modules
-  * \defgroup PardisoSupport_Module PardisoSupport module
-  *
-  * This module brings support for the Intel(R) MKL PARDISO direct sparse solvers.
-  *
-  * \code
-  * #include <Eigen/PardisoSupport>
-  * \endcode
-  *
-  * In order to use this module, the MKL headers must be accessible from the include paths, and your binary must be linked to the MKL library and its dependencies.
-  * See this \ref TopicUsingIntelMKL "page" for more information on MKL-Eigen integration.
-  * 
-  */
-
-#include "src/PardisoSupport/PardisoSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_PARDISOSUPPORT_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QR b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QR
deleted file mode 100644
index c7e914469..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QR
+++ /dev/null
@@ -1,51 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QR_MODULE_H
-#define EIGEN_QR_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Cholesky"
-#include "Jacobi"
-#include "Householder"
-
-/** \defgroup QR_Module QR module
-  *
-  *
-  *
-  * This module provides various QR decompositions
-  * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::householderQr()
-  *  - MatrixBase::colPivHouseholderQr()
-  *  - MatrixBase::fullPivHouseholderQr()
-  *
-  * \code
-  * #include <Eigen/QR>
-  * \endcode
-  */
-
-#include "src/QR/HouseholderQR.h"
-#include "src/QR/FullPivHouseholderQR.h"
-#include "src/QR/ColPivHouseholderQR.h"
-#include "src/QR/CompleteOrthogonalDecomposition.h"
-#ifdef EIGEN_USE_LAPACKE
-#ifdef EIGEN_USE_MKL
-#include "mkl_lapacke.h"
-#else
-#include "src/misc/lapacke.h"
-#endif
-#include "src/QR/HouseholderQR_LAPACKE.h"
-#include "src/QR/ColPivHouseholderQR_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_QR_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QtAlignedMalloc b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QtAlignedMalloc
deleted file mode 100644
index 4f07df02a..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QtAlignedMalloc
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QTMALLOC_MODULE_H
-#define EIGEN_QTMALLOC_MODULE_H
-
-#include "Core"
-
-#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-void *qMalloc(std::size_t size)
-{
-  return Eigen::internal::aligned_malloc(size);
-}
-
-void qFree(void *ptr)
-{
-  Eigen::internal::aligned_free(ptr);
-}
-
-void *qRealloc(void *ptr, std::size_t size)
-{
-  void* newPtr = Eigen::internal::aligned_malloc(size);
-  std::memcpy(newPtr, ptr, size);
-  Eigen::internal::aligned_free(ptr);
-  return newPtr;
-}
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif
-
-#endif // EIGEN_QTMALLOC_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SPQRSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SPQRSupport
deleted file mode 100644
index f70390c17..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SPQRSupport
+++ /dev/null
@@ -1,34 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPQRSUPPORT_MODULE_H
-#define EIGEN_SPQRSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "SuiteSparseQR.hpp"
-
-/** \ingroup Support_modules
-  * \defgroup SPQRSupport_Module SuiteSparseQR module
-  * 
-  * This module provides an interface to the SPQR library, which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  *
-  * \code
-  * #include <Eigen/SPQRSupport>
-  * \endcode
-  *
-  * In order to use this module, the SPQR headers must be accessible from the include paths, and your binary must be linked to the SPQR library and its dependencies (Cholmod, AMD, COLAMD,...).
-  * For a cmake based project, you can use our FindSPQR.cmake and FindCholmod.Cmake modules
-  *
-  */
-
-#include "src/CholmodSupport/CholmodSupport.h"
-#include "src/SPQRSupport/SuiteSparseQRSupport.h"
-
-#endif
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SVD b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SVD
deleted file mode 100644
index 5d0e75f7f..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SVD
+++ /dev/null
@@ -1,51 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SVD_MODULE_H
-#define EIGEN_SVD_MODULE_H
-
-#include "QR"
-#include "Householder"
-#include "Jacobi"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup SVD_Module SVD module
-  *
-  *
-  *
-  * This module provides SVD decomposition for matrices (both real and complex).
-  * Two decomposition algorithms are provided:
-  *  - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones.
-  *  - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems.
-  * These decompositions are accessible via the respective classes and following MatrixBase methods:
-  *  - MatrixBase::jacobiSvd()
-  *  - MatrixBase::bdcSvd()
-  *
-  * \code
-  * #include <Eigen/SVD>
-  * \endcode
-  */
-
-#include "src/misc/RealSvd2x2.h"
-#include "src/SVD/UpperBidiagonalization.h"
-#include "src/SVD/SVDBase.h"
-#include "src/SVD/JacobiSVD.h"
-#include "src/SVD/BDCSVD.h"
-#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
-#ifdef EIGEN_USE_MKL
-#include "mkl_lapacke.h"
-#else
-#include "src/misc/lapacke.h"
-#endif
-#include "src/SVD/JacobiSVD_LAPACKE.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SVD_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Sparse b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Sparse
deleted file mode 100644
index 136e681a1..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Sparse
+++ /dev/null
@@ -1,36 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_MODULE_H
-#define EIGEN_SPARSE_MODULE_H
-
-/** \defgroup Sparse_Module Sparse meta-module
-  *
-  * Meta-module including all related modules:
-  * - \ref SparseCore_Module
-  * - \ref OrderingMethods_Module
-  * - \ref SparseCholesky_Module
-  * - \ref SparseLU_Module
-  * - \ref SparseQR_Module
-  * - \ref IterativeLinearSolvers_Module
-  *
-    \code
-    #include <Eigen/Sparse>
-    \endcode
-  */
-
-#include "SparseCore"
-#include "OrderingMethods"
-#ifndef EIGEN_MPL2_ONLY
-#include "SparseCholesky"
-#endif
-#include "SparseLU"
-#include "SparseQR"
-#include "IterativeLinearSolvers"
-
-#endif // EIGEN_SPARSE_MODULE_H
-
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCholesky b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCholesky
deleted file mode 100644
index b6a320c40..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCholesky
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2013 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSECHOLESKY_MODULE_H
-#define EIGEN_SPARSECHOLESKY_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** 
-  * \defgroup SparseCholesky_Module SparseCholesky module
-  *
-  * This module currently provides two variants of the direct sparse Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are accessible via the following classes:
-  *  - SimplicialLLt,
-  *  - SimplicialLDLt
-  *
-  * Such problems can also be solved using the ConjugateGradient solver from the IterativeLinearSolvers module.
-  *
-  * \code
-  * #include <Eigen/SparseCholesky>
-  * \endcode
-  */
-
-#ifdef EIGEN_MPL2_ONLY
-#error The SparseCholesky module has nothing to offer in MPL2 only mode
-#endif
-
-#include "src/SparseCholesky/SimplicialCholesky.h"
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/SparseCholesky/SimplicialCholesky_impl.h"
-#endif
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSECHOLESKY_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCore b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCore
deleted file mode 100644
index 76966c4c4..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCore
+++ /dev/null
@@ -1,69 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSECORE_MODULE_H
-#define EIGEN_SPARSECORE_MODULE_H
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include <vector>
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-
-/** 
-  * \defgroup SparseCore_Module SparseCore module
-  *
-  * This module provides a sparse matrix representation, and basic associated matrix manipulations
-  * and operations.
-  *
-  * See the \ref TutorialSparse "Sparse tutorial"
-  *
-  * \code
-  * #include <Eigen/SparseCore>
-  * \endcode
-  *
-  * This module depends on: Core.
-  */
-
-#include "src/SparseCore/SparseUtil.h"
-#include "src/SparseCore/SparseMatrixBase.h"
-#include "src/SparseCore/SparseAssign.h"
-#include "src/SparseCore/CompressedStorage.h"
-#include "src/SparseCore/AmbiVector.h"
-#include "src/SparseCore/SparseCompressedBase.h"
-#include "src/SparseCore/SparseMatrix.h"
-#include "src/SparseCore/SparseMap.h"
-#include "src/SparseCore/MappedSparseMatrix.h"
-#include "src/SparseCore/SparseVector.h"
-#include "src/SparseCore/SparseRef.h"
-#include "src/SparseCore/SparseCwiseUnaryOp.h"
-#include "src/SparseCore/SparseCwiseBinaryOp.h"
-#include "src/SparseCore/SparseTranspose.h"
-#include "src/SparseCore/SparseBlock.h"
-#include "src/SparseCore/SparseDot.h"
-#include "src/SparseCore/SparseRedux.h"
-#include "src/SparseCore/SparseView.h"
-#include "src/SparseCore/SparseDiagonalProduct.h"
-#include "src/SparseCore/ConservativeSparseSparseProduct.h"
-#include "src/SparseCore/SparseSparseProductWithPruning.h"
-#include "src/SparseCore/SparseProduct.h"
-#include "src/SparseCore/SparseDenseProduct.h"
-#include "src/SparseCore/SparseSelfAdjointView.h"
-#include "src/SparseCore/SparseTriangularView.h"
-#include "src/SparseCore/TriangularSolver.h"
-#include "src/SparseCore/SparsePermutation.h"
-#include "src/SparseCore/SparseFuzzy.h"
-#include "src/SparseCore/SparseSolverBase.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSECORE_MODULE_H
-
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseLU b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseLU
deleted file mode 100644
index 38b38b531..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseLU
+++ /dev/null
@@ -1,46 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSELU_MODULE_H
-#define EIGEN_SPARSELU_MODULE_H
-
-#include "SparseCore"
-
-/** 
-  * \defgroup SparseLU_Module SparseLU module
-  * This module defines a supernodal factorization of general sparse matrices.
-  * The code is fully optimized for supernode-panel updates with specialized kernels.
-  * Please, see the documentation of the SparseLU class for more details.
-  */
-
-// Ordering interface
-#include "OrderingMethods"
-
-#include "src/SparseLU/SparseLU_gemm_kernel.h"
-
-#include "src/SparseLU/SparseLU_Structs.h"
-#include "src/SparseLU/SparseLU_SupernodalMatrix.h"
-#include "src/SparseLU/SparseLUImpl.h"
-#include "src/SparseCore/SparseColEtree.h"
-#include "src/SparseLU/SparseLU_Memory.h"
-#include "src/SparseLU/SparseLU_heap_relax_snode.h"
-#include "src/SparseLU/SparseLU_relax_snode.h"
-#include "src/SparseLU/SparseLU_pivotL.h"
-#include "src/SparseLU/SparseLU_panel_dfs.h"
-#include "src/SparseLU/SparseLU_kernel_bmod.h"
-#include "src/SparseLU/SparseLU_panel_bmod.h"
-#include "src/SparseLU/SparseLU_column_dfs.h"
-#include "src/SparseLU/SparseLU_column_bmod.h"
-#include "src/SparseLU/SparseLU_copy_to_ucol.h"
-#include "src/SparseLU/SparseLU_pruneL.h"
-#include "src/SparseLU/SparseLU_Utils.h"
-#include "src/SparseLU/SparseLU.h"
-
-#endif // EIGEN_SPARSELU_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseQR b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseQR
deleted file mode 100644
index a6f3b7f7d..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseQR
+++ /dev/null
@@ -1,37 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSEQR_MODULE_H
-#define EIGEN_SPARSEQR_MODULE_H
-
-#include "SparseCore"
-#include "OrderingMethods"
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup SparseQR_Module SparseQR module
-  * \brief Provides QR decomposition for sparse matrices
-  * 
-  * This module provides a simplicial version of the left-looking Sparse QR decomposition. 
-  * The columns of the input matrix should be reordered to limit the fill-in during the 
-  * decomposition. Built-in methods (COLAMD, AMD) or external  methods (METIS) can be used to this end.
-  * See the \link OrderingMethods_Module OrderingMethods\endlink module for the list 
-  * of built-in and external ordering methods.
-  * 
-  * \code
-  * #include <Eigen/SparseQR>
-  * \endcode
-  * 
-  * 
-  */
-
-#include "OrderingMethods"
-#include "src/SparseCore/SparseColEtree.h"
-#include "src/SparseQR/SparseQR.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdDeque b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdDeque
deleted file mode 100644
index bc68397be..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdDeque
+++ /dev/null
@@ -1,27 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDDEQUE_MODULE_H
-#define EIGEN_STDDEQUE_MODULE_H
-
-#include "Core"
-#include <deque>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdDeque.h"
-
-#endif
-
-#endif // EIGEN_STDDEQUE_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdList b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdList
deleted file mode 100644
index 4c6262c08..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdList
+++ /dev/null
@@ -1,26 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDLIST_MODULE_H
-#define EIGEN_STDLIST_MODULE_H
-
-#include "Core"
-#include <list>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdList.h"
-
-#endif
-
-#endif // EIGEN_STDLIST_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdVector b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdVector
deleted file mode 100644
index 0c4697ad5..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdVector
+++ /dev/null
@@ -1,27 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STDVECTOR_MODULE_H
-#define EIGEN_STDVECTOR_MODULE_H
-
-#include "Core"
-#include <vector>
-
-#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
-
-#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
-
-#else
-
-#include "src/StlSupport/StdVector.h"
-
-#endif
-
-#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SuperLUSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SuperLUSupport
deleted file mode 100644
index 59312a82d..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SuperLUSupport
+++ /dev/null
@@ -1,64 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SUPERLUSUPPORT_MODULE_H
-#define EIGEN_SUPERLUSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#ifdef EMPTY
-#define EIGEN_EMPTY_WAS_ALREADY_DEFINED
-#endif
-
-typedef int int_t;
-#include <slu_Cnames.h>
-#include <supermatrix.h>
-#include <slu_util.h>
-
-// slu_util.h defines a preprocessor token named EMPTY which is really polluting,
-// so we remove it in favor of a SUPERLU_EMPTY token.
-// If EMPTY was already defined then we don't undef it.
-
-#if defined(EIGEN_EMPTY_WAS_ALREADY_DEFINED)
-# undef EIGEN_EMPTY_WAS_ALREADY_DEFINED
-#elif defined(EMPTY)
-# undef EMPTY
-#endif
-
-#define SUPERLU_EMPTY (-1)
-
-namespace Eigen { struct SluMatrix; }
-
-/** \ingroup Support_modules
-  * \defgroup SuperLUSupport_Module SuperLUSupport module
-  *
-  * This module provides an interface to the <a href="http://crd-legacy.lbl.gov/~xiaoye/SuperLU/">SuperLU</a> library.
-  * It provides the following factorization class:
-  * - class SuperLU: a supernodal sequential LU factorization.
-  * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods).
-  *
-  * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported.
-  *
-  * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting.
-  *
-  * \code
-  * #include <Eigen/SuperLUSupport>
-  * \endcode
-  *
-  * In order to use this module, the superlu headers must be accessible from the include paths, and your binary must be linked to the superlu library and its dependencies.
-  * The dependencies depend on how superlu has been compiled.
-  * For a cmake based project, you can use our FindSuperLU.cmake module to help you in this task.
-  *
-  */
-
-#include "src/SuperLUSupport/SuperLUSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SUPERLUSUPPORT_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/UmfPackSupport b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/UmfPackSupport
deleted file mode 100644
index 00eec8087..000000000
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/UmfPackSupport
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_UMFPACKSUPPORT_MODULE_H
-#define EIGEN_UMFPACKSUPPORT_MODULE_H
-
-#include "SparseCore"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-extern "C" {
-#include <umfpack.h>
-}
-
-/** \ingroup Support_modules
-  * \defgroup UmfPackSupport_Module UmfPackSupport module
-  *
-  * This module provides an interface to the UmfPack library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
-  * It provides the following factorization class:
-  * - class UmfPackLU: a multifrontal sequential LU factorization.
-  *
-  * \code
-  * #include <Eigen/UmfPackSupport>
-  * \endcode
-  *
-  * In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies.
-  * The dependencies depend on how umfpack has been compiled.
-  * For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task.
-  *
-  */
-
-#include "src/UmfPackSupport/UmfPackSupport.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_UMFPACKSUPPORT_MODULE_H
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/_CodeSignature.meta b/Assets/Obi/Plugins/libOni.bundle/Contents/_CodeSignature.meta
deleted file mode 100644
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deleted file mode 100644
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS.meta b/Assets/Obi/Resources/Compute.meta
similarity index 77%
rename from Assets/Obi/Plugins/libOni.bundle/Contents/MacOS.meta
rename to Assets/Obi/Resources/Compute.meta
index 1354871a0..054ac1346 100644
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS.meta
+++ b/Assets/Obi/Resources/Compute.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 9571d0925c2004cd38ac86f7d85b061f
+guid: 55c2294f77a2c4783b788be18cc01798
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute b/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute
new file mode 100644
index 000000000..d51c3c4b9
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute
@@ -0,0 +1,61 @@
+#pragma kernel Project
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> aerodynamicCoeffs;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<uint4> normals;
+StructuredBuffer<float4> wind;
+StructuredBuffer<float> invMasses;
+
+RWStructuredBuffer<float4> velocities;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i];
+
+    float area = aerodynamicCoeffs[i * 3];
+    float dragCoeff = aerodynamicCoeffs[i * 3 + 1];
+    float liftCoeff = aerodynamicCoeffs[i * 3 + 2];
+
+    if (invMasses[p] > 0)
+    {
+        float4 relVelocity = velocities[p] - wind[p];
+        float rvSqrMag = dot(relVelocity, relVelocity);
+
+        if (rvSqrMag < EPSILON)
+            return;
+
+        float4 rvNorm = relVelocity / sqrt(rvSqrMag);
+
+        // calculate surface normal (always facing wind)
+        float4 surfNormal = asfloat(normals[p]) * sign(dot(asfloat(normals[p]), rvNorm));
+
+        // aerodynamic_factor was originally multiplied by air_density. The density is now premultiplied in lift and drag.
+        float aerodynamicFactor = 0.5f * rvSqrMag * area;
+        float attackAngle = dot(surfNormal,rvNorm);
+
+        float3 liftDirection = normalizesafe(cross(cross(surfNormal.xyz, rvNorm.xyz), rvNorm.xyz));
+
+        //drag:
+        velocities[p] += (-dragCoeff * rvNorm +
+
+                          // lift:
+                          liftCoeff * float4(liftDirection.xyz,0)) *
+
+                          // scale
+                          attackAngle * min(aerodynamicFactor * invMasses[p] * deltaTime, 1000);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta b/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta
new file mode 100644
index 000000000..229e5ddcf
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/AerodynamicConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a819ec002d4434b5da29879a26e3211a
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/AtomicDeltas.cginc b/Assets/Obi/Resources/Compute/AtomicDeltas.cginc
new file mode 100644
index 000000000..8f8eaa66d
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/AtomicDeltas.cginc
@@ -0,0 +1,90 @@
+#ifndef ATOMICDELTAS_INCLUDE
+#define ATOMICDELTAS_INCLUDE
+
+#include "InterlockedUtils.cginc"
+
+RWStructuredBuffer<uint4> deltasAsInt;
+RWStructuredBuffer<uint> positionConstraintCounts;
+
+RWStructuredBuffer<uint4> orientationDeltasAsInt;
+RWStructuredBuffer<uint> orientationConstraintCounts;
+
+// atomic delta add:
+void AtomicAddPositionDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(deltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(deltasAsInt, index, 2, delta.z);
+    InterlockedAdd(positionConstraintCounts[index], 1);
+}
+
+void AtomicAddOrientationDelta(in int index, in quaternion delta)
+{
+    InterlockedAddFloat(orientationDeltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 2, delta.z);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 3, delta.w);
+    InterlockedAdd(orientationConstraintCounts[index], 1);
+}
+
+// non-atomic versions:
+void AddPositionDelta(in int index, in float4 delta)
+{
+    deltasAsInt[index] = asuint(delta + asfloat(deltasAsInt[index]));  
+    positionConstraintCounts[index]++;
+}
+
+void AddOrientationDelta(in int index, in quaternion delta)
+{
+    orientationDeltasAsInt[index] = asuint(delta + asfloat(orientationDeltasAsInt[index]));  
+    orientationConstraintCounts[index]++;
+}
+
+// applying deltas:
+void ApplyPositionDelta(RWStructuredBuffer<float4> positions, in int index, in float SOR)
+{
+    int count = positionConstraintCounts[index];
+    if (count > 0)
+    {
+        positions[index].xyz += float3(asfloat(deltasAsInt[index].x),
+                                       asfloat(deltasAsInt[index].y),
+                                       asfloat(deltasAsInt[index].z)) * SOR / count;
+
+        deltasAsInt[index] = uint4(0, 0, 0, 0);
+        positionConstraintCounts[index] = 0;
+    }
+}
+
+void ApplyOrientationDelta(RWStructuredBuffer<quaternion> orientations, in int index, in float SOR)
+{
+    int count = orientationConstraintCounts[index];
+    if (count > 0)
+    {
+        orientations[index] += quaternion(asfloat(orientationDeltasAsInt[index].x),
+                                          asfloat(orientationDeltasAsInt[index].y),
+                                          asfloat(orientationDeltasAsInt[index].z),
+                                          asfloat(orientationDeltasAsInt[index].w)) * SOR / count;
+
+        orientations[index] = normalize(orientations[index]);
+
+        orientationDeltasAsInt[index] = uint4(0, 0, 0, 0);
+        orientationConstraintCounts[index] = 0;
+    }
+}
+
+void ApplyUserDataDelta(RWStructuredBuffer<float4> userData, in int index)
+{
+    int count = orientationConstraintCounts[index];
+    if (count > 0)
+    {
+        userData[index] += float4(asfloat(orientationDeltasAsInt[index].x),
+                                  asfloat(orientationDeltasAsInt[index].y),
+                                  asfloat(orientationDeltasAsInt[index].z),
+                                  asfloat(orientationDeltasAsInt[index].w));
+
+        orientationDeltasAsInt[index] = uint4(0, 0, 0, 0);
+        orientationConstraintCounts[index] = 0;
+    }
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc.meta b/Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta
similarity index 80%
rename from Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc.meta
rename to Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta
index 761c6bcb2..8f9c197c2 100644
--- a/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc.meta
+++ b/Assets/Obi/Resources/Compute/AtomicDeltas.cginc.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 135872c7cdf2b43bf89b8c57d067d4de
+guid: 1a767b30eef4240859cf6158473bd06a
 ShaderImporter:
   externalObjects: {}
   defaultTextures: []
diff --git a/Assets/Obi/Resources/Compute/BendConstraints.compute b/Assets/Obi/Resources/Compute/BendConstraints.compute
new file mode 100644
index 000000000..5652e39c2
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BendConstraints.compute
@@ -0,0 +1,83 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> restBends;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+    
+    int p1 = particleIndices[i * 3];
+    int p2 = particleIndices[i * 3 + 1];
+    int p3 = particleIndices[i * 3 + 2];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+    float w3 = invMasses[p3];
+
+    float wsum = w1 + w2 + 2 * w3;
+    if (wsum > 0)
+    { 
+        float4 bendVector = positions[p3] - (positions[p1] + positions[p2] + positions[p3]) / 3.0f;
+        float bend = length(bendVector);
+
+        if (bend > 0)
+        {
+            float constraint = 1.0f - (stiffnesses[i].x + restBends[i]) / bend;
+
+            // remove this to force a certain curvature.
+            if (constraint >= 0)
+            {
+                // calculate time adjusted compliance
+                float compliance = stiffnesses[i].y / (deltaTime * deltaTime);
+
+                // since the third particle moves twice the amount of the other 2, the modulus of its gradient is 2:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (wsum + compliance + EPSILON);
+                float4 correction = dlambda * bendVector;
+
+                lambdas[i] += dlambda;
+
+                float4 delta1 = -correction * 2 * w1;
+                float4 delta2 = -correction * 2 * w2;
+                float4 delta3 = correction * 4 * w3;
+
+                AddPositionDelta(p1, delta1);
+                AddPositionDelta(p2, delta2);
+                AddPositionDelta(p3, delta3);         
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 3];
+    int p2 = particleIndices[i * 3 + 1];
+    int p3 = particleIndices[i * 3 + 2];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+    ApplyPositionDelta(positions, p3, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BendConstraints.compute.meta b/Assets/Obi/Resources/Compute/BendConstraints.compute.meta
new file mode 100644
index 000000000..c253612ba
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BendConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 92b982b3ba8824f1cb17f9313e0b11ac
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/BendTwistConstraints.compute b/Assets/Obi/Resources/Compute/BendTwistConstraints.compute
new file mode 100644
index 000000000..a35375778
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BendTwistConstraints.compute
@@ -0,0 +1,78 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> orientationIndices;
+StructuredBuffer<float3> stiffnesses;
+StructuredBuffer<float2> plasticity;
+RWStructuredBuffer<quaternion> restDarboux;
+RWStructuredBuffer<float3> lambdas;
+
+RWStructuredBuffer<quaternion> orientations;
+StructuredBuffer<float> invRotationalMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int q1 = orientationIndices[i * 2];
+    int q2 = orientationIndices[i * 2 + 1];
+
+    float w1 = invRotationalMasses[q1];
+    float w2 = invRotationalMasses[q2];
+
+    // calculate time adjusted compliance
+    float3 compliances = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // rest and current darboux vectors
+    quaternion rest = restDarboux[i];
+    quaternion omega = qmul(q_conj(orientations[q1]), orientations[q2]);
+
+    quaternion omega_plus;
+    omega_plus = omega + rest;  //delta Omega with - omega_0
+    omega -= rest;              //delta Omega with + omega_0
+
+    if (dot(omega,omega) > dot(omega_plus,omega_plus))
+        omega = omega_plus;
+
+    // plasticity
+    if (dot(omega.xyz, omega.xyz) > plasticity[i].x * plasticity[i].x)
+    {
+        rest += omega * plasticity[i].y * deltaTime;
+        restDarboux[i] = rest;
+    }
+
+    float3 dlambda = (omega.xyz - compliances * lambdas[i]) / (compliances + w1 + w2 + EPSILON);
+
+    //discrete Darboux vector does not have vanishing scalar part
+    quaternion dlambdaQ = quaternion(dlambda[0], dlambda[1], dlambda[2],0);
+    
+    AddOrientationDelta(q1, qmul(orientations[q2], dlambdaQ) * w1);
+    AddOrientationDelta(q2,-qmul(orientations[q1], dlambdaQ) * w2);
+   
+    lambdas[i] += dlambda;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int q1 = orientationIndices[i * 2];
+    int q2 = orientationIndices[i * 2 + 1];
+
+    ApplyOrientationDelta(orientations, q1, sorFactor);
+    ApplyOrientationDelta(orientations, q2, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta b/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta
new file mode 100644
index 000000000..ab675e5e9
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BendTwistConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e5ad8a2b8563941539b7551b0a93b911
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/BitonicSort.compute b/Assets/Obi/Resources/Compute/BitonicSort.compute
new file mode 100644
index 000000000..1929395f7
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BitonicSort.compute
@@ -0,0 +1,39 @@
+#pragma kernel BitonicSort
+
+const uint numEntries;
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex;
+
+RWStructuredBuffer<float> Keys;
+RWStructuredBuffer<float> Values;
+
+[numthreads(128,1,1)]
+void BitonicSort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds (for non-power of 2 input sizes)
+    if (indexRight >= numEntries) return;
+
+    float keyLeft = Keys[indexLeft];
+    float keyRight = Keys[indexRight];
+
+    float valueLeft = Values[indexLeft];
+    float valueRight = Values[indexRight]; 
+
+    // Swap entries if value is descending
+    if (valueLeft > valueRight)
+    {
+        Keys[indexLeft] = keyRight;
+        Keys[indexRight] = keyLeft;
+
+        Values[indexLeft] = valueRight;
+        Values[indexRight] = valueLeft;
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BitonicSort.compute.meta b/Assets/Obi/Resources/Compute/BitonicSort.compute.meta
new file mode 100644
index 000000000..16cb0e090
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BitonicSort.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ceefe1197724d4a408783ad72b2c56ab
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Bounds.cginc b/Assets/Obi/Resources/Compute/Bounds.cginc
new file mode 100644
index 000000000..2549b5187
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Bounds.cginc
@@ -0,0 +1,127 @@
+#ifndef BOUNDS_INCLUDE
+#define BOUNDS_INCLUDE
+
+#include "Transform.cginc"
+#include "Matrix.cginc"
+
+struct aabb
+{
+    float4 min_;
+    float4 max_;
+
+    void FromTriangle(float4 v1, float4 v2, float4 v3, float4 margin)
+    {
+        min_ = min(min(v1, v2), v3) - margin;
+        max_ = max(max(v1, v2), v3) + margin;
+    }
+
+    void FromEdge(float4 v1, float4 v2, float4 radius)
+    {
+        min_ = min(v2 - radius, v1 - radius);
+        max_ = max(v2 + radius, v1 + radius);
+    }
+
+    void FromParticle(float4 v1, float radius)
+    {
+        min_ = v1 - radius;
+        max_ = v1 + radius;
+    }
+
+    bool IntersectsAabb(in aabb b, bool in2D = false)
+    {
+        if (in2D)
+        {
+        return (min_[0] <= b.max_[0] && max_[0] >= b.min_[0]) &&
+               (min_[1] <= b.max_[1] && max_[1] >= b.min_[1]);
+        }
+        else
+        {
+        return (min_[0] <= b.max_[0] && max_[0] >= b.min_[0]) &&
+               (min_[1] <= b.max_[1] && max_[1] >= b.min_[1]) &&
+               (min_[2] <= b.max_[2] && max_[2] >= b.min_[2]);
+        }
+    }
+
+    float AverageAxisLength()
+    {
+        float4 d = max_ - min_;
+        return (d.x + d.y + d.z) * 0.33f;
+    }
+
+    float MaxAxisLength()
+    {
+        float4 d = max_ - min_;
+        return max(max(d.x,d.y),d.z);
+    }
+
+    void EncapsulateParticle(in float4 position, float radius)
+    {
+        min_ = min(min(min_, position - radius), position - radius);
+        max_ = max(max(max_, position + radius), position + radius);
+    }
+
+    void EncapsulateParticle(in float4 previousPosition, in float4 position, float radius)
+    {
+        min_ = min(min(min_, position - radius), previousPosition - radius);
+        max_ = max(max(max_, position + radius), previousPosition + radius);
+    }
+
+    void EncapsulateBounds(in aabb bounds)
+    {
+        min_ = min(min_,bounds.min_);
+        max_ = max(max_,bounds.max_);
+    }
+
+    void Expand(float4 amount)
+    {
+        min_ -= amount;
+        max_ += amount;
+    }
+
+    void Sweep(float4 velocity)
+    {
+        min_ = min(min_, min_ + velocity);
+        max_ = max(max_, max_ + velocity);
+    }
+
+    float4 Center()
+    {
+        return (min_ + (max_ - min_) * 0.5f);
+    }
+
+    void Transform(in float4x4 transform)
+    {
+        float3 xa = transform._m00_m10_m20 * min_.x;
+        float3 xb = transform._m00_m10_m20 * max_.x;
+
+        float3 ya = transform._m01_m11_m21 * min_.y;
+        float3 yb = transform._m01_m11_m21 * max_.y;
+
+        float3 za = transform._m02_m12_m22 * min_.z;
+        float3 zb = transform._m02_m12_m22 * max_.z;
+
+        min_ = float4(min(xa, xb) + min(ya, yb) + min(za, zb) + transform._m03_m13_m23, 0);
+        max_ = float4(max(xa, xb) + max(ya, yb) + max(za, zb) + transform._m03_m13_m23, 0);
+    }
+
+    void Transform(in transform transform)
+    {
+        Transform(TRS(transform.translation.xyz, transform.rotation, transform.scale.xyz));
+    }
+
+    aabb Transformed(in float4x4 trfm)
+    {
+        aabb cpy = this;
+        cpy.Transform(trfm);
+        return cpy;
+    }
+
+    aabb Transformed(in transform trfm)
+    {
+        aabb cpy = this;
+        cpy.Transform(trfm);
+        return cpy;
+    }
+};
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta b/Assets/Obi/Resources/Compute/Bounds.cginc.meta
similarity index 80%
rename from Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta
rename to Assets/Obi/Resources/Compute/Bounds.cginc.meta
index 72d99fd08..f3c0a8e7c 100644
--- a/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta
+++ b/Assets/Obi/Resources/Compute/Bounds.cginc.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: a8c46db5ccc10489cba075e7a9172ca6
+guid: 52c09ed0a553243328693072f77d1465
 ShaderImporter:
   externalObjects: {}
   defaultTextures: []
diff --git a/Assets/Obi/Resources/Compute/BoundsReduction.compute b/Assets/Obi/Resources/Compute/BoundsReduction.compute
new file mode 100644
index 000000000..7e11f4537
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoundsReduction.compute
@@ -0,0 +1,94 @@
+#pragma kernel RuntimeSimplexBounds SIMPLEX_BOUNDS=RuntimeSimplexBounds USE_COLLISION_MAT
+#pragma kernel EditSimplexBounds SIMPLEX_BOUNDS=EditSimplexBounds 
+#pragma kernel Reduce
+
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "CollisionMaterial.cginc"
+#include "MathUtils.cginc"
+#include "Integration.cginc"
+#include "SolverParameters.cginc"
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterials;
+
+RWStructuredBuffer<aabb> simplexBounds;
+RWStructuredBuffer<aabb> reducedBounds;
+
+float deltaTime;
+
+groupshared aabb sdata[128]; 
+
+[numthreads(256, 1, 1)]
+void SIMPLEX_BOUNDS (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount)
+    {
+        reducedBounds[i].min_ =  float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+        reducedBounds[i].max_ = -float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+        return;
+    }
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(i, simplexSize);
+   
+    aabb sxBounds, soBounds;
+    sxBounds.min_ = soBounds.min_ = float4(FLT_MAX,FLT_MAX,FLT_MAX,0);
+    sxBounds.max_ = soBounds.max_ = float4(-FLT_MAX,-FLT_MAX,-FLT_MAX,0);
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int p = simplices[simplexStart + j];
+        
+        #if USE_COLLISION_MAT
+            int m = collisionMaterialIndices[p];
+            float solidRadius = principalRadii[p].x + (m >= 0 ? collisionMaterials[m].stickDistance : 0);
+        #else
+            float solidRadius = principalRadii[p].x;
+        #endif
+        
+        // Expand simplex bounds, using both the particle's original position and its velocity.
+        // Add collision margin for both fluid neighborhood too (prevents explosions at high pressures due to neighborhood deficiency)
+        sxBounds.EncapsulateParticle(positions[p],
+                                     IntegrateLinear(positions[p], velocities[p], deltaTime * particleCCD), 
+                                     max(solidRadius, fluidMaterials[p].x * 0.5f) + collisionMargin);
+
+        soBounds.EncapsulateParticle(positions[p],
+                                     IntegrateLinear(positions[p], velocities[p], deltaTime), 
+                                     solidRadius);
+                                     
+    }
+
+    simplexBounds[i] = sxBounds;
+    reducedBounds[i] = soBounds;
+}
+
+[numthreads( 256, 1, 1)]
+void Reduce( uint3 threadIdx : SV_GroupThreadID, uint3 groupIdx : SV_GroupID)
+{
+    // each thread loads two elements from global to shared mem and combines them:
+    unsigned int tid = threadIdx.x;
+    unsigned int i = groupIdx.x * 256 + tid;
+    sdata[tid] = reducedBounds[i];
+    sdata[tid].EncapsulateBounds(reducedBounds[i + 128]);
+
+    GroupMemoryBarrierWithGroupSync(); 
+
+    // do reduction in shared mem
+    for (unsigned int s = 64; s > 0; s >>= 1)
+    {
+        if (tid < s) 
+        {
+            sdata[tid].EncapsulateBounds(sdata[tid + s]); 
+        }
+        GroupMemoryBarrierWithGroupSync(); 
+    }
+
+    // write result for this group to global mem
+    if (tid == 0) 
+        reducedBounds[groupIdx.x] = sdata[0]; 
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta b/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta
new file mode 100644
index 000000000..5959ca43b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoundsReduction.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4eaa80a9c435f42fa9837a3594766a1f
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/BoxShape.compute b/Assets/Obi/Resources/Compute/BoxShape.compute
new file mode 100644
index 000000000..58f34504c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoxShape.compute
@@ -0,0 +1,73 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*BOX_SHAPE]) return; 
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[BOX_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Box boxShape;
+        boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        boxShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * boxShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BoxShape.compute.meta b/Assets/Obi/Resources/Compute/BoxShape.compute.meta
new file mode 100644
index 000000000..6928e9b19
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoxShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9df6755bffe0b4dc5a30f4715e8a503c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/BoxShapeQuery.compute b/Assets/Obi/Resources/Compute/BoxShapeQuery.compute
new file mode 100644
index 000000000..034373c31
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoxShapeQuery.compute
@@ -0,0 +1,136 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+struct Box : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 size = s.size * colliderToSolver.scale * 0.5f;
+
+        // clamp the point to the surface of the box:
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        // get minimum distance for each axis:
+        float4 distances = size - abs(pnt);
+
+        if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+        {
+            projectedPoint.normal = float4(0,0,0,0);
+            projectedPoint.pos = pnt;
+
+            // find minimum distance in all three axes and the axis index:        
+            if (distances.y < distances.x && distances.y < distances.z)
+            {
+                projectedPoint.normal[1] = sign(pnt[1]);
+                projectedPoint.pos[1] = size[1] * projectedPoint.normal[1];
+            }
+            else if (distances.z < distances.x && distances.z < distances.y)
+            {
+                projectedPoint.normal[2] = sign(pnt[2]);
+                projectedPoint.pos[2] = size[2] * projectedPoint.normal[2];
+            }
+            else
+            {
+                projectedPoint.normal[0] = sign(pnt[0]);
+                projectedPoint.pos[0] = size[0] * projectedPoint.normal[0];
+            }
+        }
+        else
+        {
+            projectedPoint.pos = clamp(pnt, -size, size);
+            projectedPoint.normal = normalizesafe(pnt - projectedPoint.pos);
+        }
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(projectedPoint.pos + center + projectedPoint.normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*BOX_QUERY]) return; 
+    
+    int firstPair = contactOffsetsPerType[BOX_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Box boxShape;
+    boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    boxShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(boxShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos,surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= boxShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            results[count] = c;
+     
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+    
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta b/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta
new file mode 100644
index 000000000..4b6e8ed46
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/BoxShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 409c5f7d65dd84df9853de82bd3fbf46
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/CapsuleShape.compute b/Assets/Obi/Resources/Compute/CapsuleShape.compute
new file mode 100644
index 000000000..0afb94a41
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/CapsuleShape.compute
@@ -0,0 +1,72 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*CAPSULE_SHAPE]) return; 
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[CAPSULE_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Capsule capsuleShape;
+        capsuleShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        capsuleShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(capsuleShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * capsuleShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta b/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta
new file mode 100644
index 000000000..0295bcb28
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/CapsuleShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bd92ed8a5b1bc404c9b114747495f080
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ChainConstraints.compute b/Assets/Obi/Resources/Compute/ChainConstraints.compute
new file mode 100644
index 000000000..62c8c1a44
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ChainConstraints.compute
@@ -0,0 +1,159 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> firstIndex;
+StructuredBuffer<int> numIndices;
+StructuredBuffer<float2> restLengths;
+
+RWStructuredBuffer<float4> ni; // (ni:constraint gradient, di:desired lenght)
+RWStructuredBuffer<float3> diagonals; // (subdiagonals), bi (diagonals) and ci (superdiagonals):
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int c = id.x;
+
+    if (c >= activeConstraintCount) return;
+
+    int numEdges = numIndices[c] - 1;
+    int first = firstIndex[c];
+    float minLength = restLengths[c].x;
+    float maxLength = restLengths[c].y;
+    
+    int i;
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+
+        float4 p1 = positions[particleIndices[edge]];
+        float4 p2 = positions[particleIndices[edge+1]];
+        float4 diff = p1 - p2;
+
+        float dist = length(diff);
+        ni[edge] = float4(diff/(dist + EPSILON));
+    }
+
+    // calculate ai, bi and ci
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+
+        float w_i_ = invMasses[particleIndices[edge]];
+        float w__i = invMasses[particleIndices[edge+1]];
+
+        float4 ni__ = FLOAT4_ZERO;
+        if (i > 0) ni__ = ni[edge - 1];
+        
+        float4 n__i = FLOAT4_ZERO;
+        if (i < numEdges - 1) n__i = ni[edge + 1];
+
+        diagonals[edge] = float3(-w_i_ * dot(ni[edge], ni__), // ai
+                                  w_i_ + w__i,             // bi
+                                 -w__i * dot(ni[edge], n__i));// ci
+    }
+
+    // solve step #1, forward sweep:
+    // reuse diagonals.xy to store sweep results ci_ and di_:
+    for (i = 0; i < numEdges; ++i)
+    {
+        int edge = first + i;
+        float4 p1 = positions[particleIndices[edge]];
+        float4 p2 = positions[particleIndices[edge + 1]];
+
+        float cip_ = 0;
+        float dip_ = 0;
+
+        if (i > 0)
+        {
+            cip_ = diagonals[edge - 1].x;
+            dip_ = diagonals[edge - 1].y;
+        }
+
+        float3 d = diagonals[edge];
+        float den = d.y - cip_ * d.x;
+
+        if (abs(den) > EPSILON)
+        {
+            float dist = distance(p1, p2);
+            float correction = 0;
+
+            if (dist >= maxLength)
+                correction = dist - maxLength;
+            else if (dist <= minLength)
+                correction = dist - minLength;
+
+            d.xy = float2(d.z / den, (correction - dip_ * d.x) / den);
+
+        }
+        else
+            d.xy = float2(0,0);
+
+        diagonals[edge] = d;
+    }
+
+    // solve step #2, backward sweep. reuse diagonals.z to store solution xi:
+    for (i = numEdges - 1; i >= 0; --i)
+    {
+        int edge = first + i;
+
+        float xi_ = (i < numEdges - 1) ? diagonals[edge + 1].z : 0;
+
+        float3 d = diagonals[edge];
+        d.z = d.y - d.x * xi_;
+        diagonals[edge] = d;
+    }
+
+    // calculate deltas:
+    for (i = 0; i < numIndices[c]; ++i)
+    {
+        int index = first + i;
+
+        float4 ni__ = FLOAT4_ZERO;
+        float xi_ = 0;
+
+        if (i > 0)
+        {
+            ni__ = ni[index - 1];
+            xi_ = diagonals[index - 1].z;
+        }
+
+        float4 n_i_ = FLOAT4_ZERO;
+        float nxi = 0;
+
+        if (i < numIndices[c] - 1) 
+        {
+            n_i_ = ni[index];
+            nxi = diagonals[index].z;
+        }
+
+        int p = particleIndices[index];
+
+        AddPositionDelta(p, invMasses[p] * (ni__ * xi_ - n_i_ * nxi));
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int first = firstIndex[i];
+    int last = first + numIndices[i];
+
+    for (int k = first; k < last; ++k)
+        ApplyPositionDelta(positions, particleIndices[k], sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta b/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta
new file mode 100644
index 000000000..561afa199
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ChainConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2a5f3e8f1330846819f1abe7a6181c51
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ClothRendering.compute b/Assets/Obi/Resources/Compute/ClothRendering.compute
new file mode 100644
index 000000000..069c59904
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ClothRendering.compute
@@ -0,0 +1,180 @@
+#pragma kernel UpdateSkinConstraints
+#pragma kernel UpdateClothMesh
+
+#include "MathUtils.cginc"
+
+struct Influence
+{
+    int index;
+    float weight;
+};
+
+struct SkinmapData
+{
+    int firstInfluence;
+    int firstInfNumber;
+    int firstParticleBindPose;
+    
+    int firstSkinWeight;
+    int firstSkinWeightNumber;
+    int firstBoneBindPose;
+
+    int bindPoseCount;
+};
+
+struct SkeletonData
+{
+    int firstBone;
+    int boneCount;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> rendererIndices; // for each vertex/particle, index of its renderer.
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+
+StructuredBuffer<int> skinConstraintOffsets;
+
+StructuredBuffer<int> skinmapIndices; // for each renderer, index of its skinmap.
+StructuredBuffer<int> meshIndices; // for each renderer, index of its mesh.
+StructuredBuffer<int> skeletonIndices; // for each renderer, index of its skeleton.
+
+StructuredBuffer<int> particleOffsets; // for each renderer, index of its first particle in the batch.
+StructuredBuffer<int> vertexOffsets;  // for each renderer, index of its first vertex in the batch.
+
+StructuredBuffer<SkinmapData> skinData;
+StructuredBuffer<Influence> influences;
+StructuredBuffer<int> influenceOffsets;
+StructuredBuffer<float4x4> particleBindMatrices;
+StructuredBuffer<float4x4> boneBindMatrices;
+
+StructuredBuffer<SkeletonData> skeletonData;
+StructuredBuffer<float3> bonePos;
+StructuredBuffer<quaternion> boneRot;
+StructuredBuffer<float3> boneScl;
+
+StructuredBuffer<MeshData> meshData;
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+
+RWStructuredBuffer<float4> skinConstraintPoints;
+RWStructuredBuffer<float4> skinConstraintNormals;
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint vertexCount;
+uint constraintCount;
+float4x4 world2Solver;
+
+[numthreads(128, 1, 1)]
+void UpdateSkinConstraints (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= constraintCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    SkeletonData skel = skeletonData[skeletonIndices[rendererIndex]];
+
+    // invalid skeleton:
+    if (skel.boneCount <= 0)
+        return;
+
+    // get index of this particle in its original actor: 
+    int originalParticleIndex = i - particleOffsets[rendererIndex];
+
+    // get first influence and amount of influences for this particle:
+    int influenceStart = influenceOffsets[skin.firstSkinWeightNumber + originalParticleIndex];
+    int influenceCount = influenceOffsets[skin.firstSkinWeightNumber + originalParticleIndex + 1] - influenceStart;
+
+    float4 pos = FLOAT4_ZERO;
+    float4 norm = FLOAT4_ZERO;
+
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstSkinWeight + k];
+
+        float4x4 bind = boneBindMatrices[skin.firstBoneBindPose + inf.index];
+
+        int boneIndex = skel.firstBone + inf.index;
+        float4x4 deform = TRS(bonePos[boneIndex], boneRot[boneIndex], boneScl[boneIndex]);
+        float4x4 trfm = mul(world2Solver, mul(deform, bind));
+
+        pos.xyz += mul(trfm, float4(restPositions[particleIndices[i]].xyz, 1)).xyz * inf.weight;
+        norm.xyz += mul(trfm, float4(rotate_vector(restOrientations[particleIndices[i]], float3(0, 0, 1)), 0)).xyz * inf.weight;
+    }
+
+    int constraintIndex = skinConstraintOffsets[rendererIndex] + originalParticleIndex;
+    skinConstraintPoints[constraintIndex] = pos;
+    skinConstraintNormals[constraintIndex] = norm;
+    
+}
+
+[numthreads(128, 1, 1)]
+void UpdateClothMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= vertexCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    
+    // get index of this vertex in its original mesh:
+    int originalVertexIndex = i - vertexOffsets[rendererIndex];
+
+    // get index of the vertex in the mesh batch:
+    int batchedVertexIndex = mesh.firstVertex + originalVertexIndex;
+
+    // get first influence and amount of influences for this vertex:
+    int influenceStart = influenceOffsets[skin.firstInfNumber + originalVertexIndex];
+    int influenceCount = influenceOffsets[skin.firstInfNumber + originalVertexIndex + 1] - influenceStart;
+    
+    float3 position = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 tangent = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstInfluence + k];
+        
+        int p = particleIndices[particleOffsets[rendererIndex] + inf.index];
+
+        float4x4 deform = mul(m_translate(FLOAT4X4_IDENTITY,renderablePositions[p].xyz), q_toMatrix(renderableOrientations[p]));
+        float4x4 trfm = mul(deform, particleBindMatrices[skin.firstParticleBindPose + inf.index]);
+
+        // update vertex/normal/tangent:
+        position += mul(trfm, float4(positions[batchedVertexIndex], 1)).xyz * inf.weight;
+        normal += mul(trfm, float4(normals[batchedVertexIndex], 0)).xyz * inf.weight;
+        tangent += float4(mul(trfm, float4(tangents[batchedVertexIndex].xyz, 0)).xyz, tangents[batchedVertexIndex].w) * inf.weight;
+        color += colors[p] * inf.weight;
+    }
+
+    int base = i * 14;
+    vertices.Store3( base<<2, asuint(position));
+    vertices.Store3((base + 3)<<2, asuint(normal));
+    vertices.Store4((base + 6)<<2, asuint(tangent));
+    vertices.Store4((base + 10)<<2, asuint(color));
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/ClothRendering.compute.meta b/Assets/Obi/Resources/Compute/ClothRendering.compute.meta
new file mode 100644
index 000000000..5b2b24c93
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ClothRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7620e03e082f448828570f6659b73301
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute b/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute
new file mode 100644
index 000000000..9fd3f0c58
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute
@@ -0,0 +1,219 @@
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "CollisionMaterial.cginc"
+#include "AtomicDeltas.cginc"
+
+#pragma kernel Clear
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float4> prevOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+RWStructuredBuffer<rigidbody> RW_rigidbodies;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> orientations;
+RWStructuredBuffer<float4> deltas;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint particleCount;
+float maxDepenetration;
+float substepTime;
+float stepTime;
+int steps;
+float timeLeft;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= dispatchBuffer[3]) return;
+
+    int rigidbodyIndex = shapes[contacts[i].bodyB].rigidbodyIndex;
+    if (rigidbodyIndex >= 0)
+    {
+        int orig;
+        InterlockedExchange(RW_rigidbodies[rigidbodyIndex].constraintCount, 0, orig);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexStartA = GetSimplexStartAndSize(contacts[i].bodyA, simplexSizeA);
+
+    // get the material from the first particle in the simplex:
+    int aMaterialIndex = collisionMaterialIndices[simplices[simplexStartA]];
+    bool rollingContacts = aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false;
+
+    float4 relativeVelocity = FLOAT4_ZERO;
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    quaternion simplexPrevOrientation = quaternion(0, 0, 0, 0);
+    float simplexRadius = 0;
+    float simplexInvMass = 0;
+    float simplexInvRotationalMass = 0;
+
+    for (int j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        relativeVelocity += velocities[particleIndex] * contacts[i].pointA[j];
+        simplexPrevPosition += prevPositions[particleIndex] * contacts[i].pointA[j];
+        simplexPrevOrientation += prevOrientations[particleIndex] * contacts[i].pointA[j];
+        simplexInvMass += invMasses[particleIndex] * contacts[i].pointA[j];
+        simplexInvRotationalMass += invRotationalMasses[particleIndex] * contacts[i].pointA[j];
+        simplexRadius += EllipsoidRadius(contacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    // if there's a rigidbody present, subtract its velocity from the relative velocity:
+    int rigidbodyIndex = shapes[contacts[i].bodyB].rigidbodyIndex;
+    if (rigidbodyIndex >= 0)
+    {
+        // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
+        relativeVelocity -= GetRigidbodyVelocityAtPoint(RW_rigidbodies[rigidbodyIndex], contacts[i].pointB, 
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        int bMaterialIndex = shapes[contacts[i].bodyB].materialIndex;
+        rollingContacts = rollingContacts | (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
+    }
+
+    // update contact distance
+    contacts[i].dist = dot(simplexPrevPosition - contacts[i].pointB, contacts[i].normal) - simplexRadius;
+
+    // calculate contact point in A's surface:
+    float4 contactPoint = contacts[i].pointB +  contacts[i].normal * contacts[i].dist;
+
+    // update contact basis:
+    CalculateBasis(relativeVelocity, contacts[i].normal, contacts[i].tangent);
+
+    // calculate A's contact mass.
+    float4 invInertiaTensor = 1.0/(GetParticleInertiaTensor(simplexRadius, simplexInvRotationalMass) + FLOAT4_EPSILON);
+    CalculateContactMassesA(simplexInvMass, invInertiaTensor, simplexPrevPosition, simplexPrevOrientation, contactPoint, rollingContacts, contacts[i].normal, contacts[i].tangent, GetBitangent(contacts[i]), effectiveMasses[i].normalInvMassA, effectiveMasses[i].tangentInvMassA, effectiveMasses[i].bitangentInvMassA);
+   
+    // clear B's contact mass.
+    if (rigidbodyIndex >= 0)
+    {
+        CalculateContactMassesB(RW_rigidbodies[rigidbodyIndex], inertialSolverFrame[0].frame, contacts[i].pointB, contacts[i].normal, contacts[i].tangent, GetBitangent(contacts[i]), effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+        InterlockedAdd(RW_rigidbodies[rigidbodyIndex].constraintCount, 1);
+    }
+    else
+    {
+        ClearContactMasses(effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    // Skip contacts involving triggers:
+    if (shapes[contacts[i].bodyB].isTrigger())
+        return;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+    int colliderIndex = contacts[i].bodyB;
+
+    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStart]], shapes[colliderIndex].materialIndex);
+
+    // Get relative velocity at contact point.
+    // As we do not consider true ellipses for collision detection, particle contact points are never off-axis.
+    // So particle angular velocity does not contribute to normal impulses, and we can skip it.
+    float4 simplexPosition = FLOAT4_ZERO;
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPosition += positions[particleIndex] * contacts[i].pointA[j];
+        simplexPrevPosition += prevPositions[particleIndex] * contacts[i].pointA[j];
+        simplexRadius += EllipsoidRadius(contacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    // project position to the end of the full step:
+    float4 posA = lerp(simplexPrevPosition, simplexPosition, substepsToEnd);
+    posA += -contacts[i].normal * simplexRadius;
+
+    float4 posB = contacts[i].pointB;
+    int rbContacts = 1;
+    if (rigidbodyIndex >= 0)            
+    {
+        posB += GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex], contacts[i].pointB, 
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]) * frameEnd;
+        rbContacts = rigidbodies[rigidbodyIndex].constraintCount;
+    }
+
+    float normalInvMass = effectiveMasses[i].normalInvMassA + effectiveMasses[i].normalInvMassB * rbContacts;
+    float lambda = SolveAdhesion(contacts[i], normalInvMass, posA, posB, material.stickDistance, material.stickiness, stepTime);
+
+    lambda += SolvePenetration(contacts[i], normalInvMass, posA, posB, maxDepenetration * stepTime);
+
+    if (abs(lambda) > EPSILON)
+    {
+        float4 delta = lambda * contacts[i].normal * BaryScale(contacts[i].pointA) / substepsToEnd;
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+            float4 delta1 = delta * invMasses[particleIndex] * contacts[i].pointA[j];
+
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyImpulse(rigidbodyIndex, -lambda / frameEnd * contacts[i].normal, contacts[i].pointB, inertialSolverFrame[0].frame);
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+    
+    ApplyPositionDelta(positions, p, sorFactor);
+}
+
+
diff --git a/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta b/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta
new file mode 100644
index 000000000..c8cd80576
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderCollisionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ff4c3e041ffef4a5c91cf275735a7ecc
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc b/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc
new file mode 100644
index 000000000..3fb6ef96c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc
@@ -0,0 +1,81 @@
+#ifndef COLLIDERDEFS_INCLUDE
+#define COLLIDERDEFS_INCLUDE
+
+#define SPHERE_SHAPE 0
+#define BOX_SHAPE 1
+#define CAPSULE_SHAPE 2
+#define HEIGHTMAP_SHAPE 3
+#define TRIANGLE_MESH_SHAPE 4
+#define EDGE_MESH_SHAPE 5
+#define SDF_SHAPE 6
+
+#define FORCEMODE_FORCE 0
+#define FORCEMODE_ACCEL 1
+#define FORCEMODE_WIND  2
+
+#define DAMPDIR_ALL 0
+#define DAMPDIR_FORCE 1
+#define DAMPDIR_SURFACE  2
+
+#define ZONETYPE_DIRECTIONAL 0
+#define ZONETYPE_RADIAL 1
+#define ZONETYPE_VORTEX 2
+#define ZONETYPE_VOID 3
+
+struct shape
+{
+    float4 center;   
+    float4 size;     /**<     box: size of the box in each axis.
+                                      sphere: radius of sphere (x,y,z),
+                                      capsule: radius (x), height(y), direction (z, can be 0, 1 or 2).
+                                      heightmap: width (x axis), height (y axis) and depth (z axis) in world units.*/
+    uint type;       /**<  Sphere = 0,
+                           Box = 1,
+                           Capsule = 2,
+                           Heightmap = 3,
+                           TriangleMesh = 4,
+                           EdgeMesh = 5,
+                           SignedDistanceField = 6*/
+
+    float contactOffset;
+    int dataIndex;
+    int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
+    int materialIndex;   // index of the associated material in the collision world.
+    int forceZoneIndex;   // index of the associated force zone in the collision world.
+    int phase;
+    int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0).
+                         // third bit determines whether shape is inverted or not.
+   
+    bool is2D()
+    {
+        return (flags & 1) != 0;
+    }
+
+    bool isTrigger()
+    {
+        // TODO: using bools doesn't work... why?
+        int a = (flags & 1 << 1) != 0;
+        int b = forceZoneIndex >= 0;
+        return a || b;
+    }
+
+    float isInverted()
+    {
+        return (flags & 1 << 2) != 0 ? -1 : 1;
+    }
+};
+
+struct forceZone
+{
+    float4 color;
+    uint type;
+    uint mode;
+    uint dampingDir;
+    float intensity;
+    float minDistance;
+    float maxDistance;
+    float falloffPower;
+    float damping;
+};
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader.meta b/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta
similarity index 56%
rename from Assets/Obi/Resources/ObiMaterials/ParticleShader.shader.meta
rename to Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta
index b7373631e..469484159 100644
--- a/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader.meta
+++ b/Assets/Obi/Resources/Compute/ColliderDefinitions.cginc.meta
@@ -1,9 +1,9 @@
 fileFormatVersion: 2
-guid: 801733041f66b49e1b3c2101471db877
-timeCreated: 1438934781
-licenseType: Store
+guid: fe486a46344cd4c299b4475a4e046796
 ShaderImporter:
+  externalObjects: {}
   defaultTextures: []
+  nonModifiableTextures: []
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute b/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute
new file mode 100644
index 000000000..980908925
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute
@@ -0,0 +1,193 @@
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "CollisionMaterial.cginc"
+#include "Integration.cginc"
+#include "AtomicDeltas.cginc"
+#include "FluidKernels.cginc"
+
+#pragma kernel Project
+#pragma kernel Apply
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<float4> principalRadii;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> RW_orientations;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint particleCount;
+float substepTime;
+float stepTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    // Skip contacts involving triggers:
+    if (shapes[contacts[i].bodyB].isTrigger())
+        return;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+    int colliderIndex = contacts[i].bodyB;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStart]], shapes[colliderIndex].materialIndex);
+
+    // Calculate relative velocity:
+    float4 rA = float4(0,0,0,0), rB = float4(0,0,0,0);
+
+    float4 prevPositionA = float4(0,0,0,0);
+    float4 linearVelocityA = float4(0,0,0,0);
+    float4 angularVelocityA = float4(0,0,0,0);
+    float invRotationalMassA = 0;
+    quaternion orientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        prevPositionA    += prevPositions[particleIndex] * contacts[i].pointA[j];
+        linearVelocityA  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contacts[i].pointA[j];
+        angularVelocityA += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contacts[i].pointA[j];
+        invRotationalMassA += invRotationalMasses[particleIndex] * contacts[i].pointA[j];
+        orientationA += orientations[particleIndex] * contacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(contacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * contacts[i].pointA[j];
+    }
+
+    float4 relativeVelocity = linearVelocityA;
+
+    // Add particle angular velocity if rolling contacts are enabled:
+    if (material.rollingContacts > 0)
+    {
+        rA = -contacts[i].normal * simplexRadiusA;                          // for fluid particles:
+        relativeVelocity += float4(cross(angularVelocityA.xyz, rA.xyz), 0); //* (Poly6(contacts[i].dist,simplexRadiusA*6) / Poly6(0,simplexRadiusA*6));
+    }
+
+    // Subtract rigidbody velocity:
+    int rbContacts = 1;
+    if (rigidbodyIndex >= 0)
+    {
+        // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
+        rB = solverToWorld[0].TransformPoint(contacts[i].pointB) - rigidbodies[rigidbodyIndex].com;
+        
+        relativeVelocity -= GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex], contacts[i].pointB,
+                                                        asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                        asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        rbContacts = rigidbodies[rigidbodyIndex].constraintCount;
+    }
+
+    // Determine impulse magnitude:
+    float tangentMass = effectiveMasses[i].tangentInvMassA + effectiveMasses[i].tangentInvMassB * rbContacts;
+    float bitangentMass = effectiveMasses[i].bitangentInvMassA + effectiveMasses[i].bitangentInvMassB * rbContacts;
+    float2 impulses = SolveFriction(contacts[i], tangentMass, bitangentMass, relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+    if (abs(impulses.x) > EPSILON || abs(impulses.y) > EPSILON)
+    {
+        float4 tangentImpulse   = impulses.x * contacts[i].tangent;
+        float4 bitangentImpulse = impulses.y * GetBitangent(contacts[i]);
+        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+        float baryScale = BaryScale(contacts[i].pointA);
+        for (j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+            float4 delta1 = (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contacts[i].pointA[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyImpulse(rigidbodyIndex, -totalImpulse, contacts[i].pointB, inertialSolverFrame[0].frame);
+        }
+
+        // Rolling contacts:
+        if (material.rollingContacts > 0)
+        {
+            // Calculate angular velocity deltas due to friction impulse:
+            float4 invInertiaTensor = 1.0/(GetParticleInertiaTensor(simplexRadiusA, invRotationalMassA) + FLOAT4_EPSILON);
+            float4x4 solverInertiaA = TransformInertiaTensor(invInertiaTensor, orientationA);
+
+            float4 angVelDeltaA = mul(solverInertiaA, float4(cross(rA.xyz, totalImpulse.xyz), 0));
+            float4 angVelDeltaB = FLOAT4_ZERO;
+
+            // Final angular velocities, after adding the deltas:
+            angularVelocityA += angVelDeltaA;
+            float4 angularVelocityB = FLOAT4_ZERO;
+
+            // Calculate weights (inverse masses):
+            float invMassA = length(mul(solverInertiaA, normalizesafe(angularVelocityA)));
+            float invMassB = 0;
+
+            if (rigidbodyIndex >= 0)
+            {
+                angVelDeltaB = mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, float4(cross(rB.xyz, totalImpulse.xyz), 0));
+                angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
+                invMassB = length(mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, normalizesafe(angularVelocityB))) * rbContacts;
+            }
+
+            // Calculate rolling axis and angular velocity deltas:
+            float4 rollAxis = FLOAT4_ZERO;
+            float rollingImpulse = SolveRollingFriction(contacts[i], angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, rollAxis);
+            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+            // Apply orientation delta to particles:
+            quaternion orientationDelta = AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+
+            for (j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDelta);
+            }
+
+            // Apply angular velocity delta to rigidbody:
+            if (rigidbodyIndex >= 0)
+            {
+                AtomicAddAngularDelta(rigidbodyIndex, angVelDeltaB);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+
+    ApplyPositionDelta(RW_positions, p, sorFactor);
+    ApplyOrientationDelta(RW_orientations, p, sorFactor);
+}
+
+
diff --git a/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta b/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta
new file mode 100644
index 000000000..e3e3d701b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderFrictionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ec52fd9d30c594294a7c2f0f50cc6096
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ColliderGrid.compute b/Assets/Obi/Resources/Compute/ColliderGrid.compute
new file mode 100644
index 000000000..1369769ac
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderGrid.compute
@@ -0,0 +1,478 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "AtomicDeltas.cginc"
+#include "Phases.cginc"
+
+#define MAX_CONTACTS_PER_SIMPLEX 64
+
+#pragma kernel Clear
+#pragma kernel BuildUnsortedList
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortList
+#pragma kernel BuildContactList
+#pragma kernel PrefixSumColliderCounts
+#pragma kernel SortContactPairs
+#pragma kernel ApplyForceZones
+#pragma kernel WriteForceZoneResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> externalForces;
+RWStructuredBuffer<float4> wind;
+RWStructuredBuffer<float4> colors;
+RWStructuredBuffer<float> life;
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> filters;    
+RWStructuredBuffer<aabb> simplexBounds; // bounding box of each simplex. 
+
+StructuredBuffer<aabb> aabbs;
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+StructuredBuffer<forceZone> forceZones;
+RWStructuredBuffer<uint> sortedColliderIndices;
+
+RWStructuredBuffer<uint> colliderTypeCounts;
+RWStructuredBuffer<uint> contactOffsetsPerType;
+RWStructuredBuffer<uint2> unsortedContactPairs;
+
+RWStructuredBuffer<uint> cellIndices;
+RWStructuredBuffer<uint> cellOffsets;
+
+RWStructuredBuffer<uint> cellCounts;
+RWStructuredBuffer<uint> offsetInCells;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint2> contactPairs;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+uint colliderCount;    // amount of colliders in the grid.
+uint cellsPerCollider; // max amount of cells a collider can be inserted into. Typically this is 8.
+int shapeTypeCount;    // number of different collider shapes, ie: box, sphere, sdf, etc.
+uint particleCount;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell offsets to invalid, so that we can later use atomic minimum to calculate the offset.
+    if (i < maxCells)
+    {
+        cellOffsets[i] = INVALID;
+        cellCounts[i] = 0;
+    }
+
+    // clear all cell indices to invalid.
+    if (i < colliderCount)
+    {
+        for (uint j = 0; j < cellsPerCollider; ++j)
+            cellIndices[i*cellsPerCollider+j] = INVALID;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildUnsortedList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= colliderCount) return;
+
+    aabb bounds = aabbs[i];
+    int rb = shapes[i].rigidbodyIndex;
+
+    // Expand bounds by rigidbody's linear velocity
+    // (check against out of bounds rigidbody access, can happen when a destroyed collider references a rigidbody that has just been destroyed too)
+    if (rb >= 0)// && rb < rigidbodies.Length)
+        bounds.Sweep(rigidbodies[rb].velocity * deltaTime);
+
+    // Expand bounds by collision material's stick distance:
+    if (shapes[i].materialIndex >= 0) 
+        bounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
+
+    // calculate bounds size, grid level and cell size:
+    float4 size = bounds.max_ - bounds.min_;
+    float maxSize = max(max (size.x, size.y), size.z);
+    int level = GridLevelForSize(maxSize);
+    float cellSize = CellSizeOfLevel(level);
+    
+    // calculate max and min cell coordinates (force 4th component to zero, might not be after expanding)
+    int4 minCell = floor(bounds.min_ / cellSize);
+    int4 maxCell = floor(bounds.max_ / cellSize);
+    minCell[3] = 0;
+    maxCell[3] = 0;
+
+    // if the collider is 2D, project it to the z = 0 cells.
+    if (shapes[i].is2D())
+    {
+        minCell[2] = 0;
+        maxCell[2] = 0;
+    }
+
+    int4 cellSpan = maxCell - minCell;
+   
+    // insert collider in cells:
+    for (int x = 0; x <= cellSpan[0]; ++x)
+    {
+        for (int y = 0; y <= cellSpan[1]; ++y)
+        {
+            for (int z = 0; z <= cellSpan[2]; ++z)
+            {
+                int cellIndex = GridHash(minCell + int4(x, y, z, level));
+                
+                // calculate flat index of this cell into arrays:
+                int k = x + y*2 + z*4 + i*cellsPerCollider;
+
+                cellIndices[k] = cellIndex;
+                InterlockedAdd(cellCounts[cellIndex],1,offsetInCells[k]);
+            }
+        }
+    }
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128, 1, 1)]
+void SortList (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= colliderCount * cellsPerCollider) return;
+
+    uint cellIndex = cellIndices[i];
+
+    if (cellIndex != INVALID)
+    {
+        // write collider to its sorted index:
+        uint sortedIndex = cellOffsets[cellIndex] + offsetInCells[i];
+        sortedColliderIndices[sortedIndex] = i;
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellCount = colliderCount * cellsPerCollider;
+    int candidateCount = 0;
+    uint candidates[MAX_CONTACTS_PER_SIMPLEX];
+    
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(threadIndex, simplexSize);
+    
+    aabb b = simplexBounds[threadIndex].Transformed(solverToWorld[0]);
+
+    // max size of the particle bounds in cells:
+    int4 maxSize = int4(10,10,10,10);
+
+    // build a list of candidate colliders:
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int4 minCell = floor(b.min_ / cellSize);
+        int4 maxCell = floor(b.max_ / cellSize);
+        maxCell = minCell + min(maxCell - minCell, maxSize);
+
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                // for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
+                // (which are inserted in cells with z == 0) are accounted for in the broadphase.
+                if (mode == 1)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,0,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        // sorted insert into the candidates list:
+                        if (candidateCount < MAX_CONTACTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                }
+
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,z,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        if (candidateCount < MAX_CONTACTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                   
+                }
+            }
+        }
+    }
+    
+    //evaluate candidates and create contacts: 
+    if (candidateCount > 0)
+    {
+        // insert sort:
+        for (int k = 1; k < candidateCount; ++k)
+        {
+            uint key = candidates[k];
+            int j = k - 1;
+
+            while (j >= 0 && candidates[j] > key)
+                candidates[j + 1] = candidates[j--];
+
+            candidates[j + 1] = key;
+        }
+
+        // make sure each candidate only shows up once in the list:
+        int first = 0, contactCount = 0;
+        while(++first != candidateCount)
+        {
+            if (candidates[contactCount] != candidates[first])
+                candidates[++contactCount] = candidates[first];
+        }
+        contactCount++;
+
+        // append contacts:
+        for (int i = 0; i < contactCount; i++)
+        {
+            int c = candidates[i];
+           
+            aabb colliderBoundsWS = aabbs[c];
+            int rb = shapes[c].rigidbodyIndex;
+
+            // Expand bounds by rigidbody's linear velocity:
+            if (rb >= 0)
+                colliderBoundsWS.Sweep(rigidbodies[rb].velocity * deltaTime);
+
+            // Expand bounds by collision material's stick distance:
+            if (shapes[c].materialIndex >= 0)
+                colliderBoundsWS.Expand(collisionMaterials[shapes[c].materialIndex].stickDistance);
+
+            // check if any simplex particle and the collider should collide:
+            bool shouldCollide = false;
+            int colliderCategory = shapes[c].phase & CategoryMask;
+            int colliderMask = (shapes[c].phase & MaskMask) >> 16;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int simplexCategory = filters[simplices[simplexStart + j]] & CategoryMask;
+                int simplexMask = (filters[simplices[simplexStart + j]] & MaskMask) >> 16;
+                shouldCollide = shouldCollide || ((simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0);
+            }
+
+            if (shouldCollide && b.IntersectsAabb(colliderBoundsWS, mode == 1))
+            {
+                uint count;
+                InterlockedAdd(dispatchBuffer[7], 1, count);
+
+                // technically incorrect, as number of pairs != number of contacts but
+                // we will ignore either excess pairs or contacts.
+                if (count < maxContacts) 
+                {
+                    // increment the amount of contacts for this shape type:
+                    InterlockedAdd(colliderTypeCounts[shapes[c].type],1);
+
+                    // enqueue a new contact pair:
+                    unsortedContactPairs[count] = uint2(threadIndex,c);
+
+                    InterlockedMax(dispatchBuffer[4],(count + 1) / 128 + 1);
+                }
+            }
+        }
+    }   
+}
+
+[numthreads(1, 1, 1)]
+void PrefixSumColliderCounts (uint3 id : SV_DispatchThreadID) 
+{
+    contactOffsetsPerType[0] = 0;
+    int i;
+
+    for (i = 0; i < shapeTypeCount; ++i)
+    {
+        contactOffsetsPerType[i+1] = contactOffsetsPerType[i] + colliderTypeCounts[i];
+
+        // write amount of pairs per collider type in the dispatch buffer:
+        dispatchBuffer[8 + i*4] = colliderTypeCounts[i] / 128 + 1;
+        dispatchBuffer[8 + i*4 + 3] = colliderTypeCounts[i];
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortContactPairs (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[7] || i >= maxContacts) return;
+
+    uint2 pair = unsortedContactPairs[i];
+    int shapeType = (int)shapes[pair.y].type;
+
+    // decrement amount of pairs for the given collider type:
+    uint count;
+    InterlockedAdd(colliderTypeCounts[shapeType],-1, count);
+
+    // write the pair directly at its position in the sorted array:
+    contactPairs[contactOffsetsPerType[shapeType] + count - 1] = pair;
+}
+
+void AtomicAddExternalForceDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(deltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(deltasAsInt, index, 2, delta.z);
+}
+
+void AtomicAddWindDelta(in int index, in float4 delta)
+{
+    InterlockedAddFloat(orientationDeltasAsInt, index, 0, delta.x);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 1, delta.y);
+    InterlockedAddFloat(orientationDeltasAsInt, index, 2, delta.z);
+}
+
+void AtomicAddLifeDelta(in int index, in float delta)
+{
+    InterlockedAddFloat(deltasAsInt, index, 3, delta);
+}
+
+[numthreads(128, 1, 1)]
+void ApplyForceZones (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int forceZoneIndex = shapes[contacts[i].bodyB].forceZoneIndex;
+
+    if (forceZoneIndex >= 0)
+    {
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(contacts[i].bodyA, simplexSize);
+       
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particleIndex = simplices[simplexStart + j];
+            
+            float dist = -dot(positions[particleIndex] - contacts[i].pointB, contacts[i].normal);
+            if (dist < 0) continue;
+            
+            float4 axis = worldToSolver[0].Multiply(transforms[contacts[i].bodyB]).TransformDirection(float4(0, 0, 1, 0));
+            
+            // calculate falloff region based on min/max distances:
+            float falloff = 1;
+            float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
+            if (abs(range) > EPSILON)
+                falloff = pow(saturate((dist - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
+
+            float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
+            float dampIntensity  = forceZones[forceZoneIndex].damping * falloff;
+
+            // tint particles:
+            float mix = pow(1 - saturate(forceZones[forceZoneIndex].color.a * falloff),deltaTime);
+            colors[particleIndex] = lerp(forceZones[forceZoneIndex].color, colors[particleIndex], mix);
+
+            // calculate force direction, depending on the type of the force field:
+            float4 result = FLOAT4_ZERO;
+            switch (forceZones[forceZoneIndex].type)
+            {
+                case ZONETYPE_RADIAL:
+                    result = contacts[i].normal * forceIntensity;
+                    break;
+                case ZONETYPE_VORTEX:
+                    result = float4(cross(axis.xyz * forceIntensity, contacts[i].normal.xyz),0);
+                    break;
+                case ZONETYPE_DIRECTIONAL:
+                    result = axis * forceIntensity;
+                    break;
+                default:
+                    AtomicAddLifeDelta(particleIndex, -forceIntensity * deltaTime);
+                    return;
+            }
+
+            // calculate damping along force direction:
+            float4 dampingDir;
+            switch (forceZones[forceZoneIndex].dampingDir)
+            {
+                case DAMPDIR_FORCE:
+                    {
+                        float4 forceDir = normalizesafe(result);
+                        result -= forceDir * dot(velocities[particleIndex], forceDir) * dampIntensity; 
+                    }
+                    break;
+                case DAMPDIR_SURFACE:
+                        result -= contacts[i].normal * dot(velocities[particleIndex], contacts[i].normal) * dampIntensity;
+                    break;
+                default:
+                        result -= velocities[particleIndex] * dampIntensity;
+                    break;
+            }
+            
+            if (invMasses[particleIndex] > 0)
+            {
+                // here we reuse position and orientation delta buffers as velocity and wind buffers for atomic writes:
+                switch (forceZones[forceZoneIndex].mode)
+                {
+                    case FORCEMODE_ACCEL:
+                        AtomicAddExternalForceDelta(particleIndex, result / simplexSize / invMasses[particleIndex]);
+                    break;
+                    case FORCEMODE_FORCE:
+                        AtomicAddExternalForceDelta(particleIndex, result / simplexSize);
+                    break;
+                    case FORCEMODE_WIND:
+                        AtomicAddWindDelta(particleIndex, result / simplexSize);
+                    break;
+                }
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void WriteForceZoneResults (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+   
+    externalForces[p].xyz += float3(asfloat(deltasAsInt[p].x),
+                                    asfloat(deltasAsInt[p].y),
+                                    asfloat(deltasAsInt[p].z));
+
+    wind[p].xyz += float3(asfloat(orientationDeltasAsInt[p].x),
+                          asfloat(orientationDeltasAsInt[p].y),
+                          asfloat(orientationDeltasAsInt[p].z));
+
+    life[p] += asfloat(deltasAsInt[p].w);
+
+    deltasAsInt[p] = uint4(0, 0, 0, 0);
+    orientationDeltasAsInt[p] = uint4(0, 0, 0, 0);
+}
+
+
diff --git a/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta b/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta
new file mode 100644
index 000000000..6dbc21852
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ColliderGrid.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: df152b65921c34856a1ea566d782acc1
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/CollisionMaterial.cginc b/Assets/Obi/Resources/Compute/CollisionMaterial.cginc
new file mode 100644
index 000000000..5bfaa8564
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/CollisionMaterial.cginc
@@ -0,0 +1,109 @@
+#ifndef COLLISIONMATERIAL_INCLUDE
+#define COLLISIONMATERIAL_INCLUDE
+
+struct collisionMaterial
+{
+    float dynamicFriction;
+    float staticFriction;
+    float rollingFriction;
+    float stickiness;
+    float stickDistance;
+    int frictionCombine;
+    int stickinessCombine;
+    int rollingContacts;
+};
+
+StructuredBuffer<int> collisionMaterialIndices;
+StructuredBuffer<collisionMaterial> collisionMaterials;
+
+collisionMaterial EmptyCollisionMaterial()
+{
+    collisionMaterial m;
+    m.dynamicFriction = 0;
+    m.staticFriction = 0;
+    m.rollingFriction = 0;
+    m.stickiness = 0;
+    m.stickDistance = 0;
+    m.frictionCombine = 0;
+    m.stickinessCombine = 0;
+    m.rollingContacts = 0;
+    return m;
+}
+
+collisionMaterial CombineWith(collisionMaterial a, collisionMaterial b)
+{
+    collisionMaterial result;
+    int frictionCombineMode = max(a.frictionCombine, b.frictionCombine);
+    int stickCombineMode = max(a.stickinessCombine, b.stickinessCombine);
+
+    switch (frictionCombineMode)
+    {
+        case 0:
+        default:
+            result.dynamicFriction = (a.dynamicFriction + b.dynamicFriction) * 0.5f;
+            result.staticFriction = (a.staticFriction + b.staticFriction) * 0.5f;
+            result.rollingFriction = (a.rollingFriction + b.rollingFriction) * 0.5f;
+            break;
+
+        case 1:
+            result.dynamicFriction = min(a.dynamicFriction, b.dynamicFriction);
+            result.staticFriction = min(a.staticFriction, b.staticFriction);
+            result.rollingFriction = min(a.rollingFriction, b.rollingFriction);
+            break;
+
+        case 2:
+            result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
+            result.staticFriction = a.staticFriction * b.staticFriction;
+            result.rollingFriction = a.rollingFriction * b.rollingFriction;
+            break;
+
+        case 3:
+            result.dynamicFriction = max(a.dynamicFriction, b.dynamicFriction);
+            result.staticFriction = max(a.staticFriction, b.staticFriction);
+            result.rollingFriction = max(a.rollingFriction, b.rollingFriction);
+            break;
+    }
+
+    switch (stickCombineMode)
+    {
+        case 0:
+        default:
+            result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
+            break;
+
+        case 1:
+            result.stickiness = min(a.stickiness, b.stickiness);
+            break;
+
+        case 2:
+            result.stickiness = a.stickiness * b.stickiness;
+            break;
+
+        case 3:
+            result.stickiness = max(a.stickiness, b.stickiness);
+            break;
+    }
+
+    result.stickDistance = max(a.stickDistance, b.stickDistance);
+    result.rollingContacts = a.rollingContacts | b.rollingContacts;
+    return result;
+}
+
+collisionMaterial CombineCollisionMaterials(int materialA, int materialB)
+{
+    // Combine collision materials:
+    collisionMaterial combined;
+
+    if (materialA >= 0 && materialB >= 0)
+        combined = CombineWith(collisionMaterials[materialA], collisionMaterials[materialB]);
+    else if (materialA >= 0)
+        combined = collisionMaterials[materialA];
+    else if (materialB >= 0)
+        combined = collisionMaterials[materialB];
+    else 
+        combined = EmptyCollisionMaterial();
+
+    return combined;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader.meta b/Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta
similarity index 56%
rename from Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader.meta
rename to Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta
index d7b7965c7..adab542ae 100644
--- a/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader.meta
+++ b/Assets/Obi/Resources/Compute/CollisionMaterial.cginc.meta
@@ -1,9 +1,9 @@
 fileFormatVersion: 2
-guid: 87908c483837f4df49e97fa1aa0dacda
-timeCreated: 1489574725
-licenseType: Store
+guid: 034a508161c9948969266fd0cbf21988
 ShaderImporter:
+  externalObjects: {}
   defaultTextures: []
+  nonModifiableTextures: []
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ContactHandling.cginc b/Assets/Obi/Resources/Compute/ContactHandling.cginc
new file mode 100644
index 000000000..1ffbd7fbc
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ContactHandling.cginc
@@ -0,0 +1,228 @@
+#ifndef CONTACTHANDLING_INCLUDE
+#define CONTACTHANDLING_INCLUDE
+
+#include "MathUtils.cginc"
+#include "Transform.cginc"
+
+struct contact // 96 bytes
+{
+    float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+    float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+    float4 normal;         /**< Normal direction. */
+    float4 tangent;        /**< Tangent direction. */
+
+    float dist;            /** distance between both colliding entities at the beginning of the timestep.*/
+   
+    float normalLambda;
+    float tangentLambda;
+    float bitangentLambda;
+    float stickLambda;
+    float rollingFrictionImpulse;
+
+    int bodyA;
+    int bodyB;
+};
+
+// 24 bytes
+struct contactMasses
+{
+    float normalInvMassA;
+    float tangentInvMassA;
+    float bitangentInvMassA;
+
+    float normalInvMassB;
+    float tangentInvMassB;
+    float bitangentInvMassB;
+};
+
+float4 GetBitangent(in contact c)
+{
+   return normalizesafe(float4(cross(c.normal.xyz,c.tangent.xyz),0));
+}
+
+void CalculateBasis(in float4 relativeVelocity, in float4 normal, out float4 tangent)
+{
+    tangent = normalizesafe(relativeVelocity - dot(relativeVelocity, normal) * normal);
+}
+
+void CalculateContactMassesA(float invMass,
+                             float4 inverseInertiaTensor,
+                             float4 position,
+                             quaternion orientation,
+                             float4 contactPoint,
+                             bool rollingContacts,
+                             float4 normal,
+                             float4 bitangent,
+                             float4 tangent,
+                             out float normalInvMassA,
+                             out float tangentInvMassA,
+                             out float bitangentInvMassA)
+{
+    // initialize inverse linear masses:
+    normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
+
+    if (rollingContacts)
+    {
+        float4 rA = contactPoint - position;
+        float4x4 solverInertiaA = TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+        normalInvMassA += RotationalInvMass(solverInertiaA, rA, normal);
+        tangentInvMassA += RotationalInvMass(solverInertiaA, rA, tangent);
+        bitangentInvMassA += RotationalInvMass(solverInertiaA, rA, bitangent);
+    }
+}
+
+void CalculateContactMassesB(float invMass,
+                            float4 inverseInertiaTensor,
+                            float4 position,
+                            quaternion orientation,
+                            float4 contactPoint,
+                            bool rollingContacts,
+                            float4 normal,
+                            float4 bitangent,
+                            float4 tangent,
+                            out float normalInvMassB,
+                            out float tangentInvMassB,
+                            out float bitangentInvMassB)
+{
+    // initialize inverse linear masses:
+    normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
+
+    if (rollingContacts)
+    {
+        float4 rB = contactPoint - position;
+        float4x4 solverInertiaB = TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+        normalInvMassB += RotationalInvMass(solverInertiaB, rB, normal);
+        tangentInvMassB += RotationalInvMass(solverInertiaB, rB, tangent);
+        bitangentInvMassB += RotationalInvMass(solverInertiaB, rB, bitangent);
+    }
+}
+
+void ClearContactMasses(out float normalInvMass,
+                        out float tangentInvMass,
+                        out float bitangentInvMass)
+{
+    normalInvMass = tangentInvMass = bitangentInvMass = 0;
+}
+
+float SolveAdhesion(inout contact c, float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
+{
+    float lambdaChange = 0;
+
+    if (normalMass > 0 && stickDistance > 0 && stickiness > 0 && dt > 0)
+    {
+        c.dist = dot(posA - posB, c.normal);
+
+        // calculate stickiness position correction:
+        float constraint = stickiness * (1 - max(c.dist / stickDistance, 0)) * dt;
+
+        // calculate lambda multiplier:
+        float dlambda = -constraint / normalMass;
+
+        // accumulate lambda:
+        float newStickinessLambda = min(c.stickLambda + dlambda, 0);
+
+        // calculate lambda change and update accumulated lambda:
+        lambdaChange = newStickinessLambda - c.stickLambda;
+        c.stickLambda = newStickinessLambda;
+    }
+
+    return lambdaChange;
+}
+
+float SolvePenetration(inout contact c, float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
+{
+    float lambdaChange = 0;
+
+    if (normalMass > 0)
+    {
+        //project position delta to normal vector:
+        c.dist = dot(posA - posB, c.normal);
+
+        // calculate max projection distance based on depenetration velocity:
+        float maxProjection = max(-c.dist - maxDepenetrationDelta, 0);
+
+        // calculate lambda multiplier:
+        float dlambda = -(c.dist  + maxProjection) / normalMass;
+
+        // accumulate lambda:
+        float newLambda = max(c.normalLambda + dlambda, 0);
+
+        // calculate lambda change and update accumulated lambda:
+        lambdaChange = newLambda - c.normalLambda;
+        c.normalLambda = newLambda;
+    }
+
+    return lambdaChange;
+}
+
+float2 SolveFriction(inout contact c, float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
+{
+    float2 lambdaChange = float2(0,0);
+
+    if (tangentMass > 0 && bitangentMass > 0 &&
+        (dynamicFriction > 0 || staticFriction > 0) && (c.normalLambda > 0 /*|| stickLambda > 0*/))
+    {
+        // calculate delta projection on both friction axis:
+        float tangentPosDelta = dot(relativeVelocity, c.tangent);
+        float bitangentPosDelta = dot(relativeVelocity, GetBitangent(c));
+
+        // calculate friction pyramid limit:
+        float dynamicFrictionCone = c.normalLambda / dt * dynamicFriction;
+        float staticFrictionCone  = c.normalLambda / dt * staticFriction;
+
+        // tangent impulse:
+        float tangentLambdaDelta = -tangentPosDelta / tangentMass; 
+        float newTangentLambda = c.tangentLambda + tangentLambdaDelta;
+
+        if (abs(newTangentLambda) > staticFrictionCone)
+            newTangentLambda = clamp(newTangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+        lambdaChange[0] = newTangentLambda - c.tangentLambda;
+        c.tangentLambda = newTangentLambda;
+
+        // bitangent impulse:
+        float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
+        float newBitangentLambda = c.bitangentLambda + bitangentLambdaDelta;
+
+        if (abs(newBitangentLambda) > staticFrictionCone)
+            newBitangentLambda = clamp(newBitangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+        lambdaChange[1] = newBitangentLambda - c.bitangentLambda;
+        c.bitangentLambda = newBitangentLambda;
+    }
+
+    return lambdaChange;
+}
+
+float SolveRollingFriction(inout contact c,
+                           float4 angularVelocityA,
+                           float4 angularVelocityB,
+                           float rollingFriction,
+                           float invMassA,
+                           float invMassB,
+                           inout float4 rolling_axis)
+{
+    float rolling_impulse_change = 0;
+    float totalInvMass = invMassA + invMassB;
+
+    if (totalInvMass > 0)
+    {
+        rolling_axis = normalizesafe(angularVelocityA - angularVelocityB);
+
+        float vel1 = dot(angularVelocityA,rolling_axis);
+        float vel2 = dot(angularVelocityB,rolling_axis);
+
+        float relativeVelocity = vel1 - vel2;
+
+        float maxImpulse = c.normalLambda * rollingFriction;
+        float newRollingImpulse = clamp(c.rollingFrictionImpulse - relativeVelocity / totalInvMass, -maxImpulse, maxImpulse);
+        rolling_impulse_change = newRollingImpulse - c.rollingFrictionImpulse;
+        c.rollingFrictionImpulse = newRollingImpulse;
+    }
+
+    return rolling_impulse_change;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta b/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta
new file mode 100644
index 000000000..0cf2726cf
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ContactHandling.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 28492658e279e4adaab298f430af09a2
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/DeformableTriangles.compute b/Assets/Obi/Resources/Compute/DeformableTriangles.compute
new file mode 100644
index 000000000..d26219066
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DeformableTriangles.compute
@@ -0,0 +1,143 @@
+#pragma kernel ResetNormals
+#pragma kernel UpdateNormals
+#pragma kernel UpdateEdgeNormals
+#pragma kernel OrientationFromNormals
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+
+StructuredBuffer<int> deformableTriangles;
+StructuredBuffer<float2> deformableTriangleUVs;
+
+StructuredBuffer<int> deformableEdges;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> wind;
+StructuredBuffer<int> phases;
+
+RWStructuredBuffer<float4> normals;
+
+RWStructuredBuffer<uint4> normalsInt;
+RWStructuredBuffer<uint4> tangentsInt;
+RWStructuredBuffer<quaternion> renderableOrientations;
+
+// Variables set from the CPU
+uint normalsCount;
+uint triangleCount;
+uint edgeCount;
+
+void AccumulateNormal(in int index, in float4 delta)
+{
+    InterlockedAddFloat(normalsInt, index, 0, delta.x);
+    InterlockedAddFloat(normalsInt, index, 1, delta.y);
+    InterlockedAddFloat(normalsInt, index, 2, delta.z);
+}
+
+void AccumulateTangent(in int index, in float4 delta)
+{
+    InterlockedAddFloat(tangentsInt, index, 0, delta.x);
+    InterlockedAddFloat(tangentsInt, index, 1, delta.y);
+    InterlockedAddFloat(tangentsInt, index, 2, delta.z);
+    InterlockedAddFloat(tangentsInt, index, 3, delta.w);
+}
+
+[numthreads(128, 1, 1)]
+void ResetNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= normalsCount) return;
+    
+    // leave fluid and softbody normalsInt intact.
+    if ((phases[i] & (int)PHASE_FLUID) == 0 && normals[i].w >= 0)
+    {
+        normals[i] = FLOAT4_ZERO;
+        tangentsInt[i] = asuint(FLOAT4_ZERO);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void UpdateNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= triangleCount) return;
+    
+    int p1 = deformableTriangles[i*3];
+    int p2 = deformableTriangles[i*3 + 1];
+    int p3 = deformableTriangles[i*3 + 2];
+
+    float2 w1 = deformableTriangleUVs[i*3];
+    float2 w2 = deformableTriangleUVs[i*3 + 1];
+    float2 w3 = deformableTriangleUVs[i*3 + 2];
+
+    float4 v1 = renderablePositions[p1];
+    float4 v2 = renderablePositions[p2];
+    float4 v3 = renderablePositions[p3];
+
+    float3 m1 = (v2 - v1).xyz;
+    float3 m2 = (v3 - v1).xyz;
+
+    float2 s = w2 - w1;
+    float2 t = w3 - w1;
+
+    float4 normal  = float4(cross(m1, m2), 0);
+    float4 tangent = FLOAT4_ZERO;
+
+    float area = s.x * t.y - t.x * s.y;
+
+    if (abs(area) > EPSILON)
+    {
+        tangent = float4(t.y * m1.x - s.y * m2.x,
+                         t.y * m1.y - s.y * m2.y,
+                         t.y * m1.z - s.y * m2.z, 0) / area;
+    }
+
+    AccumulateNormal(p1,normal);
+    AccumulateNormal(p2,normal);
+    AccumulateNormal(p3,normal);
+
+    AccumulateTangent(p1,tangent);
+    AccumulateTangent(p2,tangent);
+    AccumulateTangent(p3,tangent);
+}
+
+[numthreads(128, 1, 1)]
+void UpdateEdgeNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= edgeCount) return;
+
+    int p1 = deformableEdges[i * 2];
+    int p2 = deformableEdges[i * 2 + 1];
+
+    float4 edge = renderablePositions[p2] - renderablePositions[p1];
+    float4 avgWind = (velocities[p1] + velocities[p2]) * 0.5f - (wind[p1] + wind[p2]) * 0.5f;
+    float denom =  dot(edge, edge);
+    float4 normal = avgWind - (denom < EPSILON ? FLOAT4_ZERO : edge * dot(avgWind, edge) / denom);
+
+    AccumulateNormal(p1,normal);
+    AccumulateNormal(p2,normal);
+}
+
+[numthreads(128, 1, 1)]
+void OrientationFromNormals (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= normalsCount) return;
+
+    if ((phases[i] & (int)PHASE_FLUID) == 0 && normals[i].w >= 0) // not fluid or softbody (no SDF stored))
+    {
+        float4 normal = normals[i];
+        float4 tangent = asfloat(tangentsInt[i]);
+
+        if (dot(normal, normal) > EPSILON &&
+            dot(tangent, tangent) > EPSILON)
+        {
+            normals[i] = normalizesafe(normal);
+            tangentsInt[i] = asuint(normalizesafe(tangent));
+
+            // particle orientation from normal/tangent:
+            renderableOrientations[i] = q_look_at(normals[i].xyz, asfloat(tangentsInt[i]).xyz);
+        }
+    }
+}
diff --git a/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta b/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta
new file mode 100644
index 000000000..6175b9dae
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DeformableTriangles.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2444094f2fb2c43cfb9c90b5949f39ec
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/DensityConstraints.compute b/Assets/Obi/Resources/Compute/DensityConstraints.compute
new file mode 100644
index 000000000..cf39aa6a4
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DensityConstraints.compute
@@ -0,0 +1,430 @@
+#pragma kernel UpdateDensities
+#pragma kernel Apply
+#pragma kernel ApplyPositionDeltas
+
+#pragma kernel CalculateAtmosphere
+#pragma kernel ApplyAtmosphere
+
+#pragma kernel AccumulateSmoothPositions
+#pragma kernel AccumulateAnisotropy
+#pragma kernel AverageAnisotropy
+
+#include "MathUtils.cginc"
+#include "Quaternion.cginc"
+#include "AtomicDeltas.cginc"
+#include "FluidKernels.cginc"
+  
+StructuredBuffer<uint> neighbors;
+StructuredBuffer<uint> neighborCounts;
+
+StructuredBuffer<int> sortedToOriginal; 
+
+StructuredBuffer<float4> sortedPositions;
+StructuredBuffer<float4> sortedPrevPositions;
+StructuredBuffer<float4> sortedFluidMaterials;
+StructuredBuffer<float4> sortedFluidInterface;
+StructuredBuffer<float4> sortedPrincipalRadii;
+StructuredBuffer<float4> sortedUserData;
+StructuredBuffer<float4> sortedFluidData_RO;
+RWStructuredBuffer<float4> sortedFluidData;
+
+StructuredBuffer<quaternion> prevOrientations;
+
+StructuredBuffer<float4> wind;
+
+StructuredBuffer<float4> fluidMaterials2;
+RWStructuredBuffer<float4> fluidData;
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> prevPositions;
+RWStructuredBuffer<float4> orientations;
+RWStructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> angularVelocities;
+RWStructuredBuffer<float4> userData;
+RWStructuredBuffer<float4> normals;
+
+RWStructuredBuffer<float4> massCenters;
+RWStructuredBuffer<float4> prevMassCenters;
+
+RWStructuredBuffer<float4> vorticity;
+RWStructuredBuffer<float4> vorticityAccelerations;
+RWStructuredBuffer<float4> linearAccelerations;
+RWStructuredBuffer<float4> linearFromAngular;
+RWStructuredBuffer<float4x4> angularDiffusion;
+
+StructuredBuffer<float4> normals_RO;
+StructuredBuffer<float4> fluidData_RO;
+StructuredBuffer<float4> vorticity_RO;
+StructuredBuffer<float4> velocities_RO;
+StructuredBuffer<float4> angularVelocities_RO;
+StructuredBuffer<float4> linearFromAngular_RO;
+
+RWStructuredBuffer<float4> renderablePositions;
+RWStructuredBuffer<quaternion> renderableOrientations;
+RWStructuredBuffer<float4> renderableRadii;
+StructuredBuffer<float> life;
+
+RWStructuredBuffer<float4x4> anisotropies;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint maxNeighbors;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void UpdateDensities (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    float4 positionA = sortedPositions[i];
+    float4 fluidMaterialA = sortedFluidMaterials[i];
+    
+    // self-contribution:
+    float avgKernel = Poly6(0,fluidMaterialA.x);
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3-mode); // in 2D, mode == 1 so amount of dimensions is 2.
+    float grad = restVolumeA * Spiky(0,fluidMaterialA.x);
+    
+    float4 fluidDataA = float4(avgKernel,0,grad,grad*grad);
+    float4 massCenterA = float4(positionA.xyz, 1) / positionA.w;
+    float4 prevMassCenterA = float4(sortedPrevPositions[i].xyz, 1) / positionA.w;
+    float4x4 anisotropyA = (multrnsp4(positionA, sortedPrevPositions[i]) + FLOAT4X4_IDENTITY * 0.001 * sortedPrincipalRadii[i].x * sortedPrincipalRadii[i].x) / positionA.w;
+
+    float4 fluidMaterialB;
+    float4 positionB;
+    
+    // iterate over neighborhood, calculate density and gradient.
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+        
+        fluidMaterialB = sortedFluidMaterials[n];
+        positionB = sortedPositions[n];
+        float dist = length((positionA - positionB).xyz);
+        
+        float avgKernel = (Poly6(dist,fluidMaterialA.x) +  Poly6(dist,fluidMaterialB.x)) * 0.5f;
+
+        float restVolumeB = pow(abs(sortedPrincipalRadii[n].x * 2),3-mode); 
+        float grad = restVolumeB * Spiky(dist,fluidMaterialA.x);
+        fluidDataA += float4(restVolumeB / restVolumeA * avgKernel,0,grad,grad*grad);
+
+        // accumulate masses for COMs and moment matrices:       
+        massCenterA += float4(positionB.xyz, 1) / positionB.w;
+        prevMassCenterA += float4(sortedPrevPositions[n].xyz, 1) / positionB.w;
+        anisotropyA += (multrnsp4(positionB, sortedPrevPositions[n]) + FLOAT4X4_IDENTITY * 0.001 * sortedPrincipalRadii[n].x * sortedPrincipalRadii[n].x) / positionB.w;
+    }
+
+    // self particle contribution to density and gradient:
+    fluidDataA[3] += fluidDataA[2] * fluidDataA[2];
+    
+    // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+    // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+    // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+    float constraint = max(0, fluidDataA[0] * restVolumeA - 1) * fluidMaterialA.w;
+
+    // calculate lambda:
+    fluidDataA[1] = -constraint / (positionA.w * fluidDataA[3] + EPSILON);
+
+    // get total neighborhood mass: 
+    float M = massCenterA[3];
+    massCenterA /= massCenterA[3];
+    prevMassCenterA /= prevMassCenterA[3];
+
+    // update moment:
+    anisotropyA -= M * multrnsp4(massCenterA, prevMassCenterA);
+   
+    // extract neighborhood orientation delta:
+    renderableOrientations[i] = ExtractRotation(anisotropyA, QUATERNION_IDENTITY, 5);
+
+    sortedFluidData[i] = fluidDataA;
+    massCenters[i] = massCenterA;
+    prevMassCenters[i] = prevMassCenterA;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3-mode); 
+    float4 fluidMaterialA = sortedFluidMaterials[i];
+    float4 positionA = sortedPositions[i];
+    float4 prevPositionA = sortedPrevPositions[i];
+    float4 massCenterA = massCenters[i];
+    float lambdaA = sortedFluidData[i][1];
+
+    float4 fluidMaterialB;
+    float4 fluidInterfaceB;
+    float4 massCenterB;
+    float4 positionB;
+
+    float4 pressureDelta = FLOAT4_ZERO;
+    float4 viscVortDelta = FLOAT4_ZERO;
+
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+
+        fluidMaterialB = sortedFluidMaterials[n];
+        massCenterB = massCenters[n];
+        positionB = sortedPositions[n];
+
+        float4 normal = float4((positionA - positionB).xyz,0);
+        float dist = length(normal);
+
+        float restVolumeB = pow(abs(sortedPrincipalRadii[n].x * 2),3-mode);
+        
+        // calculate lambda correction due to polarity (cohesion):
+        float cAvg = (Cohesion(dist,fluidMaterialA.x * 1.4) + Cohesion(dist,fluidMaterialB.x * 1.4)) * 0.5;
+        float st = 0.2 * cAvg * (1 - saturate(abs(fluidMaterialA.y - fluidMaterialB.y))) * (fluidMaterialA.y + fluidMaterialB.y) * 0.5;
+        float scorrA = -st / (positionA.w * sortedFluidData[i][3] + EPSILON);
+        float scorrB = -st / (positionB.w * sortedFluidData[n][3] + EPSILON);
+        
+        float avgGradient = (Spiky(dist,fluidMaterialA.x) + Spiky(dist,fluidMaterialB.x)) * 0.5;
+        pressureDelta += normal / (dist + EPSILON) * avgGradient * ((lambdaA + scorrA) * restVolumeB + (sortedFluidData[n][1] + scorrB) * restVolumeA);
+        
+        // viscosity:
+        float4 viscGoal = float4(massCenterB.xyz + rotate_vector(renderableOrientations[n], (prevPositionA - prevMassCenters[n]).xyz), 0);
+        viscVortDelta += (viscGoal - positionA) * min(fluidMaterialB.z, fluidMaterialA.z);
+    }
+
+    // viscosity:
+    float4 viscGoal = float4(massCenterA.xyz + rotate_vector(renderableOrientations[i], (prevPositionA - prevMassCenters[i]).xyz), 0);
+    viscVortDelta += (viscGoal - positionA) * fluidMaterialA.z;
+    
+    AddPositionDelta(sortedToOriginal[i], pressureDelta * positionA.w + viscVortDelta / (neighborCounts[i] + 1));
+}
+
+[numthreads(128, 1, 1)]
+void ApplyPositionDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int p = sortedToOriginal[i];
+    ApplyPositionDelta(positions, p, 1);
+    
+    renderableOrientations[p] = FLOAT4_ZERO;
+    fluidData[p] = sortedFluidData[i];
+}
+
+[numthreads(128, 1, 1)]
+void CalculateAtmosphere (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int originalIndex = sortedToOriginal[i];
+
+    float4 normal = FLOAT4_ZERO;
+    float4 linearVel = FLOAT4_ZERO;
+
+    float4 curl = FLOAT4_ZERO;
+    float4 angularCurl = FLOAT4_ZERO;
+
+    float4 vorticityDiff = FLOAT4_ZERO;
+    float4 baroclinityDiff = FLOAT4_ZERO;
+    float velDiff = 0;
+
+    float restVolumeA = pow(abs(sortedPrincipalRadii[i].x * 2),3 - mode); 
+    float4 velocityA = velocities_RO[originalIndex];
+    float4 angularVelocityA = angularVelocities_RO[originalIndex];
+    float4 positionA = sortedPositions[i];
+    float radiiA = sortedFluidMaterials[i].x;
+    float4 userDataA = sortedUserData[i];
+    float invDensityA = positionA.w / sortedFluidData_RO[i].x; // density contrast * mass;
+
+    float radiiB;
+    float4 positionB;
+    float4 velocityB;
+    float4 angularVelocityB;
+    
+    uint count = min(maxNeighbors, neighborCounts[i]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int n = neighbors[maxNeighbors * i + j];
+
+        float restVolumeB =  pow(abs(sortedPrincipalRadii[n].x * 2),3 - mode);
+        radiiB = sortedFluidMaterials[n].x;
+        positionB = sortedPositions[n];
+
+        // Can't sort velocities as these are calculated *after* constraint projection.
+        // maybe a pre-sort step before velocity postprocess?
+        angularVelocityB = angularVelocities_RO[sortedToOriginal[n]];
+        velocityB = velocities_RO[sortedToOriginal[n]];
+        
+        float3 relVort = vorticity_RO[originalIndex].xyz - vorticity_RO[sortedToOriginal[n]].xyz;
+        float3 relAng = angularVelocityA.xyz - angularVelocityB.xyz;
+        float3 relVel = velocityA.xyz - velocityB.xyz;
+        float4 d = float4((positionA - positionB).xyz,0);
+        float dist = length(d);
+
+        float avgGradient = (Spiky(dist,radiiA) + Spiky(dist,radiiB)) * 0.5f;
+        float avgKernel = (Poly6(dist,radiiA) +  Poly6(dist,radiiB)) * 0.5f;
+        float avgNorm = (Poly6(0,radiiA) + Poly6(0,radiiB)) * 0.5;
+
+        // property diffusion:
+        float diffusionSpeed = (sortedFluidInterface[i].w + sortedFluidInterface[n].w) * avgKernel * deltaTime;
+        float4 userDelta = (sortedUserData[n] - userDataA) * diffusionMask * diffusionSpeed;
+        userDataA += restVolumeB / restVolumeA * userDelta;
+        
+        // calculate color field  normal:
+        float radius = (radiiA + radiiB) * 0.5f;
+        float4 normGrad = d / (dist + EPSILON);
+        float4 vgrad = normGrad * avgGradient;
+        normal += vgrad * radius * restVolumeB;
+       
+        // measure relative velocity for foam generation:
+        float relVelMag = length(relVel) + EPSILON;
+        velDiff += relVelMag * (1 - dot(relVel / relVelMag,  normGrad.xyz)) * (1 - min(1,dist/(radius + EPSILON)));
+
+        // linear vel due to angular velocity:
+        linearVel += float4(cross(angularVelocityB.xyz, d.xyz) * avgKernel / avgNorm,0);
+        
+        // micropolar vorticity curls:
+        curl += float4(cross(relVel, vgrad.xyz) / positionB.w * invDensityA,0);
+        angularCurl += float4(cross(relVort, vgrad.xyz) / positionB.w * invDensityA,0); 
+                
+        // baroclinity and vorticity diffusion:
+        baroclinityDiff += float4(relAng * avgKernel / positionB.w * invDensityA, 0);
+        vorticityDiff += float4(relVort * avgKernel / positionB.w * invDensityA, 0);
+    }
+
+    linearAccelerations[originalIndex] = angularCurl;
+    vorticityAccelerations[originalIndex] = curl;
+    linearFromAngular[originalIndex] = linearVel;
+
+    angularDiffusion[originalIndex]._m00_m10_m20_m30 = baroclinityDiff;
+    angularDiffusion[originalIndex]._m01_m11_m21_m31 = vorticityDiff;
+
+    fluidData[originalIndex].z = velDiff;
+    normals[originalIndex] = normal;
+    userData[originalIndex] = userDataA;
+}
+
+[numthreads(128, 1, 1)]
+void ApplyAtmosphere (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int originalIndex = sortedToOriginal[i];
+
+    float restVolume = pow(abs(sortedPrincipalRadii[i].x * 2),3 - mode); 
+
+    // particles near the surface should experience drag:
+    float4 velocityDiff = float4((velocities[originalIndex] - wind[originalIndex]).xyz,0);
+    velocities[originalIndex] -= sortedFluidInterface[i].x * velocityDiff * max(0, 1 - fluidData_RO[originalIndex].x * restVolume) * deltaTime;
+
+    // external ambient pressure along normal:
+    velocities[originalIndex] += sortedFluidInterface[i].y * normals_RO[originalIndex] * deltaTime;
+    
+    // angular acceleration due to baroclinity:
+    angularVelocities[originalIndex] += float4(fluidMaterials2[originalIndex].z * cross(-normals_RO[originalIndex].xyz, -velocityDiff.xyz),0) * deltaTime;
+    angularVelocities[originalIndex] -= fluidMaterials2[originalIndex].w * angularDiffusion[originalIndex]._m00_m10_m20_m30;
+
+    // micropolar vorticity:
+    velocities[originalIndex] += fluidMaterials2[originalIndex].x * linearAccelerations[originalIndex] * deltaTime;
+    vorticity[originalIndex] += fluidMaterials2[originalIndex].x * (vorticityAccelerations[originalIndex] * 0.5 - vorticity[originalIndex]) * deltaTime; 
+    vorticity[originalIndex] -= fluidMaterials2[originalIndex].y * angularDiffusion[originalIndex]._m01_m11_m21_m31;
+
+    linearAccelerations[originalIndex] = FLOAT4_ZERO;
+    vorticityAccelerations[originalIndex] = FLOAT4_ZERO;
+    angularDiffusion[originalIndex] = FLOAT4X4_ZERO;   
+    
+    // we want to add together linear and angular velocity fields and use result to advect particles without modifying either field:
+    positions[originalIndex] += linearFromAngular_RO[originalIndex] * deltaTime;
+    prevPositions[originalIndex] += linearFromAngular_RO[originalIndex] * deltaTime; 
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateSmoothPositions (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int p1 = id.x;
+    if (p1 >= dispatchBuffer[3]) return;
+
+    anisotropies[p1] = FLOAT4X4_ZERO;
+    float4 renderablePositionA = renderablePositions[p1];
+    float radiiA = sortedFluidMaterials[p1].x;
+    float4 avgPosition = float4(renderablePositionA.xyz, 1);//FLOAT4_ZERO;
+    
+    uint count = min(maxNeighbors, neighborCounts[p1]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int p2 = neighbors[maxNeighbors * p1 + j];
+        float4 renderablePositionB = renderablePositions[p2];
+        
+        float dist = length((renderablePositionA - renderablePositionB).xyz);
+
+        float avgKernel = (Poly6(dist,radiiA) + Poly6(dist,sortedFluidMaterials[p2].x)) * 0.5;
+        avgPosition += float4(renderablePositionB.xyz,1) * avgKernel;
+    }
+
+    anisotropies[p1]._m03_m13_m23_m33 = avgPosition / avgPosition.w;
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateAnisotropy (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int p1 = id.x;
+    if (p1 >= dispatchBuffer[3]) return;
+
+    float4x4 anisotropyA = anisotropies[p1];
+    float4 renderablePositionA = renderablePositions[p1];
+    float radiiA = sortedFluidMaterials[p1].x;
+    
+    uint count = min(maxNeighbors, neighborCounts[p1]);
+    for (uint j = 0; j < count; ++j)
+    {
+        int p2 = neighbors[maxNeighbors * p1 + j];
+        float4 renderablePositionB = renderablePositions[p2];
+        
+        float dist = length((renderablePositionA - renderablePositionB).xyz);
+
+        float avgKernel = (Poly6(dist,radiiA) + Poly6(dist,sortedFluidMaterials[p2].x)) * 0.5;
+
+        float4 r = (renderablePositionB - anisotropyA._m03_m13_m23_m33) * avgKernel;
+        anisotropyA += multrnsp4(r, r);
+    }
+
+    anisotropies[p1] = anisotropyA;
+}
+
+[numthreads(128, 1, 1)]
+void AverageAnisotropy (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int o = sortedToOriginal[i];
+
+    if (anisotropies[i]._m00 + anisotropies[i]._m11 + anisotropies[i]._m22 > 0.01f)
+    {
+        float3 singularValues;
+        float3x3 u;
+        EigenSolve((float3x3)anisotropies[i], singularValues, u);
+
+        float maxVal = singularValues[0];
+        float3 s = max(singularValues, maxVal / maxAnisotropy) / maxVal * sortedPrincipalRadii[i].x;
+
+        renderableOrientations[o] = q_look_at(u._m02_m12_m22,u._m01_m11_m21);
+        renderableRadii[o] = float4(s.xyz,1);
+    }
+    else
+    {
+        float radius = sortedPrincipalRadii[i].x / maxAnisotropy;
+        renderableOrientations[o] = QUATERNION_IDENTITY;
+        renderableRadii[o] = float4(radius,radius,radius,1);
+        fluidData[o].x = 1 / pow(abs(radius * 2),3-mode); // normal volume of an isolated particle.
+    }
+    
+    renderablePositions[o] = lerp(renderablePositions[o],anisotropies[i]._m03_m13_m23_m33,min((maxAnisotropy - 1)/3.0f,1));
+
+    // inactive particles have radii.w == 0, set it right away for particles killed during this frame 
+    // to keep them from being rendered during this frame instead of waiting for the CPU to do it at the start of next sim step:
+    float4 radii = renderableRadii[o];
+    radii.w = life[o] <= 0 ? 0: radii.w;
+    renderableRadii[o] = radii;
+}
diff --git a/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta b/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta
new file mode 100644
index 000000000..d170b648b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DensityConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 80856d7c741a940a7bbf0d7d4f472e1d
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/DistanceConstraints.compute b/Assets/Obi/Resources/Compute/DistanceConstraints.compute
new file mode 100644
index 000000000..bf507f613
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceConstraints.compute
@@ -0,0 +1,69 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> restLengths;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i].x / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float d = length(dist);
+
+    // calculate constraint value:
+    float constraint = d - restLengths[i];
+    constraint -= max(min(constraint, 0), -stiffnesses[i].y);
+
+    // calculate lambda and position deltas:
+    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+    float4 delta = dlambda * dist / (d + EPSILON);
+
+    lambdas[i] += dlambda;
+
+    float4 delta1 = delta * w1;
+    float4 delta2 = -delta * w2;
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2);   
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta b/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta
new file mode 100644
index 000000000..8d55c47ce
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4883886c2cc7740e18f906dcf663c1f1
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/DistanceFieldShape.compute b/Assets/Obi/Resources/Compute/DistanceFieldShape.compute
new file mode 100644
index 000000000..a101fb5e8
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceFieldShape.compute
@@ -0,0 +1,101 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// distance field data:
+StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
+StructuredBuffer<DFNode> dfNodes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * SDF_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[SDF_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+    
+    DistanceField dfShape;
+    dfShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    dfShape.s = s;
+    dfShape.distanceFieldHeaders = distanceFieldHeaders;
+    dfShape.dfNodes = dfNodes;
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint colliderPoint = Optimize(dfShape, positions, orientations, principalRadii,
+                                          simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+    float4 velocity = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+        velocity += velocities[particleIndex] * simplexBary[j];
+    }
+
+    /*float4 rbVelocity = float4.zero;
+    if (rigidbodyIndex >= 0)
+        rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
+        
+    //float dAB = dot(simplexPoint - colliderPoint.pos, colliderPoint.normal);
+    //float vel = dot(velocity     /*- rbVelocity*/,    colliderPoint.normal);
+
+    //if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+    {
+        uint count = contacts.IncrementCounter();
+        if (count < maxContacts)
+        {
+            contact c = (contact)0;
+           
+            c.pointB = colliderPoint.pos;
+            c.normal = colliderPoint.normal * dfShape.s.isInverted();
+            c.pointA = simplexBary;
+            c.bodyA = simplexIndex;
+            c.bodyB = colliderIndex;
+
+            contacts[count] = c;
+            
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta b/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta
new file mode 100644
index 000000000..0f2a1664c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceFieldShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2391a8c719b4c4193a8be38dcf83e8fd
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/DistanceFunctions.cginc b/Assets/Obi/Resources/Compute/DistanceFunctions.cginc
new file mode 100644
index 000000000..e7835bc84
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceFunctions.cginc
@@ -0,0 +1,374 @@
+#ifndef DISTANCEFUNCTIONS_INCLUDE
+#define DISTANCEFUNCTIONS_INCLUDE
+
+#include "SurfacePoint.cginc"
+#include "Transform.cginc"
+#include "Bounds.cginc"
+
+struct Sphere : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+           pnt[2] = 0;
+
+        float radius = s.size.x * cmax(colliderToSolver.scale.xyz);
+        float distanceToCenter = length(pnt);
+
+        float4 normal = pnt / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+struct Box : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 size = s.size * colliderToSolver.scale * 0.5f;
+
+        // clamp the point to the surface of the box:
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        // get minimum distance for each axis:
+        float4 distances = size - abs(pnt);
+
+        if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+        {
+            projectedPoint.normal = float4(0,0,0,0);
+            projectedPoint.pos = pnt;
+
+            // find minimum distance in all three axes and the axis index:        
+            if (distances.y < distances.x && distances.y < distances.z)
+            {
+                projectedPoint.normal[1] = sign(pnt[1]);
+                projectedPoint.pos[1] = size[1] * projectedPoint.normal[1];
+            }
+            else if (distances.z < distances.x && distances.z < distances.y)
+            {
+                projectedPoint.normal[2] = sign(pnt[2]);
+                projectedPoint.pos[2] = size[2] * projectedPoint.normal[2];
+            }
+            else
+            {
+                projectedPoint.normal[0] = sign(pnt[0]);
+                projectedPoint.pos[0] = size[0] * projectedPoint.normal[0];
+            }
+        }
+        else
+        {
+            projectedPoint.pos = clamp(pnt, -size, size);
+            projectedPoint.normal = normalizesafe(pnt - projectedPoint.pos);
+        }
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(projectedPoint.pos + center + projectedPoint.normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+struct Capsule : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        int direction = (int)s.size.z;
+        float height;
+        float radius;
+        float4 halfVector = float4(0,0,0,0);
+
+        if (direction == 0)
+        {
+            radius = s.size.x * max(colliderToSolver.scale[1], colliderToSolver.scale[2]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[0]);
+            halfVector[0] = height - radius;
+        }
+        else if (direction == 1)
+        {
+            radius = s.size.x * max(colliderToSolver.scale[2], colliderToSolver.scale[0]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[1]);
+            halfVector[1] = height - radius;
+        }
+        else
+        {
+            radius = s.size.x * max(colliderToSolver.scale[0], colliderToSolver.scale[1]);
+            height = max(radius, s.size.y * 0.5f * colliderToSolver.scale[2]);
+            halfVector[2] = height - radius;
+        }
+
+        float mu;
+        float4 centerLine = NearestPointOnEdge(-halfVector, halfVector, pnt, mu);
+        float4 centerToPoint = pnt - centerLine;
+        float distanceToCenter = length(centerToPoint);
+
+        float4 normal = centerToPoint / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+struct BIHNode
+{
+    int firstChild;     /**< index of the first child node. The second one is right after the first.*/
+    int start;          /**< index of the first element in this node.*/
+    int count;          /**< amount of elements in this node.*/
+
+    int axis;           /**< axis of the split plane (0,1,2 = x,y,z)*/
+    float min_;         /**< minimum split plane*/
+    float max_;         /**< maximum split plane*/
+};
+
+struct TriangleMeshHeader 
+{
+    int firstNode;
+    int nodeCount;
+    int firstTriangle;
+    int triangleCount;
+    int firstVertex;
+    int vertexCount;
+};
+
+struct Triangle
+{
+    int i1;
+    int i2;
+    int i3;
+    aabb b;
+};
+
+struct TriangleMesh : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+
+    CachedTri tri;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+       float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+
+        float4 bary = FLOAT4_ZERO;
+        float4 nearestPoint = NearestPointOnTri(tri, pnt, bary);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+struct HeightFieldHeader
+{
+    int firstSample;
+    int sampleCount;
+};
+
+struct Heightfield : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+
+    CachedTri tri;
+    float4 triNormal;
+
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 pnt = colliderToSolver.InverseTransformPoint(pos);
+
+        float4 bary;
+        float4 nearestPoint = NearestPointOnTri(tri, pnt, bary);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+
+        // flip the contact normal if it points below ground: (doesn't work with holes)
+        //OneSidedNormal(triNormal, normal);
+
+        projectedPoint.pos = colliderToSolver.TransformPoint(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+struct DistanceFieldHeader 
+{
+    int firstNode;
+    int nodeCount;
+};
+
+struct DFNode
+{
+    float4 distancesA;
+    float4 distancesB;
+    float4 center;
+    int firstChild;
+
+    // add 12 bytes of padding to ensure correct memory alignment:
+    int pad0;
+    int pad1;
+    int pad2;
+
+    float4 GetNormalizedPos(float4 position)
+    {
+        float4 corner = center - float4(center[3],center[3],center[3],center[3]);
+        return (position - corner) / (center[3] * 2);
+    }
+
+    float4 SampleWithGradient(float4 position)
+    {
+        float4 nPos = GetNormalizedPos(position);
+
+        // trilinear interpolation of distance:
+        float4 x = distancesA + (distancesB - distancesA) * nPos[0];
+        float2 y = x.xy + (x.zw - x.xy) * nPos[1];
+        float dist = y[0] + (y[1] - y[0]) * nPos[2];
+
+        // gradient estimation:
+        // x == 0
+        float2 a = distancesA.xy + (distancesA.zw - distancesA.xy) * nPos[1];
+        float x0 = a[0] + (a[1] - a[0]) * nPos[2];
+
+        // x == 1
+        a = distancesB.xy + (distancesB.zw - distancesB.xy) * nPos[1];
+        float x1 = a[0] + (a[1] - a[0]) * nPos[2];
+
+        // y == 0
+        float y0 = x[0] + (x[1] - x[0]) * nPos[2];
+
+        // y == 1
+        float y1 = x[2] + (x[3] - x[2]) * nPos[2];
+
+        return float4(x1 - x0, y1 - y0, y[1] - y[0], dist);
+
+    }
+
+    int GetOctant(float4 position)
+    {
+        int index = 0;
+        if (position[0] > center[0]) index |= 4;
+        if (position[1] > center[1]) index |= 2;
+        if (position[2] > center[2]) index |= 1;
+        return index;
+    }
+};
+
+struct DistanceField : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    
+    StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
+    StructuredBuffer<DFNode> dfNodes;
+
+    float4 DFTraverse(float4 particlePosition,
+                    in DistanceFieldHeader header)
+    {
+        int stack[12]; 
+        int stackTop = 0;
+
+        stack[stackTop++] = 0;
+
+        while (stackTop > 0)
+        {
+            // pop node index from the stack:
+            int nodeIndex = stack[--stackTop];
+            DFNode node = dfNodes[header.firstNode + nodeIndex];
+
+            // if the child node exists, recurse down the df octree:
+            if (node.firstChild >= 0)
+                stack[stackTop++] = node.firstChild + node.GetOctant(particlePosition);
+            else
+                return node.SampleWithGradient(particlePosition);
+        }
+        return FLOAT4_ZERO;
+    }
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 pnt = colliderToSolver.InverseTransformPoint(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+            
+        float4 sample = DFTraverse(pnt, distanceFieldHeaders[s.dataIndex]);
+        float4 normal = float4(normalize(sample.xyz), 0);
+
+        projectedPoint.pos = colliderToSolver.TransformPoint(pnt - normal * (sample[3] - s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+struct EdgeMeshHeader 
+{
+    int firstNode;
+    int nodeCount;
+    int firstEdge;
+    int edgeCount;
+    int firstVertex;
+    int vertexCount;
+};
+
+struct Edge
+{
+    int i1;
+    int i2;
+    aabb b;
+};
+
+struct EdgeMesh : IDistanceFunction
+{
+    shape s;
+    transform colliderToSolver;
+    int dataOffset;
+
+    CachedEdge edge;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+       float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+        if (s.is2D())
+            pnt[2] = 0;
+            
+        float mu = 0;
+        float4 nearestPoint = NearestPointOnEdge(edge, pnt, mu);
+        float4 normal = normalizesafe(pnt - nearestPoint);
+        
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * s.contactOffset);
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/DistanceFunctions.cginc.meta b/Assets/Obi/Resources/Compute/DistanceFunctions.cginc.meta
new file mode 100644
index 000000000..9159daa26
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/DistanceFunctions.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 5b1df68bf523b4106a6b113980018d93
+ShaderIncludeImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/EdgeMeshShape.compute b/Assets/Obi/Resources/Compute/EdgeMeshShape.compute
new file mode 100644
index 000000000..da31d3464
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/EdgeMeshShape.compute
@@ -0,0 +1,147 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// edge mesh data:
+StructuredBuffer<EdgeMeshHeader> edgeMeshHeaders;
+StructuredBuffer<BIHNode> edgeBihNodes;
+StructuredBuffer<Edge> edges;
+StructuredBuffer<float2> edgeVertices;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * EDGE_MESH_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[EDGE_MESH_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    EdgeMeshHeader header = edgeMeshHeaders[s.dataIndex];
+    
+    EdgeMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = s;
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+        BIHNode node = edgeBihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Edge t = edges[header.firstEdge + dataOffset];
+                float4 v1 = float4(edgeVertices[header.firstVertex + t.i1],0,0) + s.center;
+                float4 v2 = float4(edgeVertices[header.firstVertex + t.i2],0,0) + s.center;
+                aabb edgeBounds;
+                edgeBounds.FromEdge(v1, v2, marginCS);
+
+                if (edgeBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+                    float4 simplexPoint;
+                   
+                    meshShape.edge.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale);
+
+                    SurfacePoint surfacePoint = Optimize(meshShape, positions, orientations, principalRadii,
+                                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+                    float vel = dot(velocity, surfacePoint.normal); 
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = surfacePoint.pos;
+                            c.normal = surfacePoint.normal * meshShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+                            
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta b/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta
new file mode 100644
index 000000000..3f9c16b5b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/EdgeMeshShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 229868ae412914f11bbfa8c3ab9474c8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc b/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc
new file mode 100644
index 000000000..24d1528e7
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc
@@ -0,0 +1,33 @@
+#ifndef FLUIDCHUNKDEFS_INCLUDE
+#define FLUIDCHUNKDEFS_INCLUDE
+
+#define chunkResolution 4u // amount of voxels in width/height/depth
+
+struct keyvalue
+{
+    uint key;
+    uint handle;
+};
+
+uint3 chunkGridResolution; // height/width/depth of chunk grid
+float3 chunkGridOrigin;
+float voxelSize;
+
+uint maxChunks;
+
+uint VoxelID(uint3 coords)
+{
+    return coords.x + coords.y * chunkGridResolution.x + coords.z * chunkGridResolution.x * chunkGridResolution.y;
+}
+
+uint hash(uint k)
+{
+    k ^= k >> 16;
+    k *= 0x85ebca6b;
+    k ^= k >> 13;
+    k *= 0xc2b2ae35;
+    k ^= k >> 16;
+    return k % maxChunks;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta b/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta
new file mode 100644
index 000000000..2f088fd35
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidChunkDefs.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: bc0e240276e8a42a2ac5a11368e4f7fa
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidFoam.compute b/Assets/Obi/Resources/Compute/FluidFoam.compute
new file mode 100644
index 000000000..c81a59b3f
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoam.compute
@@ -0,0 +1,482 @@
+#pragma kernel SortFluidData
+
+#pragma kernel Emit
+#pragma kernel EmitShape
+#pragma kernel CopyAliveCount
+#pragma kernel Update
+#pragma kernel Integrate
+#pragma kernel Copy
+
+#pragma kernel Sort
+#pragma kernel ClearMesh
+#pragma kernel BuildMesh
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+#include "GridUtils.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "FluidKernels.cginc"
+
+StructuredBuffer<int> sortedToOriginal;
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedVelocities;
+RWStructuredBuffer<float4> sortedAngularVelocities;
+RWStructuredBuffer<quaternion> sortedOrientations;
+RWStructuredBuffer<float4> sortedRadii;
+
+StructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<int> gridHashToSortedIndex; 
+StructuredBuffer<aabb> solverBounds;
+
+StructuredBuffer<uint> fluidSimplices;
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> orientations;
+StructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> angularVelocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterial;
+StructuredBuffer<float4> fluidData;
+
+StructuredBuffer<float4> inputPositions; // w component is distance traveled inside volume (approximate volumetric lighting).
+StructuredBuffer<float4> inputVelocities; // w component is buoyancy
+StructuredBuffer<float4> inputColors;     // rgba diffuse color
+StructuredBuffer<float4> inputAttributes; // currentlifetime, maxlifetime, size, drag
+
+RWStructuredBuffer<float4> outputPositions;
+RWStructuredBuffer<float4> outputVelocities;
+RWStructuredBuffer<float4> outputColors;
+RWStructuredBuffer<float4> outputAttributes;
+
+RWStructuredBuffer<uint> dispatch;
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer indices;
+
+// Variables set from the CPU
+uint activeParticleCount;
+uint maxFoamParticles;
+uint particlesToEmit;
+
+uint emitterShape;
+float4 emitterPosition;
+quaternion emitterRotation;
+float4 emitterSize;
+
+uint minFluidNeighbors;
+float2 vorticityRange;
+float2 velocityRange;
+float foamGenerationRate;
+float potentialIncrease;
+float potentialDiffusion;
+
+float advectionRadius;
+float lifetime;
+float lifetimeRandom;
+float particleSize;
+float buoyancy;
+float drag;
+float airDrag;
+float sizeRandom;
+float isosurface;
+float airAging;
+float3 agingOverPopulation;
+float4 foamColor;
+float4 sortAxis;
+
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex;
+
+float deltaTime;
+float randomSeed;
+
+static const int4 quadrantOffsets[] =
+{
+    int4(0, 0, 0, 1),
+    int4(1, 0, 0, 1),
+    int4(0, 1, 0, 1),
+    int4(1, 1, 0, 1),
+    int4(0, 0, 1, 1),
+    int4(1, 0, 1, 1),
+    int4(0, 1, 1, 1),
+    int4(1, 1, 1, 1)
+};
+
+void RandomInCylinder(float seed, float4 pos, float4 dir, float len, float radius, out float4 position, out float3 velocity)
+{
+    float3 rand = hash31(seed);
+
+    float3 b1 = dir.xyz;
+    float3 b2 = normalizesafe(cross(b1, float3(1,0,0)));
+    float3 b3 = cross(b2, b1);
+    
+    float theta = rand.y * 2 * PI;
+    float2 disc = radius * sqrt(rand.x) * float2(cos(theta),sin(theta));
+
+    velocity = b2 * disc.x + b3 * disc.y;
+    position = float4(pos.xyz + b1 * len * rand.z + velocity,0); 
+}
+
+void RandomInBox(float seed, float4 center, float4 size, out float4 position, out float3 velocity)
+{
+    float3 rand = hash31(seed);
+    velocity = (rand - float3(0.5,0.5,0.5)) * size.xyz;
+    position = float4(center.xyz + velocity,0); 
+}
+
+[numthreads(128, 1, 1)]
+void SortFluidData (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    int original = sortedToOriginal[i];
+    sortedPositions[i] = positions[original];
+    sortedVelocities[i] = velocities[original];
+    sortedAngularVelocities[i] = float4(angularVelocities[original].xyz,0);
+    sortedOrientations[i] = orientations[original];
+    sortedRadii[i] = principalRadii[original];
+}
+
+[numthreads(128, 1, 1)]
+void EmitShape (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= particlesToEmit) return;
+    
+    // atomically increment alive particle counter:
+    uint count;
+    InterlockedAdd(dispatch[3], 1, count);
+
+    if (count < maxFoamParticles)
+    {
+        // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+        float3 radialVelocity = float3(0,0,0);
+
+        if (emitterShape == 0)
+            RandomInCylinder(randomSeed + i, -float4(0,1,0,0)*emitterSize.y*0.5, float4(0,1,0,0), emitterSize.y, max(emitterSize.x, emitterSize.z) * 0.5, outputPositions[count], radialVelocity);
+        else
+            RandomInBox(randomSeed + i, FLOAT4_ZERO, emitterSize, outputPositions[count], radialVelocity);
+            
+        float2 random = hash21(randomSeed - i);
+
+        // calculate initial life/size/color:
+        float initialLife = max(0, lifetime - lifetime * random.x * lifetimeRandom);
+        float initialSize = particleSize - particleSize * random.y * sizeRandom;
+        
+        outputPositions[count] = float4(emitterPosition.xyz + rotate_vector(emitterRotation, outputPositions[count].xyz),0);
+        outputVelocities[count] = float4(0,0,0, buoyancy);
+        outputColors[count] = foamColor;
+        outputAttributes[count] = float4(1, 1/initialLife,initialSize,PackFloatRGBA(float4(airAging / 50.0, airDrag, drag, isosurface)));
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Emit (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= activeParticleCount) return;
+
+    int p = activeParticles[i];
+
+    float4 angVel = angularVelocities[p];
+    float2 potential = UnpackFloatRG(angVel.w);
+
+    // calculate fluid potential for foam generation:
+    float vorticityPotential = Remap01(fluidData[p].z, vorticityRange.x, vorticityRange.y); 
+    float velocityPotential = Remap01(length(velocities[p]), velocityRange.x, velocityRange.y);
+    float potentialDelta = velocityPotential * vorticityPotential * deltaTime * potentialIncrease;
+
+    // update foam potential:
+    potential.y = saturate(potential.y * potentialDiffusion + potentialDelta);
+
+    // calculate amount of emitted particles
+    potential.x += foamGenerationRate * potential.y * deltaTime;
+    int emitCount = (int)potential.x;
+    potential.x -= emitCount;
+    
+    for (int j = 0; j < emitCount; ++j)
+    {
+        // atomically increment alive particle counter:
+        uint count;
+        InterlockedAdd(dispatch[3], 1, count);
+
+        if (count < maxFoamParticles)
+        {
+            // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+            float3 radialVelocity;
+            RandomInCylinder(randomSeed + p + j, positions[p], normalizesafe(velocities[p]), length(velocities[p]) * deltaTime, principalRadii[p].x, outputPositions[count], radialVelocity);
+            
+            // calculate initial life/size/color:
+            float2 random = hash21(randomSeed - p - j);
+            float initialLife = max(0, potential.y * (lifetime - lifetime * random.x * lifetimeRandom));
+            float initialSize = particleSize - particleSize * random.y * sizeRandom;
+
+            outputVelocities[count] = velocities[p] + float4(radialVelocity, buoyancy);
+            outputColors[count] = foamColor;
+            outputAttributes[count] = float4(1, 1/initialLife,initialSize,PackFloatRGBA(float4(airAging / 50.0, airDrag, drag, isosurface)));
+        }
+    }
+
+    angVel.w = PackFloatRG(potential);
+    angularVelocities[p] = angVel;
+}
+
+[numthreads(1, 1, 1)]
+void CopyAliveCount (uint3 id : SV_DispatchThreadID)
+{
+    dispatch[0] = dispatch[3] / 128 + 1;
+    dispatch[8] = dispatch[3];
+    dispatch[4] = dispatch[7] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void Update (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+    if (i >= dispatch[8]) return; 
+    
+    uint count;
+    InterlockedAdd(dispatch[3], -1, count);
+    count--;
+
+    if (count < maxFoamParticles && inputAttributes[count].x > 0)
+    {
+        uint aliveCount;
+        InterlockedAdd(dispatch[7], 1, aliveCount);
+        InterlockedMax(dispatch[4],(aliveCount + 1) / 128 + 1);
+
+        float4 attributes = inputAttributes[count];
+        float4 packedData = UnpackFloatRGBA(attributes.w);
+
+        int offsetCount = (mode == 1) ? 4 : 8;
+        float4 advectedVelocity = FLOAT4_ZERO;
+        float4 advectedAngVelocity = FLOAT4_ZERO;
+        float kernelSum = -packedData.w;
+        uint neighbourCount = 0;
+
+        float4 diffusePos = inputPositions[count];
+
+        for (uint m = 1; m <= levelPopulation[0]; ++m)
+        {
+            uint l = levelPopulation[m];
+            float radius = CellSizeOfLevel(l);
+            float interactionDist = radius * 0.5;
+
+            float4 cellCoords = floor((diffusePos - solverBounds[0].min_) / radius);
+
+            cellCoords[3] = 0;
+            if (mode == 1)
+                cellCoords[2] = 0;
+
+            float4 posInCell = diffusePos - (solverBounds[0].min_ + cellCoords * radius + float4(interactionDist,interactionDist,interactionDist,0));
+            int4 quadrant = (int4)sign(posInCell);
+            quadrant[3] = l;
+           
+            for (int j = 0; j < offsetCount; ++j)
+            {
+                int4 neighborCoord = (int4)cellCoords + quadrantOffsets[j] * quadrant;
+                int cellIndex = gridHashToSortedIndex[GridHash(neighborCoord)];
+                uint n = cellOffsets[cellIndex]; 
+                uint end = n + cellCounts[cellIndex];
+
+                for (;n < end; ++n)
+                {
+                    uint p = fluidSimplices[n];
+
+                    int4 particleCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz)/ radius).xyz,l);
+                    if (any (particleCoord - neighborCoord))
+                        continue;
+
+                    float4 normal = diffusePos - positions[p];
+                    normal[3] = 0;
+                    if (mode == 1)
+                        normal[2] = 0;
+
+                    float d = length(normal);
+                    if (d <= interactionDist)
+                    {
+                        float3 radii = fluidMaterial[p].x * (principalRadii[p].xyz / principalRadii[p].x);
+
+                        float4 angVel = float4(cross(angularVelocities[p].xyz, normal.xyz),0);
+                        advectedAngVelocity += angVel * Poly6(d, radii.x) / Poly6(0, radii.x);
+                        
+                        normal.xyz = rotate_vector(q_conj(orientations[p]), normal.xyz) / radii;
+                        d = length(normal.xyz) * radii.x;
+
+                        // scale by volume (* 1 / normalized density)
+                        float w = Poly6(d, radii.x) / fluidData[p].x;
+
+                        kernelSum += w;
+                        advectedVelocity += float4(velocities[p].xyz,0) * w;
+                        neighbourCount++;
+                    }
+                }
+            }
+        }
+        
+        float4 forces = FLOAT4_ZERO;
+        float velocityScale = 1;
+        float agingScale = 1 + Remap01(dispatch[8] / (float)maxFoamParticles,agingOverPopulation.x,agingOverPopulation.y) * (agingOverPopulation.z - 1);
+
+        // foam/bubble particle:
+        if (kernelSum > EPSILON && neighbourCount >= minFluidNeighbors)
+        {
+            // advection: 
+            forces = packedData.z / deltaTime * (advectedVelocity / (kernelSum + packedData.w) + advectedAngVelocity - inputVelocities[count]);
+
+            // buoyancy:
+            forces -= float4(gravity,0) * inputVelocities[count].w * saturate(kernelSum); // TODO: larger particles should rise faster.
+            
+        }
+        else // spray:
+        { 
+            // gravity:
+            forces += float4(gravity,0);
+
+            // atmospheric drag/aging:
+            velocityScale = packedData.y;
+            agingScale *= packedData.x * 50;
+        }
+
+        // don't change 4th component, as its used to store buoyancy control parameter.
+        forces[3] = 0; 
+        
+        // update particle data:
+        attributes.x -= attributes.y * deltaTime * agingScale; 
+        //attributes.z += (attributes.y * deltaTime * agingScale) * 0.02; // increase size with age. TODO: maybe do in render shader?
+        outputAttributes[aliveCount] = attributes;
+        outputColors[aliveCount] = inputColors[count];
+
+        // add forces to velocity:
+        outputPositions[aliveCount] = inputPositions[count];
+        outputVelocities[aliveCount] = (inputVelocities[count] + forces * deltaTime) * velocityScale;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Integrate (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+
+    outputPositions[i].xyz += outputVelocities[i].xyz * deltaTime;
+}
+
+[numthreads(128, 1, 1)]
+void Copy (uint3 id : SV_DispatchThreadID)
+{
+    uint i = id.x;
+
+    if (i == 0)
+    {
+        dispatch[0] = dispatch[4];
+        dispatch[3] = dispatch[7];
+    }
+
+    if (i >= dispatch[7]) return;
+
+    outputPositions[i] = inputPositions[i];
+    outputVelocities[i] = inputVelocities[i];
+    outputColors[i] = inputColors[i];
+    outputAttributes[i] = inputAttributes[i];
+}
+
+[numthreads(128,1,1)]
+void Sort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds
+    if (indexRight >= dispatch[3]) return;
+
+    float4 posLeft = outputPositions[indexLeft];
+    float4 posRight = outputPositions[indexRight];
+    float4 velLeft = outputVelocities[indexLeft];
+    float4 velRight = outputVelocities[indexRight];
+    float4 colorLeft = outputColors[indexLeft];
+    float4 colorRight = outputColors[indexRight];
+    float4 attrLeft = outputAttributes[indexLeft];
+    float4 attrRight = outputAttributes[indexRight];
+
+    // calculate distance to camera:
+    float distLeft = dot(posLeft.xyz, sortAxis.xyz);
+    float distRight = dot(posRight.xyz, sortAxis.xyz);
+
+    // Swap entries if order is incorrect
+    if (distLeft < distRight)
+    {
+        outputPositions[indexLeft] = posRight;
+        outputPositions[indexRight] = posLeft;
+        outputVelocities[indexLeft] = velRight;
+        outputVelocities[indexRight] = velLeft;
+        outputColors[indexLeft] = colorRight;
+        outputColors[indexRight] = colorLeft;
+        outputAttributes[indexLeft] = attrRight;
+        outputAttributes[indexRight] = attrLeft;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void ClearMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= maxFoamParticles) return;
+
+    indices.Store((i*6)<<2, 0);
+    indices.Store((i*6+1)<<2, 0);
+    indices.Store((i*6+2)<<2, 0);
+
+    indices.Store((i*6+3)<<2, 0);
+    indices.Store((i*6+4)<<2, 0);
+    indices.Store((i*6+5)<<2, 0);
+}
+
+[numthreads(128, 1, 1)]
+void BuildMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+
+    // <<2 = multiply by 4 to get byte address, since a float/int is 4 bytes in size.
+    
+    // particle data is the same for all 4 vertices:
+    for (uint v = i*4; v < i*4 + 4; ++v)
+    {
+        int base = v*19;
+        
+        // pos
+        vertices.Store4(base<<2, asuint(float4(inputPositions[i].xyz, 1)));
+
+        // color:
+        vertices.Store4((base+7)<<2, asuint( inputColors[i] ));
+        
+        // velocity and attributes
+        vertices.Store4((base+11)<<2, asuint( float4(inputVelocities[i].xyz, inputPositions[i].w)));
+        vertices.Store4((base+15)<<2, asuint( inputAttributes[i] ));
+    }
+
+    //different offset for each vertex:
+    int base = i*4;
+    vertices.Store3((base*19 + 4)<<2, asuint(float3(1,1,0)));
+    vertices.Store3(((base+1)*19 + 4)<<2, asuint(float3(-1,1,0)));
+    vertices.Store3(((base+2)*19 + 4)<<2, asuint(float3(-1,-1,0)));
+    vertices.Store3(((base+3)*19 + 4)<<2, asuint(float3(1,-1,0)));
+
+    // indices:
+    indices.Store((i*6)<<2, asuint(i*4+2));
+    indices.Store((i*6+1)<<2, asuint(i*4+1));
+    indices.Store((i*6+2)<<2, asuint(i*4));
+
+    indices.Store((i*6+3)<<2, asuint(i*4+3));
+    indices.Store((i*6+4)<<2, asuint(i*4+2));
+    indices.Store((i*6+5)<<2, asuint(i*4));
+}
diff --git a/Assets/Obi/Resources/Compute/FluidFoam.compute.meta b/Assets/Obi/Resources/Compute/FluidFoam.compute.meta
new file mode 100644
index 000000000..2fcb5eafe
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoam.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a8c6735ba651f4c808f068c3b99bca04
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute b/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute
new file mode 100644
index 000000000..b41a5773c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute
@@ -0,0 +1,467 @@
+#pragma kernel SolveDiffuseContacts
+
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Simplex.cginc"
+#include "MathUtils.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+#include "DistanceFunctions.cginc"
+
+#define MAX_CONTACTS_PER_DIFFUSE 32
+
+StructuredBuffer<float4> inputPositions; 
+StructuredBuffer<float4> inputAttributes; 
+RWStructuredBuffer<float4> inputVelocities; 
+
+StructuredBuffer<aabb> aabbs;
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint> sortedColliderIndices;
+StructuredBuffer<uint> cellOffsets;
+StructuredBuffer<uint> cellCounts;
+
+// triangle mesh data:
+StructuredBuffer<TriangleMeshHeader> triangleMeshHeaders;
+StructuredBuffer<BIHNode> bihNodes;
+StructuredBuffer<Triangle> triangles;
+StructuredBuffer<float3> vertices;
+
+// edge mesh data:
+StructuredBuffer<EdgeMeshHeader> edgeMeshHeaders;
+StructuredBuffer<BIHNode> edgeBihNodes;
+StructuredBuffer<Edge> edges;
+StructuredBuffer<float2> edgeVertices;
+
+// heightfield data:
+StructuredBuffer<HeightFieldHeader> heightFieldHeaders;
+StructuredBuffer<float> heightFieldSamples;
+
+// distance field data:
+StructuredBuffer<DistanceFieldHeader> distanceFieldHeaders;
+StructuredBuffer<DFNode> dfNodes;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<transform> worldToSolver;
+
+StructuredBuffer<uint> dispatch;
+
+float radiusScale;
+uint colliderCount;    // amount of colliders in the grid.
+uint cellsPerCollider; // max amount of cells a collider can be inserted into. Typically this is 8.
+int shapeTypeCount;    // number of different collider shapes, ie: box, sphere, sdf, etc.
+float deltaTime;
+
+
+void CollideMesh(int colliderIndex, int threadIndex, aabb particleBounds, inout float4 pos, float radius)
+{
+    shape s = shapes[colliderIndex];
+    if (s.dataIndex < 0) return;
+
+    TriangleMeshHeader header = triangleMeshHeaders[s.dataIndex];
+    
+    TriangleMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = shapes[colliderIndex];
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = particleBounds.Transformed(solverToCollider);  // TODO: this is wrong, passed bounds are in world space!
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+    
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+        BIHNode node = bihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Triangle t = triangles[header.firstTriangle + dataOffset];
+                float4 v1 = float4(vertices[header.firstVertex + t.i1], 0);
+                float4 v2 = float4(vertices[header.firstVertex + t.i2], 0);
+                float4 v3 = float4(vertices[header.firstVertex + t.i3], 0);
+                aabb triangleBounds;
+                triangleBounds.FromTriangle(v1, v2, v3, marginCS);
+
+                if (triangleBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    meshShape.tri.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale, v3 * meshShape.colliderToSolver.scale);
+
+                    SurfacePoint surf;
+                    meshShape.Evaluate(pos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                    float dist = dot(pos - surf.pos, surf.normal) - radius;
+                    if (dist < 0) 
+                        pos = surf.pos + surf.normal * radius;
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
+
+void CollideEdgeMesh(int colliderIndex, int threadIndex, aabb particleBounds, inout float4 pos, float radius)
+{
+    shape s = shapes[colliderIndex];
+    if (s.dataIndex < 0) return;
+
+    EdgeMeshHeader header = edgeMeshHeaders[s.dataIndex];
+    
+    EdgeMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = shapes[colliderIndex];
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = particleBounds.Transformed(solverToCollider);  // TODO: this is wrong, passed bounds are in world space!
+    //simplexBound.Expand(0.02);
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+    
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+        BIHNode node = edgeBihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Edge t = edges[header.firstEdge + dataOffset];
+                float4 v1 = float4(edgeVertices[header.firstVertex + t.i1],0,0) + s.center;
+                float4 v2 = float4(edgeVertices[header.firstVertex + t.i2],0,0) + s.center;
+                aabb edgeBounds;
+                edgeBounds.FromEdge(v1, v2, marginCS);
+
+                if (edgeBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    meshShape.edge.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale);
+
+                    SurfacePoint surf;
+                    meshShape.Evaluate(pos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                    float dist = dot(pos - surf.pos, surf.normal) - radius;
+                    if (dist < 0) 
+                        pos = surf.pos + surf.normal * radius;
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
+
+void CollideHeightmap(int colliderIndex, int threadIndex, aabb particleBounds, inout float4 pos, float radius)
+{
+    shape s = shapes[colliderIndex];
+    if (s.dataIndex < 0) return;
+
+    HeightFieldHeader header = heightFieldHeaders[s.dataIndex];
+    
+    Heightfield fieldShape;
+    fieldShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    fieldShape.s = s;
+    
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(fieldShape.colliderToSolver.translation.xyz, fieldShape.colliderToSolver.rotation, fieldShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = particleBounds.Transformed(solverToCollider);
+    
+    int resolutionU = (int)s.center.x;
+    int resolutionV = (int)s.center.y;
+
+    // calculate terrain cell size:
+    float cellWidth = s.size.x / (resolutionU - 1);
+    float cellHeight = s.size.z / (resolutionV - 1);
+
+    // calculate particle bounds min/max cells:
+    int2 min_ = int2((int)floor(simplexBound.min_[0] / cellWidth), (int)floor(simplexBound.min_[2] / cellHeight));
+    int2 max_ = int2((int)floor(simplexBound.max_[0] / cellWidth), (int)floor(simplexBound.max_[2] / cellHeight));
+
+    for (int su = min_[0]; su <= max_[0]; ++su)
+    {
+        if (su >= 0 && su < resolutionU - 1)
+        {
+            for (int sv = min_[1]; sv <= max_[1]; ++sv)
+            {
+                if (sv >= 0 && sv < resolutionV - 1)
+                {
+                    // calculate neighbor sample indices:
+                    int csu1 = clamp(su + 1, 0, resolutionU - 1);
+                    int csv1 = clamp(sv + 1, 0, resolutionV - 1);
+
+                    // sample heights:
+                    float h1 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * s.size.y;
+                    float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * s.size.y;
+                    float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * s.size.y;
+                    float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * s.size.y;
+
+                    if (h1 < 0) continue;
+                    h1 = abs(h1);
+                    h2 = abs(h2);
+                    h3 = abs(h3);
+                    h4 = abs(h4);
+
+                    float min_x = su * s.size.x / (resolutionU - 1);
+                    float max_x = csu1 * s.size.x / (resolutionU - 1);
+                    float min_z = sv * s.size.z / (resolutionV - 1);
+                    float max_z = csv1 * s.size.z / (resolutionV - 1);
+
+                    // ------contact against the first triangle------:
+                    float4 v1 = float4(min_x, h3, max_z, 0);
+                    float4 v2 = float4(max_x, h4, max_z, 0);
+                    float4 v3 = float4(min_x, h1, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                    SurfacePoint surf;
+                    fieldShape.Evaluate(pos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                    float dist = dot(pos - surf.pos, surf.normal) - radius;
+                    if (dist < 0) 
+                        pos = surf.pos + surf.normal * radius;
+
+                    // ------contact against the second triangle------:
+                    v1 = float4(min_x, h1, min_z, 0);
+                    v2 = float4(max_x, h4, max_z, 0);
+                    v3 = float4(max_x, h2, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+                    
+                    fieldShape.Evaluate(pos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+                    
+                    dist = dot(pos - surf.pos, surf.normal) - radius;
+                    if (dist < 0) 
+                        pos = surf.pos + surf.normal * radius;
+                }
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SolveDiffuseContacts (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+    if (threadIndex >= dispatch[3]) return;
+
+    uint cellCount = colliderCount * cellsPerCollider;
+    int candidateCount = 0;
+    uint candidates[MAX_CONTACTS_PER_DIFFUSE];
+        
+    float4 predPos = inputPositions[threadIndex] + inputVelocities[threadIndex] * deltaTime;
+    float radius = inputAttributes[threadIndex].z * radiusScale;
+
+    // max size of the particle bounds in cells:
+    int4 maxSize = int4(3,3,3,3);
+
+    aabb b;
+    b.FromEdge(inputPositions[threadIndex], predPos, radius); 
+    b.Transform(solverToWorld[0]);
+
+    // build a list of candidate colliders:
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int4 minCell = floor(b.min_ / cellSize);
+        int4 maxCell = floor(b.max_ / cellSize);
+        maxCell = minCell + min(maxCell - minCell, maxSize);
+
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                // for 2D mode, project each cell at z == 0 and check them too. This way we ensure 2D colliders
+                // (which are inserted in cells with z == 0) are accounted for in the broadphase.
+                if (mode == 1)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,0,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        // sorted insert into the candidates list:
+                        if (candidateCount < MAX_CONTACTS_PER_DIFFUSE)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                }
+
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,z,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through colliders in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        if (candidateCount < MAX_CONTACTS_PER_DIFFUSE)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerCollider;
+                    }
+                   
+                }
+            }
+        }
+    }
+    
+    //evaluate candidates and create contacts: 
+    if (candidateCount > 0)
+    {
+   
+        // insert sort:
+        for (int k = 1; k < candidateCount; ++k)
+        {
+            uint key = candidates[k];
+            int j = k - 1;
+
+            while (j >= 0 && candidates[j] > key)
+                candidates[j + 1] = candidates[j--];
+
+            candidates[j + 1] = key;
+        }
+
+        // make sure each candidate only shows up once in the list:
+        int first = 0, contactCount = 0;
+        while(++first != candidateCount)
+        {
+            if (candidates[contactCount] != candidates[first])
+                candidates[++contactCount] = candidates[first];
+        }
+        contactCount++;
+
+        // solve contacts:
+        for (int i = 0; i < contactCount; i++)
+        {
+            int c = candidates[i];
+           
+            aabb colliderBoundsWS = aabbs[c];
+            
+            if (b.IntersectsAabb(colliderBoundsWS, mode == 1))
+            {
+           
+                switch(shapes[c].type)
+                {
+                    case SPHERE_SHAPE:
+                    {
+                        SurfacePoint surf;
+                        Sphere sphereShape;
+                        sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[c]);
+                        sphereShape.s = shapes[c];
+                        sphereShape.Evaluate(predPos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+                        
+                        float dist = dot(predPos - surf.pos, surf.normal) - radius;
+                        if (dist < 0) predPos = surf.pos + surf.normal * radius;
+                    }
+                    break;
+
+                    case BOX_SHAPE:
+                    {
+                        SurfacePoint surf;
+                        Box boxShape;
+                        boxShape.colliderToSolver = worldToSolver[0].Multiply(transforms[c]);
+                        boxShape.s = shapes[c];
+                        boxShape.Evaluate(predPos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                        float dist = dot(predPos - surf.pos, surf.normal) - radius;
+                        if (dist < 0) predPos = surf.pos + surf.normal * radius;
+                    }
+                    break;
+
+                    case CAPSULE_SHAPE:
+                    {
+                        SurfacePoint surf;
+                        Capsule capShape;
+                        capShape.colliderToSolver = worldToSolver[0].Multiply(transforms[c]);
+                        capShape.s = shapes[c];
+                        capShape.Evaluate(predPos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                        float dist = dot(predPos - surf.pos, surf.normal) - radius;
+                        if (dist < 0) predPos = surf.pos + surf.normal * radius;
+                    }
+                    break;
+
+                    case TRIANGLE_MESH_SHAPE:
+                    {
+                        CollideMesh(c, threadIndex, b, predPos, radius);
+                    }
+                    break; 
+
+                    case EDGE_MESH_SHAPE:
+                    {
+                        CollideEdgeMesh(c, threadIndex, b, predPos, radius);
+                    }
+                    break;
+
+                    case HEIGHTMAP_SHAPE:
+                    {
+                        CollideHeightmap(c, threadIndex, b, predPos, radius);
+                    }
+                    break;
+
+                    case SDF_SHAPE:
+                    {
+                        SurfacePoint surf;
+                        DistanceField dfShape;
+                        dfShape.colliderToSolver = worldToSolver[0].Multiply(transforms[c]);
+                        dfShape.s = shapes[c];
+                        dfShape.distanceFieldHeaders = distanceFieldHeaders;
+                        dfShape.dfNodes = dfNodes;
+                        dfShape.Evaluate(predPos, float4(radius, radius, radius, 0), QUATERNION_IDENTITY, surf);
+
+                        float dist = dot(predPos - surf.pos, surf.normal) - radius;
+                        if (dist < 0) predPos = surf.pos + surf.normal * radius;
+                    }
+                    break;
+                }
+            }
+        }
+    }   
+
+    inputVelocities[threadIndex].xyz = (predPos.xyz - inputPositions[threadIndex].xyz) / deltaTime;
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute.meta b/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute.meta
new file mode 100644
index 000000000..f67b3366a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoamCollisions.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 62b650760f2294d0c9c68247f21c7009
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidFoamDensity.compute b/Assets/Obi/Resources/Compute/FluidFoamDensity.compute
new file mode 100644
index 000000000..9ff41c337
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoamDensity.compute
@@ -0,0 +1,199 @@
+#pragma kernel Clear
+#pragma kernel InsertInGrid
+#pragma kernel SortByGrid
+#pragma kernel ComputeDensity
+#pragma kernel ApplyDensity
+
+#include "InterlockedUtils.cginc"
+#include "MathUtils.cginc"
+#include "GridUtils.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "FluidKernels.cginc"
+
+RWStructuredBuffer<int> sortedToOriginal;
+
+RWStructuredBuffer<uint> offsetInCell;
+RWStructuredBuffer<uint> cellStart;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<aabb> solverBounds;
+
+RWStructuredBuffer<float4> inputPositions; 
+RWStructuredBuffer<float4> inputVelocities; 
+RWStructuredBuffer<float4> inputColors; 
+RWStructuredBuffer<float4> sortedPositions; 
+RWStructuredBuffer<float4> sortedVelocities; 
+RWStructuredBuffer<float4> fluidData; 
+
+StructuredBuffer<uint> dispatch;
+
+// each emitter has its own global radius, not possible to have foam emitters interact with each other.
+float particleRadius;
+float smoothingRadius;
+float surfaceTension; 
+float pressure;
+float viscosity;
+float4 volumeLightDirection;
+
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= maxCells) return;
+    
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellStart[i] = INVALID;
+    cellCounts[i] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void InsertInGrid (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    uint cellIndex = GridHash(floor(inputPositions[i] / smoothingRadius).xyz);
+    InterlockedAdd(cellCounts[cellIndex],1,offsetInCell[i]);
+}
+
+[numthreads(128, 1, 1)]
+void SortByGrid (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    uint cellIndex = GridHash(floor(inputPositions[i] / smoothingRadius).xyz);
+   
+    uint sortedIndex = cellStart[cellIndex] + offsetInCell[i];
+    sortedPositions[sortedIndex] = inputPositions[i];
+    sortedVelocities[sortedIndex] = inputVelocities[i];
+    sortedToOriginal[sortedIndex] = i;
+}
+
+[numthreads(128, 1, 1)]
+void ComputeDensity (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+
+    float4 positionA = inputPositions[i];
+
+    int3 cellCoords = floor(inputPositions[i] / smoothingRadius).xyz;
+    
+    // self-contribution:
+    float avgKernel = Poly6(0,smoothingRadius);
+    float restVolume = pow(abs(particleRadius * 2),3-mode);
+    float grad = restVolume * Spiky(0,smoothingRadius);
+    
+    float4 fluidDataA = float4(avgKernel,0,grad,grad*grad);
+    
+    float4 positionB;
+    
+    // iterate over neighborhood, calculate density and gradient.
+    for (int k = 0; k < 27; ++k)
+    {
+        int3 neighborCoords = cellCoords + cellNeighborhood[k].xyz;
+        uint cellIndex = GridHash(neighborCoords);
+        uint start = cellStart[cellIndex];
+
+        for (uint j = 0; j < cellCounts[cellIndex]; ++j)
+        {
+            positionB = sortedPositions[start + j];
+            float3 r = (positionA - positionB).xyz;
+
+            if (mode == 1) 
+                r[2] = 0;
+
+            float dist = length(r);
+
+            if (dist > smoothingRadius || any(neighborCoords - floor(positionB / smoothingRadius).xyz)) continue;
+            
+            float grad = restVolume * Spiky(dist,smoothingRadius);
+            fluidDataA += float4(Poly6(dist,smoothingRadius),0,grad,grad*grad);
+        }
+    }
+    
+    // self particle contribution to density and gradient:
+    fluidDataA[3] += fluidDataA[2] * fluidDataA[2];
+    
+    // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+    // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+    // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+    float constraint = max(0, fluidDataA[0] * restVolume - 1);
+
+    // calculate lambda:
+    fluidDataA[1] = -constraint / (fluidDataA[3] + EPSILON);
+    
+    fluidData[i] = fluidDataA;
+}
+
+[numthreads(128, 1, 1)]
+void ApplyDensity (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatch[3]) return;
+    
+    int3 cellCoords = floor(inputPositions[i] / smoothingRadius).xyz;
+
+    float restVolume = pow(abs(particleRadius * 2),3-mode); 
+    float neighborhoodVolume = pow(abs(smoothingRadius * 2),3-mode); 
+    float4 positionA = inputPositions[i];
+    float4 velocityA = inputVelocities[i];
+    float4 fluidDataA = fluidData[i];
+
+    float4 fluidDataB;
+    float4 positionB;
+    float4 velocityB;
+
+    float4 pressureDelta = FLOAT4_ZERO;
+    float4 viscAccel = FLOAT4_ZERO;
+    float AO = 0;
+    
+    for (int k = 0; k < 27; ++k)
+    {
+        int3 neighborCoords = cellCoords + cellNeighborhood[k].xyz;
+        uint cellIndex = GridHash(neighborCoords);
+        uint start = cellStart[cellIndex];
+
+        for (uint j = 0; j < cellCounts[cellIndex]; ++j)
+        {
+            positionB = sortedPositions[start + j];
+            velocityB = sortedVelocities[start + j];
+            fluidDataB = fluidData[sortedToOriginal[start + j]];
+
+            float4 r = float4((positionA - positionB).xyz,0);
+
+            if (mode == 1) 
+                r[2] = 0;
+
+            float dist = length(r);
+           
+
+            if (dist > smoothingRadius || any(neighborCoords - floor(positionB / smoothingRadius).xyz)) continue;
+
+            float kern = Poly6(dist,smoothingRadius);
+            float cAvg = Cohesion(dist,smoothingRadius);
+
+            // XSPH viscosity:
+            float4 relVel = float4((velocityB - velocityA).xyz,0);
+            viscAccel += viscosity * relVel * kern * restVolume;
+            
+            float st = 0.2 * cAvg * surfaceTension;
+            float scorrA = - st / (fluidDataA[3] + EPSILON);
+            float scorrB = - st / (fluidDataB[3] + EPSILON);
+            pressureDelta += r / (dist + EPSILON) * Spiky(dist,smoothingRadius) * ((fluidDataA[1] + scorrA) + (fluidDataB[1] + scorrB)) * restVolume;
+            
+            float4 v = r / (dist + EPSILON);
+            AO += max(0, dot (volumeLightDirection.xyz, v.xyz) ) / (1 + dist) * restVolume; 
+        }
+    }
+    
+    float4 delta = pressure * pressureDelta;
+    
+    // modify position and velocity:
+    inputPositions[i] = float4((positionA + delta).rgb, 2*PI * AO.x / neighborhoodVolume);
+    inputVelocities[i] += float4(delta.xyz / deltaTime + viscAccel.xyz,0);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta b/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta
new file mode 100644
index 000000000..247a584ac
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidFoamDensity.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2332ee3ce70e9447d8d13b5b67ac8e6c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidKernels.cginc b/Assets/Obi/Resources/Compute/FluidKernels.cginc
new file mode 100644
index 000000000..deac80421
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidKernels.cginc
@@ -0,0 +1,40 @@
+#ifndef FLUIDKERNELS_INCLUDE
+#define FLUIDKERNELS_INCLUDE
+
+#include "SolverParameters.cginc"
+
+float Poly6(float r, float h)
+{
+    float h2 = h * h;
+    float h4 = h2 * h2;
+    float h8 = h4 * h4;
+
+    float rl = min(r, h);
+    float hr = h2 - rl * rl;
+
+    if (mode)
+       return 4.0f / PI / h8 * hr * hr * hr;
+    else
+       return 315.0f / (64.0 * PI) / (h8 * h) * hr * hr * hr;
+}
+
+float Spiky(float r, float h)
+{
+    float h2 = h * h;
+    float h4 = h2 * h2;
+
+    float rl = min(r, h);
+    float hr = h - rl;
+
+    if (mode)
+        return -30.0f / PI / (h4 * h) * hr * hr;
+    else
+        return  -45.0f / PI / (h4 * h2) * hr * hr;
+}
+
+float Cohesion(float r, float h)
+{
+    return cos(min(r, h) * 3 * PI / (2 * h));
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta b/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta
new file mode 100644
index 000000000..5915645b0
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidKernels.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 53c4eeee7bd2141deb8d1179555a1920
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidMeshChunks.compute b/Assets/Obi/Resources/Compute/FluidMeshChunks.compute
new file mode 100644
index 000000000..da444b47b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidMeshChunks.compute
@@ -0,0 +1,205 @@
+#pragma kernel ClearChunks
+#pragma kernel ClearGrid
+#pragma kernel InsertChunks
+#pragma kernel SortParticles
+#pragma kernel FindPopulatedLevels
+
+#include "MathUtils.cginc"
+#include "Bounds.cginc"
+#include "GridUtils.cginc"
+#include "FluidChunkDefs.cginc"
+#include "SolverParameters.cginc"
+
+// particle data:
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> angularVelocities;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterial;
+StructuredBuffer<float4> fluidData;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> colors;
+StructuredBuffer<float4> normals;
+
+RWStructuredBuffer<float4> sortedPositions;   
+RWStructuredBuffer<float4> sortedPrincipalRadii;  
+RWStructuredBuffer<float4> sortedVelocities;  
+RWStructuredBuffer<quaternion> sortedOrientations;   
+RWStructuredBuffer<float4> sortedColors;   
+
+// particle grid data:
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<int> gridHashToSortedIndex; 
+RWStructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+RWStructuredBuffer<uint> offsetInCell;   // for each item, offset within its the cell.
+
+// voxel data:
+RWStructuredBuffer<int3> chunkCoords; // for each chunk, spatial coordinates.
+RWStructuredBuffer<keyvalue> hashtable; // size: maxChunks entries.
+
+RWStructuredBuffer<uint> dispatchBuffer; 
+
+uint firstParticle;
+uint particleCount;
+float isosurface;
+float smoothing;
+
+uint AllocateChunk(uint3 coords)
+{
+    uint key = VoxelID(coords);
+    uint slot = hash(key);
+    
+    [allow_uav_condition]
+    for (uint i = 0; i < maxChunks; ++i) // at most, check the entire table.
+    {
+        uint prev;
+        InterlockedCompareExchange(hashtable[slot].key, INVALID, key, prev);
+
+        // allocate new chunk:
+        if (prev == INVALID) 
+        {
+            InterlockedAdd(dispatchBuffer[4],1,hashtable[slot].handle);
+            chunkCoords[hashtable[slot].handle] = coords;
+            return hashtable[slot].handle;
+        }
+        // could not allocate chunk, since it already exists.
+        else if (prev == key) 
+        {
+            return INVALID;
+        }
+        // collision, try next slot.
+        else 
+            slot = (slot + 1) % maxChunks;
+    }
+    return INVALID; // could not allocate chunk, not enough space.
+}
+
+[numthreads(128, 1, 1)]
+void ClearChunks (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxChunks)
+        return;
+
+    // clear all chunks:
+    keyvalue k;
+    k.key = 0xffffffff;
+    k.handle = 0xffffffff;
+    hashtable[i] = k;
+}
+
+[numthreads(128, 1, 1)]
+void ClearGrid (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxCells)
+        return;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellOffsets[i] = INVALID;
+    cellCounts[i] = 0;
+}
+
+[numthreads(128, 1, 1)]
+void InsertChunks (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+    
+    int p = particleIndices[firstParticle + i];
+
+    // ignore inactive particles:
+    if (principalRadii[p].w <= 0.5f)
+        return;
+    
+    // calculate particle cell index:
+    int level = GridLevelForSize(fluidMaterial[p].x); 
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz) / cellSize),level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    // since cell hashes are morton-sorted during collision detection, here we also get sorted cells
+    // as long as particle cellCoords are reasonably similar
+    // (won't be the exact same since we use renderable positions instead of positions)
+    uint cellIndex = gridHashToSortedIndex[GridHash(cellCoord)];
+   
+    // insert simplex in cell:
+    InterlockedAdd(cellCounts[cellIndex],1, offsetInCell[p]);
+
+     // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+
+    //in 3D, only particles near the surface should spawn chunks:
+    //if (mode == 0 && dot(normals[p],normals[p]) < 0.0001f) 
+        //return;
+
+    // expand aabb by voxel size, since boundary voxels (at a chunks' 0 X/Y/Z) can't be triangulated.
+    float radius = fluidMaterial[p].x + voxelSize;
+
+    // calculate particle chunk span.
+    float chunkSize = chunkResolution * voxelSize;
+    uint3 minCell = floor((positions[p].xyz - radius - chunkGridOrigin) / chunkSize);
+    uint3 maxCell = floor((positions[p].xyz + radius - chunkGridOrigin) / chunkSize);
+
+    if (mode == 1)
+        minCell[2] = maxCell[2] = 0;
+        
+    for (uint x = minCell[0]; x <= maxCell[0]; ++x)
+    {
+        for (uint y = minCell[1]; y <= maxCell[1]; ++y)
+        {
+            for (uint z = minCell[2]; z <= maxCell[2]; ++z)
+            {
+                AllocateChunk(uint3(x, y, z));
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortParticles (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= particleCount) return;
+
+    int p = particleIndices[firstParticle + i];
+
+    // ignore inactive particles:
+    if (principalRadii[p].w <= 0.5f)
+        return;
+
+    // calculate particle cell index:
+    int level = GridLevelForSize(fluidMaterial[p].x);
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((positions[p].xyz - solverBounds[0].min_.xyz) / cellSize),level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    uint cellIndex = gridHashToSortedIndex[GridHash(cellCoord)];
+    
+    // find final sorted index:
+    uint gridIndex = cellOffsets[cellIndex] + offsetInCell[p];
+
+    // write particle data in sorted order:
+    sortedPositions[gridIndex] = float4(positions[p].xyz, 1 / fluidData[p].x);
+    sortedPrincipalRadii[gridIndex] = fluidMaterial[p].x * (principalRadii[p] / principalRadii[p].x);
+    sortedVelocities[gridIndex] = float4(velocities[p].xyz, (asuint(angularVelocities[p].w) & 0x0000ffff) / 65535.0);
+    sortedOrientations[gridIndex] = orientations[p];
+    sortedColors[gridIndex] = colors[p];
+}
+
+
+
diff --git a/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta b/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta
new file mode 100644
index 000000000..e70344d36
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidMeshChunks.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 745eb95f8ca884ea6830b3ca14ee05a0
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute b/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute
new file mode 100644
index 000000000..d4e04809e
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute
@@ -0,0 +1,604 @@
+#pragma kernel SampleSDF
+#pragma kernel CalculateSurface
+#pragma kernel Triangulate
+#pragma kernel Smoothing
+
+#pragma kernel FixArgsBuffer
+#pragma kernel FillIndirectDrawBuffer
+
+#include "MathUtils.cginc"
+#include "Bounds.cginc"
+#include "GridUtils.cginc"
+#include "FluidChunkDefs.cginc"
+#include "FluidKernels.cginc"
+#include "SolverParameters.cginc"
+#include "NormalCompression.cginc"
+
+/*  
+ *  y         z
+ *  ^        /     
+ *  |
+ *    6----7
+ *   /|   /|
+ *  2----3 |
+ *  | 4--|-5
+ *  |/   |/
+ *  0----1   --> x
+ * 
+ */
+
+ /*
+ *  static Vector2Int[] cubeEdges =
+ *  {
+ *      new Vector2Int(7,3),  0
+ *      new Vector2Int(7,5),  1
+ *      new Vector2Int(7,6),  2
+ *
+ *      new Vector2Int(6,4),  3 // x 
+ *      new Vector2Int(4,5),  4
+ *      new Vector2Int(5,1),  5     
+ *
+ *      new Vector2Int(1,3),  6 // y   
+ *      new Vector2Int(3,2),  7    
+ *      new Vector2Int(2,6),  8    
+ *
+ *      new Vector2Int(4,0),  9 // z   
+ *      new Vector2Int(2,0),  10  
+ *      new Vector2Int(1,0)   11   
+ *  };
+ */
+ 
+static const int4 faceNeighborEdges[] =
+{
+    int4(0,1,5,6),    
+    int4(0,2,7,8),    
+    int4(4,5,9,11), 
+    int4(3,8,9,10),
+    int4(6,7,10,11),  
+    int4(1,2,3,4)
+};
+
+static const float3 corners[] =
+{
+    float3(0, 0, 0), // 0
+    float3(1, 0, 0), // 1
+    float3(0, 1, 0), // 2
+    float3(1, 1, 0), // 3
+    float3(0, 0, 1), // 4
+    float3(1, 0, 1), // 5
+    float3(0, 1, 1), // 6
+    float3(1, 1, 1)  // 7
+};
+
+static const int3 quadNeighborIndices[] =
+{
+    int3(1, 3, 2), // x   
+    int3(4, 5, 1), // y   
+    int3(2, 6, 4), // z  
+};
+
+static const int oppositeFaces[] =
+{
+    7, //0
+    6, //1
+    5, //2
+    4, //3
+    3, //4
+    2, //5
+    1 //6
+};
+
+static const int3 quadWindingOrder[] = {
+    int3(0, 1 ,2),
+    int3(2, 1 ,0)
+};
+
+struct indirectDrawIndexedArgs
+{
+    uint indexCountPerInstance;
+    uint instanceCount;
+    uint startIndex;
+    uint baseVertexIndex;
+    uint startInstance;
+};
+
+// particle grid data:
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> cellCounts;     // number of item in each cell.
+StructuredBuffer<int> gridHashToSortedIndex; 
+
+StructuredBuffer<float4> sortedPositions;
+StructuredBuffer<float4> sortedVelocities;
+StructuredBuffer<float4> sortedPrincipalRadii;
+StructuredBuffer<float4> sortedColors;
+StructuredBuffer<quaternion> sortedOrientations;
+
+// voxel data:
+StructuredBuffer<int3> chunkCoords; // for each chunk, spatial coordinates.
+StructuredBuffer<keyvalue> hashtable; // size: maxChunks entries.
+RWStructuredBuffer<uint> voxelToVertex; // for each voxel, index into the vertices array in case the voxel spawns a vertex, INVALID otherwise.
+RWStructuredBuffer<uint> vertexAdjacency; // indices of adjacent face voxels for each voxel.
+RWStructuredBuffer<float4> voxelVelocities; // for each voxel, fluid velocity value. We are reusing the same ComputeBuffer used for vertexAdjacency.
+
+// edge LUTs
+StructuredBuffer<int2> edges;
+StructuredBuffer<int> edgeTable;
+
+// mesh data:
+RWStructuredBuffer<float4> verts; 
+RWStructuredBuffer<float4> outputVerts;
+RWStructuredBuffer<float4> colors; 
+RWStructuredBuffer<float4> velocities; 
+RWStructuredBuffer<int> quads;
+
+RWStructuredBuffer<uint> dispatchBuffer; 
+RWStructuredBuffer<uint> dispatchBuffer2; 
+RWStructuredBuffer<indirectDrawIndexedArgs> indirectBuffer; 
+
+uint currentBatch;
+
+float isosurface;
+uint descentIterations;
+float descentIsosurface;
+float descentSpeed;
+float smoothing;
+float bevel;
+uint dispatchMultiplier;
+uint countMultiplier;
+uint instanceCount;
+
+uint voxelCoordToOffset(int3 coord)
+{
+    if (mode == 1)
+        return (int)EncodeMorton2((uint2)coord.xy);
+    else return (int)EncodeMorton3((uint3)coord.xyz);
+}
+
+uint LookupChunk(int3 coords)
+{
+    uint key = VoxelID(coords);
+    uint slot = hash(key);
+
+    for (uint i = 0; i < maxChunks; ++i) // at most, check the entire table.
+    {
+        if (hashtable[slot].key == key)
+        {
+            return hashtable[slot].handle;
+        }
+        if (hashtable[slot].key == INVALID)
+        {
+            return INVALID;
+        }
+
+        slot = (slot + 1) % maxChunks;
+    }
+    return INVALID;
+}
+
+uint GetVoxelIndex(int3 chunkCoords, int3 voxelCoords, int voxelsInChunk)
+{
+    int3 mask = voxelCoords < 0 ? -1 : voxelCoords / chunkResolution; 
+    uint chunk = LookupChunk(chunkCoords + mask);
+   
+    return chunk == INVALID ? INVALID : chunk * voxelsInChunk + voxelCoordToOffset(nfmod(voxelCoords, chunkResolution));
+}
+
+[numthreads(128, 1, 1)]
+void SampleSDF (uint3 id : SV_DispatchThreadID)  // one thread per voxel,
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+
+    // calculate chunk index:
+    int chunkIndex = i / voxelsInChunk;   
+
+    // get offset of voxel within chunk:
+    int cornerOffset = i - chunkIndex * voxelsInChunk;
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)cornerOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)cornerOffset);
+
+    int3 cornerCoords= chunkCoords[chunkIndex] * chunkResolution + voxelCoords;
+
+    // calculate sampling position:
+    float3 samplePos = chunkGridOrigin + cornerCoords * voxelSize;
+    
+    float dist = isosurface;
+    float4 color = FLOAT4_ZERO;
+    float4 velocity = FLOAT4_ZERO;
+
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int3 cell = floor((samplePos - solverBounds[0].min_.xyz) / cellSize); // TODO: not necessary to subtract solverBounds?
+        int3 minCell = cell - 1;
+        int3 maxCell = cell + 1;
+
+        if (mode == 1)
+            minCell[2] = maxCell[2] = 0;
+       
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    int4 neighborCoord = int4(x, y, z, l);
+                    int cellIndex = gridHashToSortedIndex[GridHash(neighborCoord)];
+                    uint n = cellOffsets[cellIndex]; 
+                    uint end = n + cellCounts[cellIndex];
+
+                    for (;n < end; ++n)
+                    {
+                        float3 radii = sortedPrincipalRadii[n].xyz;
+
+                        // due to hash collisions, two neighboring cells might map to the same
+                        // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                        // So we only consider particles that have the same spatial coordinates as the cell.
+                        uint level = GridLevelForSize(radii.x);
+                        float cellSize = CellSizeOfLevel(level);
+                        int4 particleCoord = int4(floor((sortedPositions[n].xyz - solverBounds[0].min_.xyz)/ cellSize).xyz,level);
+
+                        if (any (particleCoord - neighborCoord))
+                            continue;
+
+                        float3 normal = samplePos - sortedPositions[n].xyz;  
+                        if (mode == 1)
+                            normal[2] = 0;
+
+                        // only update distance if within anisotropic kernel radius:
+                        float maxDistance = radii.x + voxelSize * 1.42f; 
+                        float r = dot(normal, normal);
+                        if (r <= maxDistance * maxDistance)
+                        {
+                            normal = rotate_vector(q_conj(sortedOrientations[n]), normal.xyz) / radii;
+                            float d = length(normal) * radii.x;
+
+                            // sortedPositions.w is volume (1/normalized density):
+                            float w = sortedPositions[n].w * Poly6(d,radii.x);
+                            
+                            dist -= w;
+                            
+                            // tigther smoothing kernel for color and velocities:
+                            float w2 = 1-saturate(r / (radii.x * radii.x));
+                            color += float4(sortedColors[n].xyz * w2, w2);
+                            velocity += sortedVelocities[n] * w2; // 4th component is length(angularVel), vorticity intensity.
+                        }
+                        
+                    }
+                }
+            }
+        }
+    }
+    
+    verts[i].x = dist;
+    verts[i].y = PackFloatRGBA(color/color.w);
+
+    voxelVelocities[i] = velocity / color.w;
+}
+
+float EvaluateSDF (float4 distancesA, float4 distancesB, in float3 nPos, out float3 normal)
+{
+    // trilinear interpolation of distance:
+    float4 x = distancesA + (distancesB - distancesA) * nPos[0];
+    float2 y = x.xy + (x.zw - x.xy) * nPos[1];
+
+    // gradient estimation:
+    // x == 0
+    float2 a = distancesA.xy + (distancesA.zw - distancesA.xy) * nPos[1];
+    float x0 = a[0] + (a[1] - a[0]) * nPos[2];
+
+    // x == 1
+    a = distancesB.xy + (distancesB.zw - distancesB.xy) * nPos[1];
+    float x1 = a[0] + (a[1] - a[0]) * nPos[2];
+
+    // y == 0
+    float y0 = x[0] + (x[1] - x[0]) * nPos[2];
+
+    // y == 1
+    float y1 = x[2] + (x[3] - x[2]) * nPos[2];
+
+    normal = normalize(float3(x1 - x0, y1 - y0, y[1] - y[0]));
+    return y[0] + (y[1] - y[0]) * nPos[2];
+}
+
+[numthreads(128, 1, 1)]
+void CalculateSurface (uint3 id : SV_DispatchThreadID) // once per voxel.
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+    int verticesPerVoxel = mode == 1 ? 4 : 8; // 8 vertices in 3D, 4 in 2D.
+    float3 dimensionMask = mode == 1 ? float3(1, 1, 0) : float3(1, 1, 1);
+    int edgeCount = mode == 1 ? 4 : 12;
+
+    // initialize voxel with invalid vertex:
+    voxelToVertex[i] = INVALID;
+
+    // calculate chunk index:
+    int chunkIndex = i / voxelsInChunk;   
+    
+    // get offset of voxel within chunk:
+    int voxelOffset = i - chunkIndex * voxelsInChunk; 
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)voxelOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)voxelOffset);
+   
+    // get samples at voxel corners:
+    float samples[8];
+    float4 vcolor[8];
+    float4 vvelo[8];
+    uint cornerMask = 0;
+
+    // initialize all samples to zero (last 4 samples aren't written to in 2D).
+    int j = 0;
+    for (j = 0; j < 8; ++j)
+        samples[j] = 0;
+
+    for (j = 0; j < verticesPerVoxel; ++j)
+    {
+        uint v = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + corners[j], voxelsInChunk);
+
+        if (v == INVALID)
+            return;
+        else
+        {
+            samples[j] = verts[v].x;
+            vcolor[j] = UnpackFloatRGBA(verts[v].y);
+            vvelo[j] = voxelVelocities[v];
+            cornerMask |= samples[j] >= 0 ? (1 << j) : 0;
+        }
+    }
+
+    // store cornerMask:
+    verts[i].z = asfloat(cornerMask);
+
+    int edgeMask = edgeTable[cornerMask];
+
+    // if the voxel does not intersect the surface, return:
+    if ((mode == 1 && cornerMask == 0xf) ||
+        (mode == 0 && edgeMask == 0))
+        return;
+
+    // calculate vertex position using edge crossings:
+    float3 normalizedPos = float3(0,0,0);
+    float4 velocity = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    int intersections = 0;
+    
+    for (j = 0; j < edgeCount; ++j)
+    {
+        if((edgeMask & (1 << j)) == 0) 
+            continue;
+           
+        int2 e = edges[j];
+        float t = -samples[e.x] / (samples[e.y] - samples[e.x]);
+
+        normalizedPos += lerp(corners[e.x],corners[e.y],t);
+        color +=         lerp(vcolor[e.x], vcolor[e.y], t);
+        velocity +=      lerp(vvelo[e.x],  vvelo[e.y],  t);
+        intersections++;
+    }
+
+    // intersections will always be > 0 in 3D:
+    if (intersections > 0)
+    {
+        normalizedPos /= intersections;
+        color /= intersections;
+        velocity /= intersections;
+    }
+    else
+    {
+        normalizedPos = float3(0.5f, 0.5f, -bevel);
+        color = (vcolor[0] + vcolor[1] + vcolor[2] + vcolor[3]) * 0.25f;
+        velocity = (vvelo[0] + vvelo[1] + vvelo[2] + vvelo[3]) * 0.25f;
+    }
+
+    float4 distancesA = float4(samples[0], samples[4], samples[2], samples[6]);
+    float4 distancesB = float4(samples[1], samples[5], samples[3], samples[7]);
+    
+    // gradient descent:
+    float3 normal;
+    for(uint k = 0; k < descentIterations; ++k)
+    {
+        float d = EvaluateSDF(distancesA, distancesB, normalizedPos, normal);
+        normalizedPos -= descentSpeed * normal * (d + isosurface + descentIsosurface);
+    }
+    
+    // final normal evaluation:
+    EvaluateSDF(distancesA, distancesB, normalizedPos, normal);
+
+    // modify normal in 2D mode:
+    if (mode)
+       normal = lerp(float3(0,0,-1),float3(normal.xy,-normal.z),bevel); // no bevel, flat normals
+
+    // Append vertex:
+    InterlockedAdd(dispatchBuffer[4],1,voxelToVertex[i]);
+    verts[voxelToVertex[i]].w = i;
+
+    float3 voxelCorner = chunkGridOrigin + (float3)(chunkCoords[chunkIndex] * chunkResolution + voxelCoords) * voxelSize;
+    outputVerts[voxelToVertex[i]] = float4(voxelCorner * dimensionMask + normalizedPos * voxelSize, encode(normal));
+    colors[voxelToVertex[i]] = color;
+    velocities[voxelToVertex[i]] = velocity;
+}
+
+[numthreads(128, 1, 1)]
+void Triangulate (uint3 id : SV_DispatchThreadID) 
+{
+    uint v0 = id.x;
+    if (v0 >= dispatchBuffer[3]) return;
+
+    int voxelsInChunk = (int)pow(chunkResolution, 3 - mode); // 64 voxels in 3D, 16 in 2D.
+    int quadCount = 3 - mode * 2; // 3 quads in 3D, 1 in 2D.
+    int adjacentCount = 6 - mode * 2; // 6 adjacent voxels in 3D, 4 in 2D.
+    
+    // get index of the voxel that spawned this vertex:
+    uint i = verts[v0].w;
+        
+    // calculate chunk index and look up coordinates:
+    int chunkIndex = i / voxelsInChunk;        
+    
+    // get offset of voxel within chunk:
+    int voxelOffset = i - chunkIndex * voxelsInChunk;
+    int3 voxelCoords;
+
+    if (mode == 1)
+        voxelCoords = (int3)DecodeMorton2((uint)voxelOffset);
+    else
+        voxelCoords = (int3)DecodeMorton3((uint)voxelOffset);
+
+    uint cornerMask = asuint(verts[i].z);
+    int edgeMask = edgeTable[cornerMask];
+    
+    // get winding order using last bit of cornermask, which indicates corner sign:
+    // in 2D, cornerMask >> 7 is always 0, so we get the second winding order.
+    int3 windingOrder = (cornerMask >> 7) ? quadWindingOrder[0] : quadWindingOrder[1];
+    
+    // Retrieve adjacent voxels:
+    int j;
+    uint adjacent[6];
+    for (j = 0; j < adjacentCount; ++j)
+        adjacent[j] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + corners[j + 1], voxelsInChunk);
+        
+    // Iterate over all potential quads, append those needed:
+    for (j = 0; j < quadCount; ++j)
+    {
+        // if the edge is not crossing the surface, skip it (3D only)
+        if (mode == 0 && (edgeMask & (1 << j)) == 0)
+            continue;
+
+        // calculate final neighbor indices:
+        uint3 neighbors = uint3(quadNeighborIndices[j][windingOrder[0]]-1,
+                                quadNeighborIndices[j][windingOrder[1]]-1,
+                                quadNeighborIndices[j][windingOrder[2]]-1);
+
+        // get vertex indices for all voxels involved: 
+        uint v1 = voxelToVertex[adjacent[neighbors[0]]];
+        uint v2 = voxelToVertex[adjacent[neighbors[1]]];
+        uint v3 = voxelToVertex[adjacent[neighbors[2]]];
+
+        // if any of the vertices is invalid, skip the quad:
+        if (v1 == INVALID || v2 == INVALID || v3 == INVALID)
+            continue;
+
+        // append a new quad:
+        uint baseIndex;
+        InterlockedAdd(dispatchBuffer2[4],1,baseIndex);
+        baseIndex *= 6;
+
+        // flip edge if necessary, to always use the shortest diagonal:
+        float3 diag1 = outputVerts[v0].xyz - outputVerts[v2].xyz;
+        float3 diag2 = outputVerts[v1].xyz - outputVerts[v3].xyz;
+        if (dot(diag1,diag1) > dot(diag2,diag2) * 1.1)
+        {
+            quads[baseIndex] = v1;
+            quads[baseIndex+1] = v2;
+            quads[baseIndex+2] = v3;
+
+            quads[baseIndex+3] = v0;
+            quads[baseIndex+4] = v1;
+            quads[baseIndex+5] = v3;
+        }
+        else
+        {
+            quads[baseIndex] = v0;
+            quads[baseIndex+1] = v1;
+            quads[baseIndex+2] = v2;
+
+            quads[baseIndex+3] = v3;
+            quads[baseIndex+4] = v0;
+            quads[baseIndex+5] = v2;
+        }
+    }
+    
+    // Move adjacent voxel in Z axis to last position, so that 2D adjacent voxels are the first 4.
+    adjacent[5] = adjacent[3];
+    adjacent[2] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(0, -1, 0), voxelsInChunk);
+    adjacent[3] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(-1, 0, 0), voxelsInChunk);
+    adjacent[4] = GetVoxelIndex(chunkCoords[chunkIndex], voxelCoords + int3(0, 0, -1), voxelsInChunk);
+    
+    // initialize vertex adjacency to INVALID.
+    for (j = 0; j < 6; ++j)
+        vertexAdjacency[v0*6 + j] = INVALID;
+
+    // Determine adjacent surface voxels for smoothing:
+    bool isAdjacent;
+    for (j = 0; j < adjacentCount; ++j)
+    {
+        if (adjacent[j] != INVALID)
+        {
+            // adjacent if this does not intersect the surface or both intersect the surface.
+            isAdjacent = (edgeMask == 0 || edgeTable[asuint(verts[adjacent[j]].z)] != 0) &&
+
+            // in 3D mode, it should also intersect any of the face edges to be considered adjacent:
+                         (mode == 1 || any(edgeMask & (1 << faceNeighborEdges[j])));
+
+            vertexAdjacency[v0 * 6 + j] = isAdjacent ? voxelToVertex[adjacent[j]] : INVALID;
+        }
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void Smoothing (uint3 id : SV_DispatchThreadID) 
+{
+    uint thread = id.x;
+    if (thread >= dispatchBuffer[3]) return;
+    
+    float3 n = decode(verts[thread].w);
+
+    float4 coord = float4(verts[thread].xyz,1);
+    float4 norm = float4(n,1);
+
+    for (int j = 0; j < 6; ++j)
+    {
+        uint v = vertexAdjacency[thread*6 + j];
+        if (v != INVALID)
+        {
+            coord += float4(verts[v].xyz,1);
+            norm += float4(decode(verts[v].w),1);
+        }
+    }
+    
+    coord.xyz /= coord.w;
+    norm.xyz /= norm.w;
+
+    float3 v = lerp(verts[thread].xyz, coord.xyz, smoothing);
+    n = normalize(lerp(n,norm.xyz, smoothing));
+
+    outputVerts[thread] = float4(v, encode(n));
+
+} 
+
+[numthreads(1, 1, 1)]
+void FixArgsBuffer (uint3 id : SV_DispatchThreadID) 
+{
+    dispatchBuffer[3] = dispatchBuffer[4] * dispatchMultiplier; 
+    dispatchBuffer[0] = dispatchBuffer[3] / 128 + 1;
+    dispatchBuffer[4] *= countMultiplier; // used to zero out fourth component if needed.
+}
+
+[numthreads(1, 1, 1)]
+void FillIndirectDrawBuffer (uint3 id : SV_DispatchThreadID) 
+{
+    indirectDrawIndexedArgs a;
+
+    a.indexCountPerInstance = dispatchBuffer[3] * 6; // number of quads * 6
+    a.instanceCount = instanceCount;
+    a.startIndex = 0; 
+    a.baseVertexIndex = 0;
+    a.startInstance = 0;
+    indirectBuffer[0] = a;
+}
+
diff --git a/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta b/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta
new file mode 100644
index 000000000..67121ca85
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/FluidSurfaceMeshBuilding.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 676e30b71ac3147969895b3f0ad6d2ec
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/GridUtils.cginc b/Assets/Obi/Resources/Compute/GridUtils.cginc
new file mode 100644
index 000000000..c3ce3b12a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/GridUtils.cginc
@@ -0,0 +1,166 @@
+#ifndef GRIDUTILS_INCLUDE
+#define GRIDUTILS_INCLUDE
+
+#define INVALID 0xFFFFFFFF
+#define MIN_GRID_LEVEL -8 //-6 // minimum cell size is 0.004 meters, enough for very small colliders / particles (log(0.004) / log(2))
+#define MAX_GRID_LEVEL 15 // maximum cell size is 32768 meters, enough for gargantuan objects.
+#define GRID_LEVELS (MAX_GRID_LEVEL - MIN_GRID_LEVEL + 1)
+
+RWStructuredBuffer<uint> levelPopulation; 
+uint maxCells;         // maximum number of unique cells in the grid. 
+
+static const float4 cellNeighborhood[27] = {
+float4(-1,-1,-1, 0),
+float4(-1,-1, 0, 0),
+float4(-1,-1, 1, 0),
+float4(-1, 0,-1, 0),
+float4(-1, 0, 0, 0),
+float4(-1, 0, 1, 0),
+float4(-1, 1,-1, 0),
+float4(-1, 1, 0, 0),
+float4(-1, 1, 1, 0),
+float4( 0,-1,-1, 0),
+float4( 0,-1, 0, 0),
+float4( 0,-1, 1, 0),
+float4( 0, 0,-1, 0),
+float4( 0, 0, 0, 0),
+float4( 0, 0, 1, 0),
+float4( 0, 1,-1, 0),
+float4( 0, 1, 0, 0),
+float4( 0, 1, 1, 0),
+float4( 1,-1,-1, 0),
+float4( 1,-1, 0, 0),
+float4( 1,-1, 1, 0),
+float4( 1, 0,-1, 0),
+float4( 1, 0, 0, 0),
+float4( 1, 0, 1, 0),
+float4( 1, 1,-1, 0),
+float4( 1, 1, 0, 0),
+float4( 1, 1, 1, 0),
+};
+
+static const float4 aheadCellNeighborhood[13] = {
+float4(1,0,0,0),    // + , 0 , 0 ( 1)
+float4(0,1,0,0),    // 0 , + , 0 ( 3)
+float4(1,1,0,0),    // + , + , 0 ( 4)
+float4(0,0,1,0),    // 0 , 0 , + ( 9)
+float4(1,0,1,0),    // + , 0 , + (10)
+float4(0,1,1,0),    // 0 , + , + (12)
+float4(1,1,1,0),     // + , + , + (13)
+
+float4(-1,1,0,0),   // - , + , 0 ( 2)
+float4(-1,-1,1,0),  // - , - , + ( 5)
+float4(0,-1,1,0),   // 0 , - , + ( 6)
+float4(1,-1,1,0),   // + , - , + ( 7)
+float4(-1,0,1,0),   // - , 0 , + ( 8)
+float4(-1,1,1,0),   // - , + , + (11)
+};
+
+[numthreads(1,1,1)]
+void FindPopulatedLevels (uint3 id : SV_DispatchThreadID) 
+{
+    for (int l = 1; l <= GRID_LEVELS; ++l)
+    {
+        if (levelPopulation[l] > 0)
+            levelPopulation[1 + levelPopulation[0]++] = l - 1;
+    }
+}
+
+inline int GridLevelForSize(float size)
+{
+    // the magic number is 1/log(2), used because log_a(x) = log_b(x) / log_b(a)
+    // level is clamped between MIN_LEVEL and MAX_LEVEL, then remapped to (0, MAX_LEVEL - MIN_LEVEL)
+    // this allows us to avoid InterlockedMax issues on GPU, since it doesn't work on negative numbers on some APIs.
+    return clamp((int)ceil(log(size) * 1.44269504089), MIN_GRID_LEVEL, MAX_GRID_LEVEL) - MIN_GRID_LEVEL;
+}
+
+inline float CellSizeOfLevel(int level)
+{
+    return exp2(level + MIN_GRID_LEVEL);
+}
+
+inline int4 GetParentCellCoords(int4 cellCoords, uint level)
+{
+    float decimation = exp2(level - cellCoords[3]);
+    int4 cell = (int4)floor((float4)cellCoords / decimation);
+    cell[3] = level;
+    return cell;
+}
+
+uint Part1By1(uint x)
+{
+    x &= 0x0000ffff;                  // x = ---- ---- ---- ---- fedc ba98 7654 3210
+    x = (x ^ (x << 8)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+    x = (x ^ (x << 4)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+    x = (x ^ (x << 2)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+    x = (x ^ (x << 1)) & 0x55555555; // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+    return x;
+}
+
+// "Insert" two 0 bits after each of the 10 low bits of x
+uint Part1By2(uint x)
+{
+    x &= 0x000003ff;                  // x = ---- ---- ---- ---- ---- --98 7654 3210
+    x = (x ^ (x << 16)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+    x = (x ^ (x << 8)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+    x = (x ^ (x << 4)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+    x = (x ^ (x << 2)) & 0x09249249; // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+    return x;
+}
+
+uint Compact1By1(uint x)
+{
+    x &= 0x55555555;                  // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+    x = (x ^ (x >> 1)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+    x = (x ^ (x >> 2)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+    x = (x ^ (x >> 4)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+    x = (x ^ (x >> 8)) & 0x0000ffff; // x = ---- ---- ---- ---- fedc ba98 7654 3210
+    return x;
+}
+
+uint Compact1By2(uint x)
+{
+    x &= 0x09249249;                  // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+    x = (x ^ (x >> 2)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+    x = (x ^ (x >> 4)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+    x = (x ^ (x >> 8)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+    x = (x ^ (x >> 16)) & 0x000003ff; // x = ---- ---- ---- ---- ---- --98 7654 3210
+    return x;
+}
+   
+inline uint EncodeMorton2(uint2 coords)
+{
+    return (Part1By1(coords.y) << 1) + Part1By1(coords.x);
+}
+
+inline uint EncodeMorton3(uint3 coords)
+{
+    return (Part1By2(coords.z) << 2) + (Part1By2(coords.y) << 1) + Part1By2(coords.x);
+}
+
+inline uint3 DecodeMorton2(uint code)
+{
+    return uint3(Compact1By1(code >> 0), Compact1By1(code >> 1), 0);
+}
+
+inline uint3 DecodeMorton3(uint code)
+{
+    return uint3(Compact1By2(code >> 0), Compact1By2(code >> 1), Compact1By2(code >> 2));
+}
+
+inline uint GridHash(in int4 cellIndex)
+{
+  return (73856093*cellIndex.x ^ 
+          19349663*cellIndex.y ^ 
+          83492791*cellIndex.z ^ 
+          10380569*cellIndex.w) % maxCells;
+}
+
+inline uint GridHash(in int3 cellIndex)
+{
+  return (73856093*cellIndex.x ^ 
+          19349663*cellIndex.y ^ 
+          83492791*cellIndex.z) % maxCells;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/GridUtils.cginc.meta b/Assets/Obi/Resources/Compute/GridUtils.cginc.meta
new file mode 100644
index 000000000..be067e289
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/GridUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b4dbf43981a3b419fbc2eaf5f2c05a6c
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/HeightfieldShape.compute b/Assets/Obi/Resources/Compute/HeightfieldShape.compute
new file mode 100644
index 000000000..6b34be7b7
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/HeightfieldShape.compute
@@ -0,0 +1,198 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// heightfield data:
+StructuredBuffer<HeightFieldHeader> heightFieldHeaders;
+StructuredBuffer<float> heightFieldSamples;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;
+float deltaTime;
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * HEIGHTMAP_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[HEIGHTMAP_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    HeightFieldHeader header = heightFieldHeaders[s.dataIndex];
+    
+    Heightfield fieldShape;
+    fieldShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    fieldShape.s = s;
+    
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(fieldShape.colliderToSolver.translation.xyz, fieldShape.colliderToSolver.rotation, fieldShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int resolutionU = (int)s.center.x;
+    int resolutionV = (int)s.center.y;
+
+    // calculate terrain cell size:
+    float cellWidth = s.size.x / (resolutionU - 1);
+    float cellHeight = s.size.z / (resolutionV - 1);
+
+    // calculate particle bounds min/max cells:
+    int2 min_ = int2((int)floor(simplexBound.min_[0] / cellWidth), (int)floor(simplexBound.min_[2] / cellHeight));
+    int2 max_ = int2((int)floor(simplexBound.max_[0] / cellWidth), (int)floor(simplexBound.max_[2] / cellHeight));
+
+    for (int su = min_[0]; su <= max_[0]; ++su)
+    {
+        if (su >= 0 && su < resolutionU - 1)
+        {
+            for (int sv = min_[1]; sv <= max_[1]; ++sv)
+            {
+                if (sv >= 0 && sv < resolutionV - 1)
+                {
+                    // calculate neighbor sample indices:
+                    int csu1 = clamp(su + 1, 0, resolutionU - 1);
+                    int csv1 = clamp(sv + 1, 0, resolutionV - 1);
+
+                    // sample heights:
+                    float h1 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * s.size.y;
+                    float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * s.size.y;
+                    float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * s.size.y;
+                    float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * s.size.y;
+
+                    if (h1 < 0) continue;
+                    h1 = abs(h1);
+                    h2 = abs(h2);
+                    h3 = abs(h3);
+                    h4 = abs(h4);
+
+                    float min_x = su * s.size.x / (resolutionU - 1);
+                    float max_x = csu1 * s.size.x / (resolutionU - 1);
+                    float min_z = sv * s.size.z / (resolutionV - 1);
+                    float max_z = csv1 * s.size.z / (resolutionV - 1);
+
+                    float4 convexPoint;
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+
+                    // ------contact against the first triangle------:
+                    float4 v1 = float4(min_x, h3, max_z, 0);
+                    float4 v2 = float4(max_x, h4, max_z, 0);
+                    float4 v3 = float4(min_x, h1, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                    SurfacePoint colliderPoint = Optimize(fieldShape, positions, orientations, principalRadii,
+                                                          simplices, simplexStart, simplexSize, simplexBary, convexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    int j;
+                    for (j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    float dAB = dot(convexPoint - colliderPoint.pos, colliderPoint.normal);
+                    float vel = dot(velocity, colliderPoint.normal);
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = colliderPoint.pos;
+                            c.normal = colliderPoint.normal * fieldShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+
+                    // ------contact against the second triangle------:
+                    v1 = float4(min_x, h1, min_z, 0);
+                    v2 = float4(max_x, h4, max_z, 0);
+                    v3 = float4(max_x, h2, min_z, 0);
+
+                    fieldShape.tri.Cache(v1, v2, v3);
+                    fieldShape.triNormal.xyz = normalizesafe(cross((v2 - v1).xyz, (v3 - v1).xyz));
+
+                    colliderPoint = Optimize(fieldShape, positions, orientations, principalRadii,
+                                    simplices, simplexStart, simplexSize, simplexBary, convexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    velocity = FLOAT4_ZERO;
+                    simplexRadius = 0;
+                    for (j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    dAB = dot(convexPoint - colliderPoint.pos, colliderPoint.normal);
+                    vel = dot(velocity, colliderPoint.normal);
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = colliderPoint.pos;
+                            c.normal = colliderPoint.normal * fieldShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta b/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta
new file mode 100644
index 000000000..a04ea6262
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/HeightfieldShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d9efd384bb82b4ec0b0adf1fc349a89b
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/InertialFrame.cginc b/Assets/Obi/Resources/Compute/InertialFrame.cginc
new file mode 100644
index 000000000..fe1da60c9
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InertialFrame.cginc
@@ -0,0 +1,23 @@
+#ifndef INERTIALFRAME_INCLUDE
+#define INERTIALFRAME_INCLUDE
+
+#include "Transform.cginc"
+
+struct inertialFrame
+{
+    transform frame;
+    transform prevFrame;
+
+    float4 velocity;
+    float4 angularVelocity;
+
+    float4 acceleration;
+    float4 angularAcceleration;
+
+    float4 velocityAtPoint(float4 pnt)
+    {
+        return velocity + float4(cross(angularVelocity.xyz, (pnt - prevFrame.translation).xyz), 0);
+    }
+};
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta b/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta
new file mode 100644
index 000000000..ed4916d3e
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InertialFrame.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 2d21eb1b3353a439eb5f6f6df05dd6d0
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute b/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute
new file mode 100644
index 000000000..b07c7bc89
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute
@@ -0,0 +1,44 @@
+#pragma kernel UpdateParticleInstances
+
+#include "PathFrame.cginc"
+
+struct RendererData
+{
+    float4 color;
+    float radiusScale;
+};
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<RendererData> rendererData;
+StructuredBuffer<int> rendererIndex;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> renderableRadii;
+StructuredBuffer<float4> colors;
+float4x4 solverToWorld;
+
+RWStructuredBuffer<float4x4> instanceTransforms;
+RWStructuredBuffer<float4x4> invInstanceTransforms;
+RWStructuredBuffer<float4> instanceColors;
+
+uint particleCount;
+
+[numthreads(128, 1, 1)]
+void UpdateParticleInstances (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    float4x4 tfrm = TRS(renderablePositions[p].xyz,
+                        renderableOrientations[p],
+                        renderableRadii[p].xyz * renderableRadii[p][3] * rendererData[rendererIndex[i]].radiusScale);
+
+    instanceTransforms[i] = mul(solverToWorld, tfrm);
+
+    instanceColors[i] = colors[p] * rendererData[rendererIndex[i]].color;
+    
+    invInstanceTransforms[i] = Inverse(instanceTransforms[i]);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta b/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta
new file mode 100644
index 000000000..a82b45e18
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InstancedParticleRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d2b27c5c6c8154b6694d7e017468ccc0
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Integration.cginc b/Assets/Obi/Resources/Compute/Integration.cginc
new file mode 100644
index 000000000..fc9edd611
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Integration.cginc
@@ -0,0 +1,38 @@
+#ifndef INTEGRATION_INCLUDE
+#define INTEGRATION_INCLUDE
+
+#include "Quaternion.cginc"
+
+float4 IntegrateLinear(float4 position, float4 velocity, float dt)
+{
+    return position + velocity * dt;
+}
+
+float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
+{
+    return (position - prevPosition) / dt;
+}
+
+quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
+{
+    quaternion delta = quaternion(angularVelocity.x,
+                                  angularVelocity.y,
+                                  angularVelocity.z, 0);
+
+    return quaternion(0.5f * qmul(delta,rotation) * dt); 
+}
+
+quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
+{
+    rotation += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt);
+    return normalize(rotation);
+}
+
+float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
+{
+    quaternion deltaq = qmul(rotation, q_conj(prevRotation));
+    float s = deltaq.w >= 0 ? 1 : -1;
+    return float4(s * deltaq.xyz * 2.0f / dt, 0);
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Integration.cginc.meta b/Assets/Obi/Resources/Compute/Integration.cginc.meta
new file mode 100644
index 000000000..7940d0152
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Integration.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d436b0155e8f943d59a26290140664cd
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/InterlockedUtils.cginc b/Assets/Obi/Resources/Compute/InterlockedUtils.cginc
new file mode 100644
index 000000000..06f227295
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InterlockedUtils.cginc
@@ -0,0 +1,46 @@
+#ifndef INTERLOCKEDUTILS_INCLUDE
+#define INTERLOCKEDUTILS_INCLUDE
+
+void InterlockedAddFloat(RWStructuredBuffer<uint4> buffer, int index, int axis, float value) 
+{
+    uint i_val = asuint(value);
+    uint tmp0 = 0;
+    uint tmp1;
+
+    [allow_uav_condition]
+    while (true) 
+    {
+        InterlockedCompareExchange(buffer[index][axis], tmp0, i_val, tmp1);
+
+        if (tmp1 == tmp0) 
+            break;
+
+        tmp0 = tmp1;
+        i_val = asuint(value + asfloat(tmp1));
+    }
+
+    return;
+}
+
+void InterlockedAddFloat(RWStructuredBuffer<uint> buffer, int index, float value) 
+{
+    uint i_val = asuint(value);
+    uint tmp0 = 0;
+    uint tmp1;
+
+    [allow_uav_condition]
+    while (true) 
+    {
+        InterlockedCompareExchange(buffer[index], tmp0, i_val, tmp1);
+
+        if (tmp1 == tmp0) 
+            break;
+
+        tmp0 = tmp1;
+        i_val = asuint(value + asfloat(tmp1));
+    }
+
+    return;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta b/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta
new file mode 100644
index 000000000..c09fa844e
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/InterlockedUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: bb532ce1395da4d13b47a4da3e1b4033
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/MathUtils.cginc b/Assets/Obi/Resources/Compute/MathUtils.cginc
new file mode 100644
index 000000000..fd60de55d
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/MathUtils.cginc
@@ -0,0 +1,648 @@
+#ifndef MATHUTILS_INCLUDE
+#define MATHUTILS_INCLUDE
+
+#define PI 3.14159265359f
+#define SQRT2 1.41421356237f
+#define SQRT3 1.73205080757f
+#define EPSILON 0.0000001f
+#define FLT_MAX 3.402823466e+38
+#define FLT_MIN 1.175494351e-38
+
+#define FLOAT4_ZERO float4(0, 0, 0, 0)
+#define FLOAT4_EPSILON float4(EPSILON, EPSILON, EPSILON, EPSILON)
+
+#define zero 0
+#define one 1
+
+#define PHASE_SELFCOLLIDE (1 << 24)
+#define PHASE_FLUID (1 << 25)
+#define PHASE_ONESIDED (1 << 26)
+#define PHASE_ISOLATED (1 << 27) // particles that are not part of persistent constraints and can be deleted without ill effects: fluids and granulars
+
+#include "Quaternion.cginc"
+#include "Matrix.cginc"
+
+// Based on Kubelka-Munk theory: https://vanity-ibex.xyz/blog/kubelka_munk_colormixing/
+float4 RGBToAbsorption(float4 rgb)
+{
+    // S (scattering) is assumed to be 1 for all channels 
+    float4 k;
+    k.r = pow(1 - rgb.r, 2) / (2 * rgb.r + EPSILON);
+    k.g = pow(1 - rgb.g, 2) / (2 * rgb.g + EPSILON);
+    k.b = pow(1 - rgb.b, 2) / (2 * rgb.b + EPSILON);
+    k.a = rgb.a;
+    return k;
+}
+
+// Based on Kubelka-Munk theory: https://vanity-ibex.xyz/blog/kubelka_munk_colormixing/
+float4 AbsorptionToRGB(float4 k)
+{
+    // Assuming S=1 for all channels
+    float4 rgb;
+    rgb.r = 1 + k.r - sqrt(k.r * (k.r + 2));
+    rgb.g = 1 + k.g - sqrt(k.g * (k.g + 2));
+    rgb.b = 1 + k.b - sqrt(k.b * (k.b + 2));
+    rgb.a = k.a;
+    return rgb;
+}
+
+//https://www.shadertoy.com/view/4djSRW
+float3 hash33(float3 p3)
+{
+    p3 = frac(p3 * float3(.1031, .1030, .0973));
+    p3 += dot(p3, p3.yxz+33.33);
+    return frac((p3.xxy + p3.yxx)*p3.zyx);
+}
+
+float hash13(float3 p3)
+{
+    p3  = frac(p3 * .1031);
+    p3 += dot(p3, p3.zyx + 31.32);
+    return frac((p3.x + p3.y) * p3.z);
+}
+
+float2 hash21(float p)
+{
+    float3 p3 = frac(float3(p,p,p) * float3(.1031, .1030, .0973));
+    p3 += dot(p3, p3.yzx + 33.33);
+    return frac((p3.xx+p3.yz)*p3.zy);
+}
+
+float3 hash31(float p)
+{
+    float3 p3 = frac(float3(p,p,p) * float3(.1031f, .1030f, .0973f));
+    p3 += dot(p3, p3.yzx + 33.33f);
+    return frac((p3.xxy + p3.yzz) * p3.zyx);
+}
+
+float4 normalizesafe(in float4 v, float4 def = float4(0,0,0,0))
+{
+    float len = length(v);
+    return (len < EPSILON) ? def : v/len;
+}
+
+float3 normalizesafe(in float3 v, float3 def = float3(0,0,0))
+{
+    float len = length(v);
+    return (len < EPSILON) ? def : v/len;
+}
+
+inline float cmax( in float3 v)
+{
+    return max(max(v.x,v.y),v.z);
+}
+
+inline float3 nfmod(float3 a, float3 b)
+{
+    return a - b * floor(a / b);
+}
+
+inline float BaryScale(float4 coords)
+{
+    return 1.0 / dot(coords, coords);
+}
+
+float Remap01(float value, float min_, float max_)
+{
+    return (min(value, max_) - min(value, min_)) / (max_ - min_);
+}
+
+float Remap(float value, float min_, float max_, float newmin_, float newmax_)
+{
+    return newmin_ + (value - min_) * (newmax_ - newmin_) / (max_ - min_);
+}
+
+float EllipsoidRadius(float4 normSolverDirection, quaternion orientation, float3 radii)
+{
+    float3 localDir = rotate_vector(q_conj(orientation), normSolverDirection.xyz) / radii;
+    float sqrNorm = dot(localDir, localDir);
+    return sqrNorm > EPSILON ? sqrt(1 / sqrNorm) : radii.x;
+}
+
+float4 Project(float4 v, float4 onto)
+{
+    float len = dot(onto,onto);
+    if (len < EPSILON)
+        return FLOAT4_ZERO;
+    return dot(onto, v) * onto / len;
+}
+
+float3 Project(float3 v, float3 onto)
+{
+    float len = dot(onto,onto);
+    if (len < EPSILON)
+        return float3(0,0,0);
+    return dot(onto, v) * onto / len;
+}
+
+inline void OneSidedNormal(float4 forward, inout float4 normal)
+{
+    float d = dot(normal.xyz, forward.xyz);
+    if (d < 0) normal -= 2 * d * forward;
+}
+
+quaternion ExtractRotation(float3x3 m, quaternion rotation, int iterations)
+{
+    float4x4 R;
+    for (int i = 0; i < iterations; ++i)
+    {
+        R = q_toMatrix(rotation);
+        float3 omega = (cross(R._m00_m10_m20, m._m00_m10_m20) + cross(R._m01_m11_m21, m._m01_m11_m21) + cross(R._m02_m12_m22, m._m02_m12_m22)) /
+                       (abs(dot(R._m00_m10_m20, m._m00_m10_m20) + dot(R._m01_m11_m21, m._m01_m11_m21) + dot(R._m02_m12_m22, m._m02_m12_m22)) + EPSILON);
+
+        float w = length(omega);
+        if (w < EPSILON)
+            break;
+
+        rotation = normalize(qmul(axis_angle((1.0f / w) * omega, w), rotation));
+    }
+    return rotation;
+}
+
+quaternion ExtractRotation(float4x4 m, quaternion rotation, int iterations)
+{
+    return ExtractRotation((float3x3) m, rotation, iterations);
+}
+
+float4 GetParticleInertiaTensor(in float4 principalRadii, in float invRotationalMass)
+{
+    float4 sqrRadii = principalRadii * principalRadii;
+    return 0.2f / (invRotationalMass + EPSILON) * float4(sqrRadii[1] + sqrRadii[2],
+                                                         sqrRadii[0] + sqrRadii[2],
+                                                         sqrRadii[0] + sqrRadii[1], 0);
+}
+
+float4x4 TransformInertiaTensor(float4 tensor, quaternion rotation)
+{
+    float4x4 rotMatrix = q_toMatrix(rotation);
+    return mul(rotMatrix, mul(AsDiagonal(tensor), transpose(rotMatrix)));
+}
+        
+float RotationalInvMass(float4x4 inverseInertiaTensor, float4 pos, float4 direction)
+{
+    float4 cr = mul(inverseInertiaTensor, float4(cross(pos.xyz, direction.xyz), 0));
+    return dot(cross(cr.xyz, pos.xyz), direction.xyz);
+}
+
+float RaySphereIntersection(float3 rayOrigin, float3 rayDirection, float3 center, float radius)
+{
+    float3 oc = rayOrigin - center;
+
+    float a = dot(rayDirection, rayDirection);
+    float b = 2.0 * dot(oc, rayDirection);
+    float c = dot(oc, oc) - radius * radius;
+    float discriminant = b * b - 4 * a * c;
+    if (discriminant < 0){
+        return -1.0f;
+    }
+    else{
+        return (-b - sqrt(discriminant)) / (2.0f * a);
+    }
+}
+
+struct CachedEdge
+{
+    float4 vertex;
+    float4 edge0;
+    float data;
+
+    void Cache(in float4 v1,
+               in float4 v2)
+    {
+        vertex = v1;
+        vertex.w = 0;
+        edge0 = v2 - v1;
+        edge0.w = 0;
+        data = dot(edge0, edge0);
+    }
+};
+
+float4 NearestPointOnEdge(CachedEdge edge, float4 p, out float mu, bool clampToSegment = true)
+{
+    float4 ap = p - edge.vertex;
+    ap.w = 0;
+
+    mu = dot(ap, edge.edge0) / (edge.data + EPSILON);
+
+    if (clampToSegment)
+        mu = saturate(mu);
+
+    float4 result = edge.vertex + edge.edge0 * mu;
+    result.w = 0;
+    return result;
+}
+
+float4 NearestPointOnEdge(float4 a, float4 b, float4 p, out float mu, bool clampToSegment = true)
+{
+    float4 ap = p - a;
+    float4 ab = b - a;
+    ap.w = 0;
+    ab.w = 0;
+
+    mu = dot(ap, ab) / (dot(ab, ab) + EPSILON);
+
+    if (clampToSegment)
+        mu = saturate(mu);
+
+    float4 result = a + ab * mu;
+    result.w = 0;
+    return result;
+}
+
+float3 NearestPointOnEdge(float3 a, float3 b, float3 p, out float mu, bool clampToSegment = true)
+{
+    float3 ap = p - a;
+    float3 ab = b - a;
+
+    mu = dot(ap, ab) / (dot(ab, ab) + EPSILON);
+
+    if (clampToSegment)
+        mu = saturate(mu);
+
+    float3 result = a + ab * mu;
+    return result;
+}
+
+struct CachedTri
+{
+    float4 vertex;
+    float4 edge0;
+    float4 edge1;
+    float4 data;
+
+    void Cache(in float4 v1,
+               in float4 v2,
+               in float4 v3)
+    {
+        vertex = v1;
+        edge0 = v2 - v1;
+        edge1 = v3 - v1;
+        data = float4(0,0,0,0);
+        data[0] = dot(edge0, edge0);
+        data[1] = dot(edge0, edge1);
+        data[2] = dot(edge1, edge1);
+        data[3] = data[0] * data[2] - data[1] * data[1];
+    }
+};
+
+float4 NearestPointOnTri(in CachedTri tri,
+                         in float4 p,
+                         out float4 bary)
+{
+    float4 v0 = tri.vertex - p;
+    float b0 = dot(tri.edge0, v0);
+    float b1 = dot(tri.edge1, v0);
+    float t0 = tri.data[1] * b1 - tri.data[2] * b0;
+    float t1 = tri.data[1] * b0 - tri.data[0] * b1;
+
+    if (t0 + t1 <= tri.data[3])
+    {
+        if (t0 < zero)
+        {
+            if (t1 < zero)  // region 4
+            {
+                if (b0 < zero)
+                {
+                    t1 = zero;
+                    if (-b0 >= tri.data[0])  // V0
+                        t0 = one;
+                    else  // E01
+                        t0 = -b0 / tri.data[0];
+                }
+                else
+                {
+                    t0 = zero;
+                    if (b1 >= zero)  // V0
+                        t1 = zero;
+                    else if (-b1 >= tri.data[2])  // V2
+                        t1 = one;
+                    else  // E20
+                        t1 = -b1 / tri.data[2];
+                }
+            }
+            else  // region 3
+            {
+                t0 = zero;
+                if (b1 >= zero)  // V0
+                    t1 = zero;
+                else if (-b1 >= tri.data[2])  // V2
+                    t1 = one;
+                else  // E20
+                    t1 = -b1 / tri.data[2];
+            }
+        }
+        else if (t1 < zero)  // region 5
+        {
+            t1 = zero;
+            if (b0 >= zero)  // V0
+                t0 = zero;
+            else if (-b0 >= tri.data[0])  // V1
+                t0 = one;
+            else  // E01
+                t0 = -b0 / tri.data[0];
+        }
+        else  // region 0, interior
+        {
+            float invDet = one / tri.data[3];
+            t0 *= invDet;
+            t1 *= invDet;
+        }
+    }
+    else
+    {
+        float tmp0, tmp1, numer, denom;
+
+        if (t0 < zero)  // region 2
+        {
+            tmp0 = tri.data[1] + b0;
+            tmp1 = tri.data[2] + b1;
+            if (tmp1 > tmp0)
+            {
+                numer = tmp1 - tmp0;
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V1
+                {
+                    t0 = one;
+                    t1 = zero;
+                }
+                else  // E12
+                {
+                    t0 = numer / denom;
+                    t1 = one - t0;
+                }
+            }
+            else
+            {
+                t0 = zero;
+                if (tmp1 <= zero)  // V2
+                    t1 = one;
+                else if (b1 >= zero)  // V0
+                    t1 = zero;
+                else  // E20
+                    t1 = -b1 / tri.data[2];
+            }
+        }
+        else if (t1 < zero)  // region 6
+        {
+            tmp0 = tri.data[1] + b1;
+            tmp1 = tri.data[0] + b0;
+            if (tmp1 > tmp0)
+            {
+                numer = tmp1 - tmp0;
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V2
+                {
+                    t1 = one;
+                    t0 = zero;
+                }
+                else  // E12
+                {
+                    t1 = numer / denom;
+                    t0 = one - t1;
+                }
+            }
+            else
+            {
+                t1 = zero;
+                if (tmp1 <= zero)  // V1
+                    t0 = one;
+                else if (b0 >= zero)  // V0
+                    t0 = zero;
+                else  // E01
+                    t0 = -b0 / tri.data[0];
+            }
+        }
+        else  // region 1
+        {
+            numer = tri.data[2] + b1 - tri.data[1] - b0;
+            if (numer <= zero)  // V2
+            {
+                t0 = zero;
+                t1 = one;
+            }
+            else
+            {
+                denom = tri.data[0] - 2 * tri.data[1] + tri.data[2];
+                if (numer >= denom)  // V1
+                {
+                    t0 = one;
+                    t1 = zero;
+                }
+                else  // 12
+                {
+                    t0 = numer / denom;
+                    t1 = one - t0;
+                }
+            }
+        }
+    }
+
+    bary = float4(1 - (t0 + t1), t0, t1,0);
+    return tri.vertex + t0 * tri.edge0 + t1 * tri.edge1;
+}
+
+float3 unitOrthogonal(float3 input)
+{
+    // Find a vector to cross() the input with.
+    if (!(input.x < input.z * EPSILON)
+    ||  !(input.y < input.z * EPSILON))
+    {
+        float invnm = 1 / length(input.xy);
+        return float3(-input.y * invnm, input.x * invnm, 0);
+    }
+    else
+    {
+        float invnm = 1 / length(input.yz);
+        return float3(0, -input.z * invnm, input.y * invnm);
+    }
+}
+
+// D is symmetric, S is an eigen value
+float3 EigenVector(float3x3 D, float S)
+{
+    // Compute a cofactor matrix of D - sI.
+    float3 c0 = D._m00_m10_m20; c0[0] -= S;
+    float3 c1 = D._m01_m11_m21; c1[1] -= S;
+    float3 c2 = D._m02_m12_m22; c2[2] -= S;
+
+    // Upper triangular matrix
+    float3 c0p = float3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
+    float3 c1p = float3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
+    float3 c2p = float3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);
+
+    // Get a column vector with a largest norm (non-zero).
+    float C01s = c1p[0] * c1p[0];
+    float C02s = c2p[0] * c2p[0];
+    float C12s = c2p[1] * c2p[1];
+    float3 norm = float3(c0p[0] * c0p[0] + C01s + C02s,
+                         C01s + c1p[1] * c1p[1] + C12s,
+                         C02s + C12s + c2p[2] * c2p[2]);
+
+    // index of largest:
+    int index = 0;
+    if (norm[0] > norm[1] && norm[0] > norm[2])
+        index = 0;
+    else if (norm[1] > norm[0] && norm[1] > norm[2])
+        index = 1;
+    else
+        index = 2;
+
+    float3 V = float3(0,0,0);
+
+    // special case
+    if (norm[index] < EPSILON)
+    {
+        V[0] = 1; return V;
+    }
+    else if (index == 0)
+    {
+        V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
+        return normalize(V);
+    }
+    else if (index == 1)
+    {
+        V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
+        return normalize(V);
+    }
+    else
+    {
+        V = c2p;
+        return normalize(V);
+    }
+}
+
+static float3 EigenValues(float3x3 D)
+{
+    float one_third = 1 / 3.0f;
+    float one_sixth = 1 / 6.0f;
+    float three_sqrt = sqrt(3.0f);
+
+    float3 c0 = D._m00_m10_m20;
+    float3 c1 = D._m01_m11_m21;
+    float3 c2 = D._m02_m12_m22;
+
+    float m = one_third * (c0[0] + c1[1] + c2[2]);
+
+    // K is D - I*diag(S)
+    float K00 = c0[0] - m;
+    float K11 = c1[1] - m;
+    float K22 = c2[2] - m;
+
+    float K01s = c1[0] * c1[0];
+    float K02s = c2[0] * c2[0];
+    float K12s = c2[1] * c2[1];
+
+    float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
+    float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));
+
+    float p_sqrt = sqrt(p);
+
+    float tmp = p * p * p - q * q;
+    float phi = one_third * atan2(sqrt(max(0, tmp)), q);
+    float phi_c = cos(phi);
+    float phi_s = sin(phi);
+    float sqrt_p_c_phi = p_sqrt * phi_c;
+    float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;
+
+    float e0 = m + 2 * sqrt_p_c_phi;
+    float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
+    float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;
+
+    float aux;
+    if (e0 > e1)
+    {
+        aux = e0;
+        e0 = e1;
+        e1 = aux;
+    }
+    if (e0 > e2)
+    {
+        aux = e0;
+        e0 = e2;
+        e2 = aux;
+    }
+    if (e1 > e2)
+    {
+        aux = e1;
+        e1 = e2;
+        e2 = aux;
+    }
+
+    return float3(e2, e1, e0);
+}
+
+void EigenSolve(float3x3 D, out float3 S, out float3x3 V)
+{
+    // D is symmetric
+    // S is a vector whose elements are eigenvalues
+    // V is a matrix whose columns are eigenvectors
+    S = EigenValues(D);
+    float3 V0, V1, V2;
+
+    if (S[0] - S[1] > S[1] - S[2])
+    {
+        V0 = EigenVector(D, S[0]);
+        if (S[1] - S[2] < EPSILON)
+        {
+            V2 = unitOrthogonal(V0);
+        }
+        else
+        {
+            V2 = EigenVector(D, S[2]); V2 -= V0 * dot(V0, V2); V2 = normalize(V2);
+        }
+        V1 = cross(V2, V0);
+    }
+    else
+    {
+        V2 = EigenVector(D, S[2]);
+        if (S[0] - S[1] < EPSILON)
+        {
+            V1 = unitOrthogonal(V2);
+        }
+        else
+        {
+            V1 = EigenVector(D, S[1]); V1 -= V2 * dot(V2, V1); V1 = normalize(V1);
+        }
+        V0 = cross(V1, V2);
+    }
+
+    V._m00_m10_m20 = V0;
+    V._m01_m11_m21 = V1;
+    V._m02_m12_m22 = V2;
+}
+
+float4 UnpackFloatRGBA(float v)
+{
+    uint rgba = asuint(v);
+    float r = ((rgba & 0xff000000) >> 24) / 255.0;
+    float g = ((rgba & 0x00ff0000) >> 16) / 255.0;
+    float b = ((rgba & 0x0000ff00) >> 8) / 255.0;
+    float a = (rgba & 0x000000ff) / 255.0;
+    return float4(r, g, b, a);
+}
+
+float PackFloatRGBA(float4 enc)
+{
+    uint rgba = ((uint)(enc.x * 255.0) << 24) +
+                ((uint)(enc.y * 255.0) << 16) +
+                ((uint)(enc.z * 255.0) << 8) +
+                (uint)(enc.w * 255.0);
+    return asfloat(rgba);
+}
+
+float2 UnpackFloatRG(float v)
+{
+    uint rgba = asuint(v);
+    float r = ((rgba & 0xffff0000) >> 16) / 65535.0;
+    float g = (rgba & 0x0000ffff) / 65535.0;
+    return float2(r, g);
+}
+
+float PackFloatRG(float2 enc)
+{
+    uint rgba = ((uint)(enc.x * 65535.0) << 16) +
+                (uint)(enc.y * 65535.0);
+    return asfloat(rgba);
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/MathUtils.cginc.meta b/Assets/Obi/Resources/Compute/MathUtils.cginc.meta
new file mode 100644
index 000000000..43b30e62e
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/MathUtils.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 729e4f240dd344abfa1b0972b2ceb0ea
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Matrix.cginc b/Assets/Obi/Resources/Compute/Matrix.cginc
new file mode 100644
index 000000000..5a1bf98e0
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Matrix.cginc
@@ -0,0 +1,108 @@
+#ifndef MATRIX_INCLUDE
+#define MATRIX_INCLUDE
+
+#define FLOAT4X4_IDENTITY float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
+#define FLOAT3X3_IDENTITY float3x3(1, 0, 0, 0, 1, 0, 0, 0, 1)
+#define FLOAT4X4_ZERO float4x4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
+#define FLOAT3X3_ZERO float3x3(0, 0, 0, 0, 0, 0, 0, 0, 0)
+
+#include "Quaternion.cginc"
+
+float4x4 Inverse(float4x4 m) 
+{
+    float n11 = m[0][0], n12 = m[1][0], n13 = m[2][0], n14 = m[3][0];
+    float n21 = m[0][1], n22 = m[1][1], n23 = m[2][1], n24 = m[3][1];
+    float n31 = m[0][2], n32 = m[1][2], n33 = m[2][2], n34 = m[3][2];
+    float n41 = m[0][3], n42 = m[1][3], n43 = m[2][3], n44 = m[3][3];
+
+    float t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44;
+    float t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44;
+    float t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44;
+    float t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
+
+    float det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+    float idet = 1.0f / det;
+
+    float4x4 ret;
+
+    ret[0][0] = t11 * idet;
+    ret[0][1] = (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) * idet;
+    ret[0][2] = (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) * idet;
+    ret[0][3] = (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) * idet;
+
+    ret[1][0] = t12 * idet;
+    ret[1][1] = (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) * idet;
+    ret[1][2] = (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) * idet;
+    ret[1][3] = (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) * idet;
+
+    ret[2][0] = t13 * idet;
+    ret[2][1] = (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) * idet;
+    ret[2][2] = (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) * idet;
+    ret[2][3] = (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) * idet;
+
+    ret[3][0] = t14 * idet;
+    ret[3][1] = (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) * idet;
+    ret[3][2] = (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) * idet;
+    ret[3][3] = (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) * idet;
+
+    return ret;
+}
+
+float4x4 m_scale(float4x4 m, float3 v)
+{
+    float x = v.x, y = v.y, z = v.z;
+
+    m[0][0] *= x; m[1][0] *= y; m[2][0] *= z;
+    m[0][1] *= x; m[1][1] *= y; m[2][1] *= z;
+    m[0][2] *= x; m[1][2] *= y; m[2][2] *= z;
+    m[0][3] *= x; m[1][3] *= y; m[2][3] *= z;
+
+    return m;
+}
+
+float4x4 m_translate(float4x4 m, float3 v)
+{
+    float x = v.x, y = v.y, z = v.z;
+    m[0][3] = x;
+    m[1][3] = y;
+    m[2][3] = z;
+    return m;
+}
+
+float4x4 TRS(float3 position, float4 quat, float3 scale)
+{
+    float4x4 m = q_toMatrix(quat);
+    return float4x4(m[0][0] * scale.x, m[0][1] * scale.y, m[0][2] * scale.z, position.x,
+                    m[1][0] * scale.x, m[1][1] * scale.y, m[1][2] * scale.z, position.y,
+                    m[2][0] * scale.x, m[2][1] * scale.y, m[2][2] * scale.z, position.z,
+                    0, 0, 0, 1);
+}
+
+float4x4 AsDiagonal(in float4 v)
+{
+    return float4x4(v.x, 0, 0, 0,
+                    0, v.y, 0, 0,
+                    0, 0, v.z, 0,
+                    0, 0, 0, v.w);
+}
+
+float3x3 multrnsp(in float4 column, in float4 row)
+{
+    return float3x3(row.xyz * column[0],row.xyz * column[1],row.xyz * column[2]);
+}
+
+float4x4 multrnsp4(in float4 column, float4 row)
+{
+    row[3] = 0;
+    return float4x4(row * column[0],row * column[1],row * column[2], float4(0,0,0,0));
+}
+
+float FrobeniusNorm(in float4x4 m)
+{
+    return sqrt(dot(m._m00_m10_m20_m30,m._m00_m10_m20_m30) + 
+                dot(m._m01_m11_m21_m31,m._m01_m11_m21_m31) +
+                dot(m._m02_m12_m22_m32,m._m02_m12_m22_m32) + 
+                dot(m._m03_m13_m23_m33,m._m03_m13_m23_m33));
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Matrix.cginc.meta b/Assets/Obi/Resources/Compute/Matrix.cginc.meta
new file mode 100644
index 000000000..d6fefdd94
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Matrix.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 80cddbfae548f433a93a4e6e7a10b089
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/NormalCompression.cginc b/Assets/Obi/Resources/Compute/NormalCompression.cginc
new file mode 100644
index 000000000..4fcc93d03
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/NormalCompression.cginc
@@ -0,0 +1,32 @@
+#ifndef NORMALCOMPRESSION_INCLUDE
+#define NORMALCOMPRESSION_INCLUDE
+
+float2 octWrap( float2 v )
+{
+    return ( 1.0 - abs( v.yx ) ) * ( v.xy >= 0.0 ? 1.0 : -1.0 );
+}
+
+// use octahedral encoding to reduce to 2 coords, then pack them as two 16 bit values in a 32 bit float.
+float encode( float3 n )
+{
+    n /= ( abs( n.x ) + abs( n.y ) + abs( n.z ) );
+    n.xy = n.z >= 0.0 ? n.xy : octWrap( n.xy );
+    n.xy = n.xy * 0.5 + 0.5;
+    uint nx = (uint)(n.x * 0xffff);
+    uint ny = (uint)(n.y * 0xffff);
+    return asfloat((nx << 16) | (ny & 0xffff));
+}
+ 
+// unpack 32 bit float into two 16 bit ones, then use octahedral decoding.
+float3 decode( float k )
+{
+    uint d = asuint(k);
+    float2 f = float2((d >> 16) / 65535.0, (d & 0xffff) / 65535.0) * 2.0 - 1.0;
+     
+    float3 n = float3( f.x, f.y, 1.0 - abs( f.x ) - abs( f.y ) );
+    float t = saturate( -n.z );
+    n.xy += n.xy >= 0.0 ? -t : t;
+    return normalize( n );
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta b/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta
new file mode 100644
index 000000000..d98da8185
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/NormalCompression.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d05e07f20b7784bac93ad5818826c787
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Optimization.cginc b/Assets/Obi/Resources/Compute/Optimization.cginc
new file mode 100644
index 000000000..dbc54cd9d
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Optimization.cginc
@@ -0,0 +1,126 @@
+#ifndef OPTIMIZATION_INCLUDE
+#define OPTIMIZATION_INCLUDE
+
+#include "MathUtils.cginc"
+#include "SurfacePoint.cginc"
+
+void GetInterpolatedSimplexData(in int simplexStart,
+                                in int simplexSize,
+                                StructuredBuffer<int> simplices,
+                                StructuredBuffer<float4> positions,
+                                StructuredBuffer<quaternion> orientations,
+                                StructuredBuffer<float4> radii,
+                                float4 convexBary,
+                                inout float4 convexPoint,
+                                inout float4 convexRadii,
+                                inout float4 convexOrientation)
+{
+    convexPoint = FLOAT4_ZERO;
+    convexRadii = FLOAT4_ZERO;
+    convexOrientation = quaternion(0, 0, 0, 0);
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particle = simplices[simplexStart + j];
+        convexPoint += positions[particle] * convexBary[j];
+        convexRadii += radii[particle] * convexBary[j];
+        convexOrientation += orientations[particle] * convexBary[j];
+    }
+    convexPoint.w = 0;
+}
+
+// Frank-Wolfe convex optimization algorithm. Returns closest point to a simplex in a signed distance function.
+void FrankWolfe(in IDistanceFunction f,
+                in int simplexStart,
+                in int simplexSize,
+                StructuredBuffer<float4>  positions,
+                StructuredBuffer<quaternion>  orientations,
+                StructuredBuffer<float4>  radii,
+                StructuredBuffer<int>  simplices,
+                inout float4 convexPoint,
+                inout float4 convexThickness,
+                inout quaternion convexOrientation,
+                inout float4 convexBary,
+                inout SurfacePoint pointInFunction,
+                int maxIterations,
+                float tolerance)
+{
+    for (int i = 0; i < maxIterations; ++i)
+    {
+        // sample target function:
+        f.Evaluate(convexPoint, convexThickness, convexOrientation, pointInFunction);
+
+        // find descent direction:
+        int descent = 0;
+        float gap = FLT_MIN;
+        for (int j = 0; j < simplexSize; ++j)
+        {
+            int particle = simplices[simplexStart + j];
+            float4 candidate = positions[particle] - convexPoint;
+            candidate.w = 0;
+
+            // here, we adjust the candidate by projecting it to the engrosed simplex's surface:
+            candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
+
+            float corr = dot(-pointInFunction.normal, candidate);
+            if (corr > gap)
+            {
+                descent = j;
+                gap = corr;
+            }
+        }
+
+        // if the duality gap is below tolerance threshold, stop iterating.
+        if (gap < tolerance)
+            break;
+
+        // update the barycentric coords using 2/(i+2) as  the step factor
+        float stp = 0.3f * 2.0f / (i + 2);
+        convexBary *= 1 - stp;
+        switch(descent)
+        {
+            case 0: convexBary[0] += stp;break;
+            case 1: convexBary[1] += stp;break;
+            case 2: convexBary[2] += stp;break;
+            case 3: convexBary[3] += stp;break;
+        }
+
+        // get cartesian coordinates of current solution:
+        GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, convexPoint, convexThickness, convexOrientation);
+    }   
+}
+
+SurfacePoint Optimize(in IDistanceFunction f,
+                       StructuredBuffer<float4> positions,
+                       StructuredBuffer<quaternion> orientations,
+                       StructuredBuffer<float4> radii,
+                       StructuredBuffer<int> simplices,
+                       in int simplexStart,
+                       in int simplexSize,
+                       inout float4 convexBary,
+                       out float4 convexPoint,
+                       in int maxIterations = 16,
+                       in float tolerance = 0.004f)
+{
+    SurfacePoint pointInFunction;
+
+    // get cartesian coordinates of the initial guess:
+    float4 convexThickness;
+    quaternion convexOrientation;
+    GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, convexPoint, convexThickness, convexOrientation);
+
+    // for a 0-simplex (point), perform a single evaluation:
+    if (simplexSize == 1 || maxIterations < 1)
+        f.Evaluate(convexPoint, convexThickness, convexOrientation, pointInFunction);
+
+    // for a 1-simplex (edge), perform golden ratio search:
+    //else if (simplexSize == 2)
+      //  GoldenSearch(ref function, simplexStart, simplexSize, positions, orientations, radii, simplices, ref convexPoint, ref convexThickness, ref convexOrientation, ref convexBary, ref pointInFunction, maxIterations, tolerance * 10);
+
+    // for higher-order simplices, use general Frank-Wolfe convex optimization:
+    else
+       FrankWolfe(f, simplexStart, simplexSize, positions, orientations, radii, simplices, convexPoint, convexThickness, convexOrientation, convexBary, pointInFunction, maxIterations, tolerance);
+    
+    return pointInFunction;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Optimization.cginc.meta b/Assets/Obi/Resources/Compute/Optimization.cginc.meta
new file mode 100644
index 000000000..fe513de18
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Optimization.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: e10fb000e4ce24365adc488a45bbe664
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute b/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute
new file mode 100644
index 000000000..64a99c0c2
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute
@@ -0,0 +1,214 @@
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "SolverParameters.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "CollisionMaterial.cginc"
+#include "Simplex.cginc"
+#include "AtomicDeltas.cginc"
+
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float4> fluidInterface;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<quaternion> orientations;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<float4> deltas;
+RWStructuredBuffer<float4> userData;
+
+// Vulkan workaround: don't declare a RW array after a counter/append one (particleContacts) since the counter overlaps the first entry in the next array.
+RWStructuredBuffer<contactMasses> effectiveMasses;
+RWStructuredBuffer<contact> particleContacts;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint particleCount;
+float substepTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+    
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    float4 simplexVelocityA = float4(0,0,0,0);
+    float4 simplexPrevPositionA = float4(0,0,0,0);
+    quaternion simplexPrevOrientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+    float simplexInvMassA = 0;
+    float simplexInvRotationalMassA = 0;
+
+    float4 simplexVelocityB = float4(0,0,0,0);
+    float4 simplexPrevPositionB = float4(0,0,0,0);
+    quaternion simplexPrevOrientationB = quaternion(0, 0, 0, 0);
+    float simplexRadiusB = 0;
+    float simplexInvMassB = 0;
+    float simplexInvRotationalMassB = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        simplexVelocityA += velocities[particleIndex] * particleContacts[i].pointA[j];
+        simplexPrevPositionA += prevPositions[particleIndex] * particleContacts[i].pointA[j];
+        simplexPrevOrientationA += prevOrientations[particleIndex] * particleContacts[i].pointA[j];
+        simplexInvMassA += invMasses[particleIndex] * particleContacts[i].pointA[j];
+        simplexInvRotationalMassA += invRotationalMasses[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        simplexVelocityB += velocities[particleIndex] * particleContacts[i].pointB[j];
+        simplexPrevPositionB += prevPositions[particleIndex] * particleContacts[i].pointB[j];
+        simplexPrevOrientationB += prevOrientations[particleIndex] * particleContacts[i].pointB[j];
+        simplexInvMassB += invMasses[particleIndex] * particleContacts[i].pointB[j];
+        simplexInvRotationalMassB += invRotationalMasses[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointB[j];
+    }
+
+    simplexPrevPositionA.w = 0;
+    simplexPrevPositionB.w = 0;
+
+    // update contact distance
+    float4 contactPointA = simplexPrevPositionA - particleContacts[i].normal * simplexRadiusA;
+    float4 contactPointB = simplexPrevPositionB + particleContacts[i].normal * simplexRadiusB;
+
+    particleContacts[i].dist = dot(contactPointA - contactPointB, particleContacts[i].normal);
+
+    // update contact basis:
+    CalculateBasis(simplexVelocityA - simplexVelocityB, particleContacts[i].normal,particleContacts[i].tangent);
+
+    // update contact masses:
+    int aMaterialIndex = collisionMaterialIndices[simplices[simplexStartA]];
+    int bMaterialIndex = collisionMaterialIndices[simplices[simplexStartB]];
+    bool rollingContacts = (aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false) |
+                           (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
+
+    float4 invInertiaTensorA = 1.0/(GetParticleInertiaTensor(simplexRadiusA, simplexInvRotationalMassA) + FLOAT4_EPSILON);
+    float4 invInertiaTensorB = 1.0/(GetParticleInertiaTensor(simplexRadiusB, simplexInvRotationalMassB) + FLOAT4_EPSILON);
+
+    float4 bitangent = GetBitangent(particleContacts[i]);
+    CalculateContactMassesA(simplexInvMassA, invInertiaTensorA, simplexPrevPositionA, simplexPrevOrientationA, contactPointA, rollingContacts, particleContacts[i].normal,particleContacts[i].tangent,bitangent, effectiveMasses[i].normalInvMassA, effectiveMasses[i].tangentInvMassA, effectiveMasses[i].bitangentInvMassA);
+    CalculateContactMassesB(simplexInvMassB, invInertiaTensorB, simplexPrevPositionB, simplexPrevOrientationB, contactPointB, rollingContacts, particleContacts[i].normal,particleContacts[i].tangent,bitangent, effectiveMasses[i].normalInvMassB, effectiveMasses[i].tangentInvMassB, effectiveMasses[i].bitangentInvMassB);
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStartA]], collisionMaterialIndices[simplices[simplexStartB]]);
+
+    float4 simplexPositionA = FLOAT4_ZERO, simplexPositionB = FLOAT4_ZERO;
+    float simplexRadiusA = 0, simplexRadiusB = 0;
+    float4 simplexUserDataA = FLOAT4_ZERO, simplexUserDataB = FLOAT4_ZERO;
+    float miscibility = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        simplexPositionA += positions[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+        simplexUserDataA += userData[particleIndex] * particleContacts[i].pointA[j];
+        miscibility += fluidInterface[particleIndex].w * particleContacts[i].pointA[j];
+    }
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        simplexPositionB += positions[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+        simplexUserDataB += userData[particleIndex] * particleContacts[i].pointB[j];
+        miscibility += fluidInterface[particleIndex].w * particleContacts[i].pointB[j];
+    }
+
+    simplexPositionA.w = 0;
+    simplexPositionB.w = 0;
+
+    float4 posA = simplexPositionA - particleContacts[i].normal * simplexRadiusA;
+    float4 posB = simplexPositionB + particleContacts[i].normal * simplexRadiusB;
+
+    float normalInvMass = effectiveMasses[i].normalInvMassA + effectiveMasses[i].normalInvMassB;
+
+    // adhesion:
+    float lambda = SolveAdhesion(particleContacts[i], normalInvMass, posA, posB, material.stickDistance, material.stickiness, substepTime);
+
+    lambda += SolvePenetration(particleContacts[i], normalInvMass, posA, posB, maxDepenetration * substepTime);
+
+    if (abs(lambda) > EPSILON)
+    {
+        float shock = shockPropagation * dot(particleContacts[i].normal.xyz, normalizesafe(gravity));
+        float4 delta = lambda * particleContacts[i].normal;
+               
+        float baryScale = BaryScale(particleContacts[i].pointA);
+        for (j = 0; j < simplexSizeA; ++j)
+        {
+            int particleIndex = simplices[simplexStartA + j];
+            float4 delta1 = delta * invMasses[particleIndex] * particleContacts[i].pointA[j] * baryScale * (1 - shock);
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        baryScale = BaryScale(particleContacts[i].pointB);
+        for (j = 0; j < simplexSizeB; ++j)
+        {
+            int particleIndex = simplices[simplexStartB + j];
+            float4 delta2 = -delta * invMasses[particleIndex] * particleContacts[i].pointB[j] * baryScale * (1 + shock);
+            AtomicAddPositionDelta(particleIndex, delta2);
+        }
+    }
+
+    // property diffusion:
+    if (particleContacts[i].dist < collisionMargin)
+    {
+        float diffusionSpeed = miscibility * 0.5 * substepTime;
+        float4 userDelta = (simplexUserDataB - simplexUserDataA) * diffusionMask * diffusionSpeed;
+
+        for (j = 0; j < simplexSizeA; ++j)
+            AtomicAddOrientationDelta(simplices[simplexStartA + j], userDelta * particleContacts[i].pointA[j]);
+           
+        for (j = 0; j < simplexSizeB; ++j)
+            AtomicAddOrientationDelta(simplices[simplexStartB + j], -userDelta * particleContacts[i].pointB[j]);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+ 
+    ApplyPositionDelta(positions, p, sorFactor);
+    ApplyUserDataDelta(userData, p);
+}
+
+
diff --git a/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta b/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta
new file mode 100644
index 000000000..e53cfc746
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleCollisionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 770004596b21f49118a60c5ad181940c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute b/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute
new file mode 100644
index 000000000..13c92607f
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute
@@ -0,0 +1,187 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "ContactHandling.cginc"
+#include "Integration.cginc"
+#include "CollisionMaterial.cginc"
+#include "Simplex.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> simplices;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<quaternion> prevOrientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+RWStructuredBuffer<float4> deltas;
+
+RWStructuredBuffer<contact> particleContacts;
+RWStructuredBuffer<contactMasses> effectiveMasses;
+StructuredBuffer<uint> dispatchBuffer;
+
+// Variables set from the CPU
+uint particleCount;
+float substepTime;
+float stepTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= dispatchBuffer[3]) return;
+
+    int simplexSizeA;
+    int simplexSizeB;
+    int simplexStartA = GetSimplexStartAndSize(particleContacts[i].bodyA, simplexSizeA);
+    int simplexStartB = GetSimplexStartAndSize(particleContacts[i].bodyB, simplexSizeB);
+
+    // Combine collision materials (use material from first particle in simplex)
+    collisionMaterial material = CombineCollisionMaterials(collisionMaterialIndices[simplices[simplexStartA]],
+                                                           collisionMaterialIndices[simplices[simplexStartB]]);
+    
+    float4 prevPositionA = float4(0,0,0,0);
+    float4 linearVelocityA = float4(0,0,0,0);
+    float4 angularVelocityA = float4(0,0,0,0);
+    float invRotationalMassA = 0;
+    quaternion orientationA = quaternion(0, 0, 0, 0);
+    float simplexRadiusA = 0;
+
+    float4 prevPositionB = float4(0,0,0,0);
+    float4 linearVelocityB = float4(0,0,0,0);
+    float4 angularVelocityB = float4(0,0,0,0);
+    float invRotationalMassB = 0;
+    quaternion orientationB = quaternion(0, 0, 0, 0);
+    float simplexRadiusB = 0;
+
+    int j = 0;
+    for (j = 0; j < simplexSizeA; ++j)
+    {
+        int particleIndex = simplices[simplexStartA + j];
+        prevPositionA    += prevPositions[particleIndex] * particleContacts[i].pointA[j];
+        linearVelocityA  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * particleContacts[i].pointA[j];
+        angularVelocityA += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * particleContacts[i].pointA[j];
+        invRotationalMassA += invRotationalMasses[particleIndex] * particleContacts[i].pointA[j];
+        orientationA += orientations[particleIndex] * particleContacts[i].pointA[j];
+        simplexRadiusA += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointA[j];
+    }
+
+    for (j = 0; j < simplexSizeB; ++j)
+    {
+        int particleIndex = simplices[simplexStartB + j];
+        prevPositionB    += prevPositions[particleIndex] * particleContacts[i].pointB[j];
+        linearVelocityB  += DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * particleContacts[i].pointB[j];
+        angularVelocityB += DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * particleContacts[i].pointB[j];
+        invRotationalMassB += invRotationalMasses[particleIndex] * particleContacts[i].pointB[j];
+        orientationB += orientations[particleIndex] * particleContacts[i].pointB[j];
+        simplexRadiusB += EllipsoidRadius(particleContacts[i].normal, prevOrientations[particleIndex], principalRadii[particleIndex].xyz) * particleContacts[i].pointB[j];
+    }
+
+    float4 rA = FLOAT4_ZERO;
+    float4 rB = FLOAT4_ZERO;
+
+    // Consider angular velocities if rolling contacts are enabled:
+    if (material.rollingContacts > 0)
+    {
+        rA = -particleContacts[i].normal * simplexRadiusA;
+        rB = particleContacts[i].normal * simplexRadiusB;
+
+        linearVelocityA += float4(cross(angularVelocityA.xyz, rA.xyz), 0);
+        linearVelocityB += float4(cross(angularVelocityB.xyz, rB.xyz), 0);
+    }
+
+    // Calculate relative velocity:
+    float4 relativeVelocity = linearVelocityA - linearVelocityB;
+
+    // Determine impulse magnitude:
+    float tangentMass = effectiveMasses[i].tangentInvMassA + effectiveMasses[i].tangentInvMassB;
+    float bitangentMass = effectiveMasses[i].bitangentInvMassA + effectiveMasses[i].bitangentInvMassB;
+    float2 impulses = SolveFriction(particleContacts[i],tangentMass,bitangentMass,relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+    if (abs(impulses.x) > EPSILON || abs(impulses.y) > EPSILON)
+    {
+        float4 tangentImpulse   = impulses.x * particleContacts[i].tangent;
+        float4 bitangentImpulse = impulses.y * GetBitangent(particleContacts[i]);
+        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+        float baryScale = BaryScale(particleContacts[i].pointA);
+        for (j = 0; j < simplexSizeA; ++j)
+        {
+            int particleIndex = simplices[simplexStartA + j];
+            float4 delta1 = (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * particleContacts[i].pointA[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta1);
+        }
+
+        baryScale = BaryScale(particleContacts[i].pointB);
+        for (j = 0; j < simplexSizeB; ++j)
+        {
+            int particleIndex = simplices[simplexStartB + j];
+            float4 delta2 = -(tangentImpulse * effectiveMasses[i].tangentInvMassB + bitangentImpulse * effectiveMasses[i].bitangentInvMassB) * substepTime * particleContacts[i].pointB[j] * baryScale; 
+            AtomicAddPositionDelta(particleIndex, delta2);
+        }
+
+        // Rolling contacts:
+        if (material.rollingContacts > 0)
+        {
+            float4 invInertiaTensorA = 1.0/(GetParticleInertiaTensor(simplexRadiusA, invRotationalMassA) + FLOAT4_EPSILON);
+            float4 invInertiaTensorB = 1.0/(GetParticleInertiaTensor(simplexRadiusB, invRotationalMassB) + FLOAT4_EPSILON);
+
+            // Calculate angular velocity deltas due to friction impulse:
+            float4x4 solverInertiaA = TransformInertiaTensor(invInertiaTensorA, orientationA);
+            float4x4 solverInertiaB = TransformInertiaTensor(invInertiaTensorB, orientationB);
+
+            float4 angVelDeltaA = mul(solverInertiaA, float4(cross(rA.xyz, totalImpulse.xyz), 0));
+            float4 angVelDeltaB = -mul(solverInertiaB, float4(cross(rB.xyz, totalImpulse.xyz), 0));
+
+            // Final angular velocities, after adding the deltas:
+            angularVelocityA += angVelDeltaA;
+            angularVelocityB += angVelDeltaB;
+
+            // Calculate weights (inverse masses):
+            float invMassA = length(mul(solverInertiaA, normalizesafe(angularVelocityA)));
+            float invMassB = length(mul(solverInertiaB, normalizesafe(angularVelocityB)));
+
+            // Calculate rolling axis and angular velocity deltas:
+            float4 rollAxis = FLOAT4_ZERO;
+            float rollingImpulse = SolveRollingFriction(particleContacts[i],angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, rollAxis);
+            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+            // Apply orientation deltas to particles:
+            quaternion orientationDeltaA = AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+            quaternion orientationDeltaB = AngularVelocityToSpinQuaternion(orientationB, angVelDeltaB, substepTime);
+
+            for (j = 0; j < simplexSizeA; ++j)
+            {
+                int particleIndex = simplices[simplexStartA + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDeltaA);
+            }
+
+            for (j = 0; j < simplexSizeB; ++j)
+            {
+                int particleIndex = simplices[simplexStartB + j];
+                AtomicAddOrientationDelta(particleIndex, orientationDeltaB);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= particleCount) return;
+
+    int p = particleIndices[threadIndex];
+  
+    ApplyPositionDelta(positions, p, sorFactor);
+    ApplyOrientationDelta(orientations, p, sorFactor);
+}
+
+
diff --git a/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta b/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta
new file mode 100644
index 000000000..48a2a4d33
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleFrictionConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bd14011b19e9c47d1964f351a7ed4df7
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ParticleGrid.compute b/Assets/Obi/Resources/Compute/ParticleGrid.compute
new file mode 100644
index 000000000..a2cc43eb2
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleGrid.compute
@@ -0,0 +1,626 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "SolverParameters.cginc"
+#include "Simplex.cginc"
+#include "Phases.cginc"
+#include "Bounds.cginc"
+#include "Simplex.cginc"
+
+#pragma kernel Clear
+#pragma kernel InsertSimplices
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortSimplices
+#pragma kernel BuildFluidDispatch
+#pragma kernel SortFluidSimplices
+#pragma kernel BuildMortonIndices
+#pragma kernel MortonSort
+#pragma kernel FindFluidNeighborsInSameLevel
+#pragma kernel FindFluidNeighborsInUpperLevels
+#pragma kernel BuildContactList
+#pragma kernel BuildFluidParticleIndexBuffer
+
+StructuredBuffer<aabb> solverBounds;
+StructuredBuffer<aabb> simplexBounds;
+StructuredBuffer<int> simplices;        // particle indices in each simplex.
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> fluidMaterials;
+StructuredBuffer<float4> fluidInterface;
+StructuredBuffer<uint4> normals;
+
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<quaternion> restOrientations;
+
+StructuredBuffer<float4> velocities;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<int> phases;
+StructuredBuffer<int> filters;
+
+StructuredBuffer<int4> R_cellCoords;     // for each item, its cell coordinates.
+StructuredBuffer<uint> R_offsetInCell;   // for each item, its offset within the cell.
+StructuredBuffer<uint> R_cellOffsets;    // start of each cell in the sorted item array.
+StructuredBuffer<uint> R_cellCounts;     // number of item in each cell.
+StructuredBuffer<uint> R_levelPopulation;
+
+RWStructuredBuffer<int4> cellCoords;     // for each item, its cell coordinates.
+RWStructuredBuffer<uint> offsetInCell;   // for each item, its offset within the cell.
+RWStructuredBuffer<uint> cellOffsets;    // start of each cell in the sorted item array.
+RWStructuredBuffer<uint> cellCounts;     // number of item in each cell.
+
+RWStructuredBuffer<int> cellHashToMortonIndex; 
+
+RWStructuredBuffer<int> mortonSortedCellHashes; 
+RWStructuredBuffer<int> sortedSimplexToFluid; // fluidSimplices
+RWStructuredBuffer<int> sortedFluidIndices;  
+RWStructuredBuffer<int> sortedSimplexIndices;      
+
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedFluidMaterials;
+RWStructuredBuffer<float4> sortedFluidInterface;
+RWStructuredBuffer<float4> sortedPrincipalRadii;
+
+RWStructuredBuffer<uint> neighbors;
+RWStructuredBuffer<uint> neighborCounts;
+
+RWStructuredBuffer<contact> particleContacts;
+RWStructuredBuffer<uint2> contactPairs;
+
+RWStructuredBuffer<uint> fluidDispatchBuffer;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+RWStructuredBuffer<float4> colors;
+
+uint maxContacts;
+uint maxNeighbors;
+uint fluidParticleCount;
+float deltaTime;    
+
+const uint groupWidth;
+const uint groupHeight;
+const uint stepIndex; 
+
+/**
+For each cell, calculate coords and morton. This only works if there’s no collisions, so use the coord of one random particle that maps to that cell:
+
+For each simplex:
+Determine cell coords (any particle in it will do) and hash, store in array per cell. Sort array by morton(coords), create array that maps from cell hash to morton index, then use as cellCounts[mortonIndex].
+
+This way we have sorted particles and cells, and can use for fluid surface. Win win!!
+*/
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= maxCells)
+        return;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell counts to zero, and cell offsets to invalid.
+    cellOffsets[i] = INVALID;
+    cellCounts[i] = 0;
+    mortonSortedCellHashes[i] = i;
+}
+
+[numthreads(128, 1, 1)]
+void InsertSimplices (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    // calculate simplex cell index:
+    int level = GridLevelForSize(simplexBounds[i].MaxAxisLength());
+    float cellSize = CellSizeOfLevel(level);
+    int4 cellCoord = int4(floor((simplexBounds[i].Center() - solverBounds[0].min_)/ cellSize).xyz,level);
+
+    // if the solver is 2D, project to the z = 0 cell.
+    if (mode == 1) cellCoord[2] = 0;
+
+    // insert simplex in cell:
+    uint cellIndex = GridHash(cellCoord);
+    cellCoords[i] = cellCoord;
+    InterlockedAdd(cellCounts[cellIndex],1,offsetInCell[i]);
+
+    // assign minimum morton code to cell 
+    // (there may be hash collisions mapping two coordinates to the same cell, that's why we use atomic minimum)
+    float mortonCellSize = solverBounds[0].MaxAxisLength() / 1024.0;
+    uint morton = EncodeMorton3(floor((simplexBounds[i].Center() - solverBounds[0].min_).xyz / mortonCellSize));
+    InterlockedMin(cellOffsets[cellIndex], morton);
+
+    // clear neighbor count:
+    neighborCounts[i] = 0;
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128,1,1)]
+void MortonSort(uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    uint hIndex = i & (groupWidth - 1);
+    uint indexLeft = hIndex + (groupHeight + 1) * (i / groupWidth);
+    uint rightStepSize = stepIndex == 0 ? groupHeight - 2 * hIndex : (groupHeight + 1) / 2;
+    uint indexRight = indexLeft + rightStepSize;
+
+    // Exit if out of bounds
+    if (indexRight >= maxCells) return;
+    
+    // get morton index for both cells: 
+    uint mortonL = cellOffsets[indexLeft];
+    uint mortonR = cellOffsets[indexRight];
+
+    // get cell counts:
+    uint simplexIndexL = cellCounts[indexLeft];
+    uint simplexIndexR = cellCounts[indexRight];
+
+    uint orderL = mortonSortedCellHashes[indexLeft];
+    uint orderR = mortonSortedCellHashes[indexRight];
+    
+    // Swap entries if order is incorrect
+    if (mortonL > mortonR)
+    {
+        cellCounts[indexLeft] = simplexIndexR;
+        cellCounts[indexRight] = simplexIndexL;
+
+        cellOffsets[indexLeft] = mortonR;
+        cellOffsets[indexRight] = mortonL;
+
+        mortonSortedCellHashes[indexLeft] = orderR;
+        mortonSortedCellHashes[indexRight] = orderL;
+    }
+}
+
+[numthreads(128,1,1)]
+void BuildMortonIndices(uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= maxCells) return; 
+    
+    // build map from cell hash to index in morton-sorted cell data.
+    int index = mortonSortedCellHashes[i];
+    cellHashToMortonIndex[index] = i;
+}
+
+[numthreads(128, 1, 1)]
+void SortSimplices (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    // write simplex index to its index in the grid:
+    uint cellIndex = cellHashToMortonIndex[GridHash(R_cellCoords[i])]; 
+    uint gridIndex = R_cellOffsets[cellIndex] + R_offsetInCell[i];
+    sortedSimplexIndices[gridIndex] = i; // maps from index in grid to simplex index.
+
+    // flag fluid simplices with 1. we'll later do a prefix sum of this array 
+    // to get a compact list of grid-sorted fluid indices.
+    int size; 
+    int p = simplices[GetSimplexStartAndSize(i, size)];
+    sortedFluidIndices[gridIndex] = ((phases[p] & Fluid) != 0) ? 1:0;
+}
+
+[numthreads(1, 1, 1)]
+void BuildFluidDispatch (uint3 id : SV_DispatchThreadID) 
+{
+    // since we are using *exclusive* prefix sum,
+    // we must add the last entries of both buffers together to get total count of fluid simplices.
+
+    int lastEntry = pointCount + edgeCount + triangleCount - 1;
+    fluidDispatchBuffer[3] = sortedSimplexToFluid[lastEntry] + sortedFluidIndices[lastEntry];
+    fluidDispatchBuffer[0] = fluidDispatchBuffer[3] / 128 + 1;
+}
+
+[numthreads(128, 1, 1)]
+void SortFluidSimplices (uint3 id : SV_DispatchThreadID)  //rename to sort fluid data.
+{
+    // check all simplices. 
+    uint i = id.x;
+    if (i >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellIndex = cellHashToMortonIndex[GridHash(R_cellCoords[i])];
+    uint gridIndex = R_cellOffsets[cellIndex] + R_offsetInCell[i];
+
+    // copy the data of first particle in each fluid simplex to sorted arrays 
+    // using prefix sum results: same as grid order, but contiguous. 
+    int size; 
+    int p = simplices[GetSimplexStartAndSize(i, size)];
+
+    if ((phases[p] & Fluid) != 0)
+    {
+        int fluidIndex = sortedSimplexToFluid[gridIndex];
+        sortedFluidIndices[fluidIndex] = i;
+
+        sortedPositions[fluidIndex] = positions[p];
+        sortedFluidMaterials[fluidIndex] = fluidMaterials[p];
+        sortedFluidInterface[fluidIndex] = fluidInterface[p];
+        sortedPrincipalRadii[fluidIndex] = principalRadii[p];
+    }
+    else
+        sortedSimplexToFluid[gridIndex] = -1;
+}
+
+int GetSimplexGroup(in int simplexStart,in int simplexSize, out int flags, out int category, out int mask, out bool restPositionsEnabled)
+{
+    flags = 0;
+    int group = 0;
+    category = 0;
+    mask = 0;
+    restPositionsEnabled = false;
+
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        group = max(group, phases[particleIndex] & GroupMask);
+        flags |= phases[particleIndex] & ~GroupMask; // get flags from phase
+        category |= filters[particleIndex] & CategoryMask; // get category from filter
+        mask |= (filters[particleIndex] & MaskMask) >> 16; // get mask from filter
+        restPositionsEnabled = restPositionsEnabled || (restPositions[particleIndex].w > 0.5f);
+    }
+
+    return group;
+}
+
+struct simplexData
+{
+    int index;
+    int start;
+    int size;
+    int category;
+    int mask;
+    int flags;
+    int group;
+    bool restPosEnabled;
+};
+
+simplexData GetSimplexData(int indexInGrid)
+{
+    simplexData s;
+    s.index = sortedSimplexIndices[indexInGrid];
+    s.start = GetSimplexStartAndSize(s.index, s.size);
+    s.group = GetSimplexGroup(s.start, s.size, s.flags, s.category, s.mask, s.restPosEnabled);
+    return s;
+}
+
+void InteractionTest(simplexData a, simplexData b)
+{   
+    if ((a.flags & Fluid) == 0 || (b.flags & Fluid) == 0)
+    {
+        // immediately reject simplex pairs that share particles:
+        int j = 0;
+        for (int i = 0; i < a.size; ++i)
+            for (j = 0; j < b.size; ++j)
+                if (simplices[a.start + i] == simplices[b.start + j])
+                    return;
+
+        // if all particles are in the same group:
+        if (a.group == b.group)
+        {
+            // if none are self-colliding, reject the pair.
+            if ((a.flags & b.flags & SelfCollide) == 0)
+                return;
+        }
+        // category-based filtering:
+        else if ((a.mask & b.category) == 0 || (b.mask & a.category) == 0)
+            return;
+
+        // swap simplices (except for category) so that B is always the one-sided one.
+        int categoryA = a.category;
+        int categoryB = b.category;
+        if ((a.flags & OneSided) != 0 && categoryA < categoryB)
+        {
+            simplexData t = a;
+            a = b;
+            b = t; 
+        }
+
+        float4 simplexBary = BarycenterForSimplexOfSize(a.size);
+        float4 simplexPoint;
+
+        Simplex simplexShape;
+        simplexShape.simplexStart = b.start;
+        simplexShape.simplexSize = b.size;
+        simplexShape.simplices = simplices;
+        simplexShape.positions = restPositions;
+        float simplexRadiusA = 0; float simplexRadiusB = 0;
+
+        // skip the contact if there's self-intersection at rest:
+        if (a.group == b.group && (a.restPosEnabled || b.restPosEnabled))
+        {
+            SurfacePoint restPoint = Optimize(simplexShape, restPositions, restOrientations, principalRadii,
+                                             simplices, a.start, a.size, simplexBary, simplexPoint, 4, 0);
+                                             
+            for (j = 0; j < a.size; ++j)
+                simplexRadiusA += principalRadii[simplices[a.start + j]].x * simplexBary[j];
+
+            for (j = 0; j < b.size; ++j)
+                simplexRadiusB += principalRadii[simplices[b.start + j]].x * restPoint.bary[j];
+
+            // compare distance along contact normal with radius.
+            if (dot(simplexPoint - restPoint.pos, restPoint.normal) < simplexRadiusA + simplexRadiusB)
+                return;
+        }
+        
+        simplexBary = BarycenterForSimplexOfSize(a.size);
+        simplexShape.positions = positions;
+
+        SurfacePoint surfacePoint = Optimize(simplexShape, positions, orientations, principalRadii,
+                                             simplices, a.start, a.size, simplexBary, simplexPoint);
+
+        simplexRadiusA = 0; simplexRadiusB = 0;
+        float4 velocityA = FLOAT4_ZERO, velocityB = FLOAT4_ZERO, normalA = FLOAT4_ZERO, normalB = FLOAT4_ZERO;
+        float invMassA = 0, invMassB = 0; 
+        
+        for (j = 0; j < a.size; ++j)
+        {
+            int particleIndex = simplices[a.start + j];
+            simplexRadiusA += principalRadii[particleIndex].x * simplexBary[j];
+            velocityA += velocities[particleIndex] * simplexBary[j];
+            float4 nrm = asfloat(normals[particleIndex]);
+            normalA += (nrm.w < 0 ? float4(rotate_vector(orientations[particleIndex],nrm.xyz), nrm.w) : nrm) * simplexBary[j];
+            invMassA += invMasses[particleIndex] * simplexBary[j];
+        }
+
+        for (j = 0; j < b.size; ++j)
+        {
+            int particleIndex = simplices[b.start + j];
+            simplexRadiusB += principalRadii[particleIndex].x * surfacePoint.bary[j];
+            velocityB += velocities[particleIndex] * surfacePoint.bary[j];
+            float4 nrm = asfloat(normals[particleIndex]);
+            normalB += (nrm.w < 0 ? float4(rotate_vector(orientations[particleIndex],nrm.xyz), nrm.w) : nrm) * surfacePoint.bary[j];
+            invMassB += invMasses[particleIndex] * simplexBary[j];
+        }
+
+        // no contact between fixed simplices: TODO: make optional
+       //if (!(invMassA > 0 || invMassB > 0)) 
+       //    return;
+
+        float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+        float vel = dot(velocityA    - velocityB,        surfacePoint.normal);
+
+        // check if the projected velocity along the contact normal will get us within collision distance.
+        if (vel * deltaTime + dAB <= simplexRadiusA + simplexRadiusB + collisionMargin)
+        {
+            // adapt collision normal for one-sided simplices:
+            if ((b.flags & OneSided) != 0 && categoryA < categoryB)
+                OneSidedNormal(normalB, surfacePoint.normal);
+
+            // during inter-collision, if either particle contains SDF data and they overlap:
+            if (a.group != b.group && (normalB.w < 0 || normalA.w < 0) && dAB * 1.05f <= simplexRadiusA + simplexRadiusB)
+            {
+                // as normal, pick SDF gradient belonging to least penetration distance:
+                float4 nij = normalB;
+                if (normalB.w >= 0 || (normalA.w < 0 && normalB.w < normalA.w))
+                    nij = float4(-normalA.xyz, normalA.w);
+
+                // for boundary particles, use one sided sphere normal:
+                if (abs(nij.w) <= max(simplexRadiusA, simplexRadiusB) * 1.5f)
+                    OneSidedNormal(nij, surfacePoint.normal);
+                else
+                    surfacePoint.normal = nij;
+            }
+
+            uint count = particleContacts.IncrementCounter();
+            if (count < maxContacts)
+            {
+                contact c = (contact)0;
+                
+                c.normal = surfacePoint.normal;
+                c.pointA = simplexBary;
+                c.pointB = surfacePoint.bary;
+                c.bodyA = a.index;
+                c.bodyB = b.index;
+
+                particleContacts[count] = c;
+                contactPairs[count] = uint2(c.bodyA,c.bodyB);
+                    
+                InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                InterlockedMax(dispatchBuffer[3], count + 1);
+            }
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= pointCount + edgeCount + triangleCount) return;
+       
+    // current cell:
+    int4 cellCoord = R_cellCoords[i];
+    uint cellIndex = cellHashToMortonIndex[GridHash(cellCoord)];
+    uint n = R_cellOffsets[cellIndex];
+    uint end = n + R_cellCounts[cellIndex]; 
+    uint indexInGrid = n + R_offsetInCell[i];
+
+    simplexData data1 = GetSimplexData(indexInGrid);
+    
+    // in current cell, only consider simplices that appear after this one:
+    for (++indexInGrid; indexInGrid < end; ++indexInGrid)
+        InteractionTest(data1,GetSimplexData(indexInGrid));
+    
+    // neighbour cells ahead of the current one in the same level:
+    for(int j = 0; j < 13; ++j)
+    {
+        // get first simplex in neighbor cell: 
+        cellIndex = cellHashToMortonIndex[GridHash(cellCoord + aheadCellNeighborhood[j])];
+        n = R_cellOffsets[cellIndex]; 
+        end = n + R_cellCounts[cellIndex]; 
+        
+        // iterate through all simplices in neighbor cell:
+        for (; n < end; ++n)
+            InteractionTest(data1,GetSimplexData(n));
+    }
+    
+    // higher grid levels:
+    for (uint m = 1; m <= R_levelPopulation[0]; ++m)
+    {
+        uint l = R_levelPopulation[m];
+        if (l <= (uint)cellCoord.w) continue;
+
+        int4 parentCellCoords = GetParentCellCoords(cellCoord, l);
+    
+        for (int j = 0; j < 27; ++j)
+        {
+            // get first simplex in neighbor cell: 
+            cellIndex = cellHashToMortonIndex[GridHash(parentCellCoords + cellNeighborhood[j])];
+            n = R_cellOffsets[cellIndex]; 
+            end = n + R_cellCounts[cellIndex]; 
+            
+            // iterate through all simplices in neighbor cell:
+            for (; n < end; ++n)
+                InteractionTest(data1,GetSimplexData(n));
+        }
+    }
+}
+
+[numthreads(128, 1, 1)]
+void FindFluidNeighborsInSameLevel (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    // current cell:
+    int4 cellCoord = R_cellCoords[sortedFluidIndices[i]];
+    int4 neighborCoord;
+    uint cellIndex, n, end;
+
+    float4 d;
+    float interactionRadius, cellSize;
+    int fluidB;
+       
+    float4 posA = sortedPositions[i];
+    float radA = sortedFluidMaterials[i].x;
+
+    uint count = 0;
+
+    // neighbour cells in same level. We don't need atomics for this, 
+    // and we can guarantee that the neighbors for each particle will
+    // appear in sorted order.
+    for(int j = 0; j < 27; ++j)
+    {
+        // get cell start/end
+        neighborCoord = cellCoord + cellNeighborhood[j];
+        cellIndex = cellHashToMortonIndex[GridHash(neighborCoord)];
+        n = R_cellOffsets[cellIndex]; 
+        end = n + R_cellCounts[cellIndex]; 
+                
+        // iterate through all simplices in neighbor cell:
+        for (; n < end; ++n)
+        {
+            fluidB = sortedSimplexToFluid[n];
+            if (fluidB >= 0 && fluidB != (int)i)
+            { 
+                // due to hash collisions, two neighboring cells might map to the same
+                // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                // So we only consider particles that have the same spatial coordinates as the cell.
+                if (any (R_cellCoords[sortedFluidIndices[fluidB]] - neighborCoord))
+                    continue;
+
+                // calculate particle center distance:
+                d = posA - sortedPositions[fluidB]; d.w = 0;
+                interactionRadius = max(radA, sortedFluidMaterials[fluidB].x) + collisionMargin;
+                
+                if (dot(d,d) <= interactionRadius * interactionRadius && count < maxNeighbors)
+                    neighbors[maxNeighbors * i + (count++)] = fluidB; 
+            }
+        }
+    }
+
+    neighborCounts[i] = count;
+}
+
+[numthreads(128, 1, 1)]
+void FindFluidNeighborsInUpperLevels (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+       
+    int s = sortedFluidIndices[i];
+    
+    int4 cellCoord = R_cellCoords[s];
+    int4 parentCellCoords, neighborCoord;
+    uint cellIndex, n, end;
+
+    float4 d;
+    float interactionRadius, cellSize;
+    int fluidB;
+
+    float4 posA = sortedPositions[i];
+    float radA = sortedFluidMaterials[i].x;
+    
+    for (uint m = 1; m <= R_levelPopulation[0]; ++m)
+    {
+        uint l = R_levelPopulation[m];
+
+        // skip levels below this particle's level.
+        if (l <= (uint)cellCoord.w) continue; 
+
+        parentCellCoords = GetParentCellCoords(cellCoord, l);
+    
+        for (int j = 0; j < 27; ++j)
+        {
+            // get cell start/end
+            neighborCoord = parentCellCoords + cellNeighborhood[j];
+            cellIndex = cellHashToMortonIndex[GridHash(neighborCoord)];
+            n = R_cellOffsets[cellIndex]; 
+            end = n + R_cellCounts[cellIndex]; 
+            
+            // iterate through all simplices in neighbor cell:
+            for (; n < end; ++n)
+            {
+                fluidB = sortedSimplexToFluid[n];
+                if (fluidB >= 0)
+                {
+                    // due to hash collisions, two neighboring cells might map to the same
+                    // hash bucket, and we'll add the same set of particles twice to the neighbors list.
+                    // So we only consider particles that have the same spatial coordinates as the cell.
+                    if (any (R_cellCoords[sortedFluidIndices[fluidB]] - neighborCoord))
+                        continue;
+
+                    // calculate particle center distance:
+                    d = posA - sortedPositions[fluidB]; d.w = 0;
+                    interactionRadius = max(radA, sortedFluidMaterials[fluidB].x) + collisionMargin;
+                    
+                    if (dot(d,d) <= interactionRadius * interactionRadius)
+                    {            
+                        uint entryA, entryB;
+                        InterlockedAdd(neighborCounts[i], 1, entryA);
+                        InterlockedAdd(neighborCounts[fluidB], 1, entryB);
+                        
+                        if (entryA < maxNeighbors && entryB < maxNeighbors)
+                        {
+                            neighbors[maxNeighbors * i + entryA] = fluidB; 
+                            neighbors[maxNeighbors * fluidB + entryB] = i;
+                        }
+                    }
+                }
+            }
+        }
+    }
+   
+}
+
+[numthreads(128, 1, 1)]
+void BuildFluidParticleIndexBuffer (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+       
+    // convert simplex index to start in indices array.
+    int o;
+    sortedFluidIndices[i] = simplices[GetSimplexStartAndSize(sortedFluidIndices[i], o)];
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta b/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta
new file mode 100644
index 000000000..15d29e6b1
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleGrid.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 282fd6222e54d48fea7f2d1a74501fa9
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute b/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute
new file mode 100644
index 000000000..e990898dc
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute
@@ -0,0 +1,72 @@
+#pragma kernel BuildMesh
+
+#include "MathUtils.cginc"
+
+struct RendererData
+{
+    float4 color;
+    float radiusScale;
+};
+
+StructuredBuffer<int> particleIndices;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> orientations;
+StructuredBuffer<float4> radii;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<int> rendererIndices;
+StructuredBuffer<RendererData> rendererData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer indices;
+
+uint firstParticle;
+uint particleCount;
+
+[numthreads(128, 1, 1)]
+void BuildMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particleCount) return;
+    
+    int p = particleIndices[firstParticle + i];
+    int r = rendererIndices[firstParticle + i];
+
+    // <<2 = multiply by 4 to get byte address, since a float/int is 4 bytes in size.
+    
+    // particle data is the same for all 4 vertices:
+    for (uint v = i*4; v < i*4 + 4; ++v)
+    {
+        int base = v*23;
+        
+        // pos
+        vertices.Store4(base<<2, asuint(float4(positions[p].xyz, 1)));
+
+        // color:
+        vertices.Store4((base+7)<<2, asuint(colors[p] * rendererData[r].color));
+        
+        // b1, b2, b3:
+        vertices.Store4((base+11)<<2, asuint( float4(rotate_vector(orientations[p],float3(1,0,0)),radii[p].x * radii[p].w * rendererData[r].radiusScale) ));
+        vertices.Store4((base+15)<<2, asuint( float4(rotate_vector(orientations[p],float3(0,1,0)),radii[p].y * radii[p].w * rendererData[r].radiusScale) ));
+        vertices.Store4((base+19)<<2, asuint( float4(rotate_vector(orientations[p],float3(0,0,1)),radii[p].z * radii[p].w * rendererData[r].radiusScale) ));
+    }
+
+    //different offset for each vertex:
+    int base = i*4;
+    vertices.Store3((base*23 + 4)<<2, asuint(float3(1,1,0)));
+    vertices.Store3(((base+1)*23 + 4)<<2, asuint(float3(-1,1,0)));
+    vertices.Store3(((base+2)*23 + 4)<<2, asuint(float3(-1,-1,0)));
+    vertices.Store3(((base+3)*23 + 4)<<2, asuint(float3(1,-1,0)));
+
+    // indices:
+    indices.Store((i*6)<<2, asuint(i*4+2));
+    indices.Store((i*6+1)<<2, asuint(i*4+1));
+    indices.Store((i*6+2)<<2, asuint(i*4));
+
+    indices.Store((i*6+3)<<2, asuint(i*4+3));
+    indices.Store((i*6+4)<<2, asuint(i*4+2));
+    indices.Store((i*6+5)<<2, asuint(i*4));
+}
+
diff --git a/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta b/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta
new file mode 100644
index 000000000..c28621d12
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ParticleMeshBuilding.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a5989e4df4ce944ea96d566e7df4d68a
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/PathFrame.cginc b/Assets/Obi/Resources/Compute/PathFrame.cginc
new file mode 100644
index 000000000..e9ea2742a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PathFrame.cginc
@@ -0,0 +1,158 @@
+#ifndef PATHFRAME_INCLUDE
+#define PATHFRAME_INCLUDE
+
+#include "MathUtils.cginc"
+
+struct pathFrame
+{
+    float3 position;
+    float3 tangent;
+    float3 normal;
+    float3 binormal;
+
+    float4 color;
+    float thickness;
+
+
+    void Initialize(float3 position, float3 tangent, float3 normal, float3 binormal, float4 color, float thickness){
+        this.position = position;
+        this.normal = normal;
+        this.tangent = tangent;
+        this.binormal = binormal;
+        this.color = color;
+        this.thickness = thickness;
+    }
+
+    void Reset()
+    {
+        position = float3(0,0,0);
+        tangent = float3(0,0,1);
+        normal = float3(0,1,0);
+        binormal = float3(1,0,0);
+        color = float4(1,1,1,1);
+        thickness = 0;
+    }
+
+    void SetTwist(float twist)
+    {
+        quaternion twistQ = axis_angle(tangent, radians(twist));
+        normal = rotate_vector(twistQ, normal);
+        binormal = rotate_vector(twistQ, binormal);
+    }
+
+    void Transport(pathFrame frame, float twist)
+    {
+        // Calculate delta rotation:
+        quaternion rotQ = from_to_rotation(tangent, frame.tangent);
+        quaternion twistQ = axis_angle(frame.tangent, radians(twist));
+        quaternion finalQ = qmul(twistQ , rotQ);
+
+        // Rotate previous frame axes to obtain the new ones:
+        normal = rotate_vector(finalQ, normal);
+        binormal = rotate_vector(finalQ, binormal);
+        tangent = frame.tangent;
+        position = frame.position;
+        thickness = frame.thickness;
+        color = frame.color;
+    }
+
+    void Transport(float3 newPosition, float3 newTangent, float twist)
+    {
+        // Calculate delta rotation:
+        quaternion rotQ = from_to_rotation(tangent, newTangent);
+        quaternion twistQ = axis_angle(newTangent, radians(twist));
+        quaternion finalQ = qmul(twistQ, rotQ);
+
+        // Rotate previous frame axes to obtain the new ones:
+        normal = rotate_vector(finalQ, normal);
+        binormal = rotate_vector(finalQ, binormal);
+        tangent = newTangent;
+        position = newPosition;
+
+    }
+
+    // Transport, hinting the normal.
+    void Transport(float3 newPosition, float3 newTangent, float3 newNormal, float twist)
+    {
+        normal = rotate_vector(axis_angle(newTangent,radians(twist)), newNormal);
+        tangent = newTangent;
+        binormal = cross(normal, tangent);
+        position = newPosition;
+    }
+
+    float3x3 ToMatrix(int mainAxis)
+    {
+        float3x3 basis;
+
+        if (mainAxis == 0)
+        {
+            basis._m00_m10_m20 = tangent;
+            basis._m01_m11_m21 = binormal;
+            basis._m02_m12_m22 = normal;
+        }
+        else if (mainAxis == 1)
+        {
+            basis._m01_m11_m21 = tangent;
+            basis._m02_m12_m22 = binormal;
+            basis._m00_m10_m20 = normal;
+        }
+        else
+        {
+            basis._m02_m12_m22 = tangent;
+            basis._m00_m10_m20 = binormal;
+            basis._m01_m11_m21 = normal;
+        }
+
+       /*int xo = (mainAxis) % 3;
+        int yo = (mainAxis + 1) % 3;
+        int zo = (mainAxis + 2) % 3;
+
+        basis[xo] = tangent;
+        basis[yo] = binormal;
+        basis[zo] = normal;*/
+
+        return basis;
+    }
+};
+
+void WeightedSum(float w1, float w2, float w3, in pathFrame c1, in pathFrame c2, in pathFrame c3, out pathFrame sum)
+{
+    sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
+    sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
+    sum.position.z = c1.position.z * w1 + c2.position.z * w2 + c3.position.z * w3;
+
+    sum.tangent.x = c1.tangent.x * w1 + c2.tangent.x * w2 + c3.tangent.x * w3;
+    sum.tangent.y = c1.tangent.y * w1 + c2.tangent.y * w2 + c3.tangent.y * w3;
+    sum.tangent.z = c1.tangent.z * w1 + c2.tangent.z * w2 + c3.tangent.z * w3;
+
+    sum.normal.x = c1.normal.x * w1 + c2.normal.x * w2 + c3.normal.x * w3;
+    sum.normal.y = c1.normal.y * w1 + c2.normal.y * w2 + c3.normal.y * w3;
+    sum.normal.z = c1.normal.z * w1 + c2.normal.z * w2 + c3.normal.z * w3;
+
+    sum.binormal.x = c1.binormal.x * w1 + c2.binormal.x * w2 + c3.binormal.x * w3;
+    sum.binormal.y = c1.binormal.y * w1 + c2.binormal.y * w2 + c3.binormal.y * w3;
+    sum.binormal.z = c1.binormal.z * w1 + c2.binormal.z * w2 + c3.binormal.z * w3;
+
+    sum.color.x = c1.color.x * w1 + c2.color.x * w2 + c3.color.x * w3;
+    sum.color.y = c1.color.y * w1 + c2.color.y * w2 + c3.color.y * w3;
+    sum.color.z = c1.color.z * w1 + c2.color.z * w2 + c3.color.z * w3;
+    sum.color.w = c1.color.w * w1 + c2.color.w * w2 + c3.color.w * w3;
+
+    sum.thickness = c1.thickness * w1 + c2.thickness * w2 + c3.thickness * w3;
+}
+
+pathFrame addFrames(pathFrame c1, pathFrame c2)
+{
+    pathFrame r;
+    r.Initialize(c1.position + c2.position, c1.tangent + c2.tangent, c1.normal + c2.normal, c1.binormal + c2.binormal, c1.color + c2.color, c1.thickness + c2.thickness);
+    return r;
+}
+
+pathFrame multiplyFrame(float f, pathFrame c)
+{
+    pathFrame r;
+    r.Initialize(c.position * f, c.tangent * f, c.normal * f, c.binormal * f, c.color * f, c.thickness * f);
+    return r;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/PathFrame.cginc.meta b/Assets/Obi/Resources/Compute/PathFrame.cginc.meta
new file mode 100644
index 000000000..fa818faa6
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PathFrame.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 10c2f01e614d74b30b6a489c96e8a0ce
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/PathSmoothing.compute b/Assets/Obi/Resources/Compute/PathSmoothing.compute
new file mode 100644
index 000000000..06bf6ae5b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PathSmoothing.compute
@@ -0,0 +1,235 @@
+#pragma kernel ParallelTransport
+#pragma kernel Decimate
+#pragma kernel ChaikinSmooth
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    bool usesOrientedParticles;
+};
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> colors;
+
+RWStructuredBuffer<smootherPathData> pathData;
+StructuredBuffer<int> particleIndices;
+
+RWStructuredBuffer<pathFrame> pathFrames;
+StructuredBuffer<int> frameOffsets;
+RWStructuredBuffer<int> decimatedFrameCounts;
+
+RWStructuredBuffer<pathFrame> smoothFrames;
+StructuredBuffer<int> smoothFrameOffsets;
+RWStructuredBuffer<int> smoothFrameCounts;
+
+// Variables set from the CPU
+uint chunkCount;
+
+void PathFrameFromParticle(inout pathFrame frame, int particleIndex, bool useOrientedParticles, bool interpolateOrientation = false)
+{
+    // Update current frame values from particles:
+    frame.position = renderablePositions[particleIndex].xyz;
+    frame.thickness = principalRadii[particleIndex][0];
+    frame.color = colors[particleIndex];
+
+    // Use particle orientation if possible:
+    if (useOrientedParticles)
+    {
+        quaternion current = renderableOrientations[particleIndex];
+        quaternion previous = renderableOrientations[max(0, particleIndex - 1)];
+        float4x4 average = q_toMatrix(interpolateOrientation ? q_slerp(current, previous, 0.5f) : current);
+        frame.normal = average._m01_m11_m21;
+        frame.binormal = average._m00_m10_m20;
+        frame.tangent = average._m02_m12_m22;
+    }
+}
+
+
+[numthreads(128, 1, 1)]
+void ParallelTransport (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    pathFrame nextFrame;
+    pathFrame currFrame; 
+    pathFrame prevFrame;
+
+    nextFrame.Reset();
+    currFrame.Reset();
+    prevFrame.Reset();
+
+    int firstIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int frameCount = frameOffsets[i] - firstIndex;
+
+    // initialize current and previous frame:
+    PathFrameFromParticle(currFrame, particleIndices[firstIndex], pathData[i].usesOrientedParticles, false);
+    prevFrame = currFrame;
+
+    // parallel transport:
+    for (int m = 1; m <= frameCount; ++m)
+    {
+        int index = firstIndex + min(m, frameCount - 1);
+        int pIndex = particleIndices[index];
+
+        // generate curve frame from particle:
+        PathFrameFromParticle(nextFrame, pIndex, pathData[i].usesOrientedParticles);
+
+        if (pathData[i].usesOrientedParticles)
+        {
+            // copy frame directly.
+            prevFrame = currFrame;
+        }
+        else
+        {
+            // perform parallel transport, using forward / backward average to calculate tangent.
+            // if the average is too small, reuse the previous frame tangent.
+            currFrame.tangent = normalizesafe((currFrame.position - prevFrame.position) + 
+                                              (nextFrame.position - currFrame.position), prevFrame.tangent);
+            prevFrame.Transport(currFrame, pathData[i].twist);
+        }
+
+        // advance current frame:
+        currFrame = nextFrame;
+        pathFrames[firstIndex + m - 1] = prevFrame;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Decimate (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstInputIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int inputFrameCount = frameOffsets[i] - firstInputIndex;
+
+    // no decimation, no work to do, just return:
+    if (pathData[i].decimation < 0.00001f || inputFrameCount < 3)
+    {
+        decimatedFrameCounts[i] = inputFrameCount;
+        return;
+    }
+
+    float scaledThreshold = pathData[i].decimation * pathData[i].decimation * 0.01f;
+
+    int start = 0;
+    int end = inputFrameCount - 1;
+    decimatedFrameCounts[i] = 0;
+
+    while (start < end)
+    {
+        // add starting point:
+        pathFrames[firstInputIndex + decimatedFrameCounts[i]++] = pathFrames[firstInputIndex + start];
+
+        int newEnd = end;
+
+        while (true)
+        {
+            int maxDistanceIndex = 0;
+            float maxDistance = 0;
+            float mu;
+
+            // find the point that's furthest away from the current segment:
+            for (int j = start + 1; j < newEnd; j++)
+            {
+                float3 nearest = NearestPointOnEdge(pathFrames[firstInputIndex + start].position,
+                                                    pathFrames[firstInputIndex + newEnd].position,
+                                                    pathFrames[firstInputIndex + j].position, mu);
+
+                float3 delta = nearest - pathFrames[firstInputIndex + j].position;
+                float d = dot(delta,delta);
+
+                if (d > maxDistance)
+                {
+                    maxDistanceIndex = j;
+                    maxDistance = d;
+                }
+            }
+
+            if (maxDistance <= scaledThreshold)
+                break;
+
+            newEnd = maxDistanceIndex;
+        }
+
+        start = newEnd;
+    }
+
+    // add the last point:
+    pathFrames[firstInputIndex + decimatedFrameCounts[i]++] = pathFrames[firstInputIndex + end];
+
+}
+
+[numthreads(128, 1, 1)]
+void ChaikinSmooth (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstInputIndex = i > 0 ? frameOffsets[i - 1] : 0;
+    int inputFrameCount = decimatedFrameCounts[i];
+
+    int firstOutputIndex = smoothFrameOffsets[i];
+
+    int k = (int)pathData[i].smoothing;
+
+    // No work to do. just copy the input to the output:
+    if (k == 0)
+    {
+        smoothFrameCounts[i] = inputFrameCount;
+        for (int j = 0; j < inputFrameCount; ++j)
+            smoothFrames[firstOutputIndex + j] = pathFrames[firstInputIndex + j];
+    }
+    else
+    {
+        // precalculate some quantities:
+        int pCount = (int)pow(2, k);
+        int n0 = inputFrameCount - 1;
+        float twoRaisedToMinusKPlus1 = pow(2, -(k + 1));
+        float twoRaisedToMinusK = pow(2, -k);
+        float twoRaisedToMinus2K = pow(2, -2 * k);
+        float twoRaisedToMinus2KMinus1 = pow(2, -2 * k - 1);
+
+        smoothFrameCounts[i] = (inputFrameCount - 2) * pCount + 2;
+
+        // calculate initial curve points:
+        smoothFrames[firstOutputIndex] = addFrames(multiplyFrame(0.5f + twoRaisedToMinusKPlus1 , pathFrames[firstInputIndex]) , multiplyFrame(0.5f - twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + 1]));
+        smoothFrames[firstOutputIndex + pCount * n0 - pCount + 1] = addFrames(multiplyFrame(0.5f - twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + n0 - 1]) , multiplyFrame(0.5f + twoRaisedToMinusKPlus1, pathFrames[firstInputIndex + n0]));
+
+        // calculate internal points:
+        for (int j = 1; j <= pCount; ++j)
+        {
+            // precalculate coefficients:
+            float F = 0.5f - twoRaisedToMinusKPlus1 - (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2KMinus1);
+            float G = 0.5f + twoRaisedToMinusKPlus1 + (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2K);
+            float H = (j - 1) * j * twoRaisedToMinus2KMinus1;
+
+            for (int l = 1; l < n0; ++l)
+            {
+                WeightedSum(F, G, H,
+                            pathFrames[firstInputIndex + l - 1],
+                            pathFrames[firstInputIndex + l],
+                            pathFrames[firstInputIndex + l + 1],
+                            smoothFrames[firstOutputIndex + (l - 1) * pCount + j]);
+            }
+        }
+
+        // make first and last curve points coincide with original points:
+        smoothFrames[firstOutputIndex] = pathFrames[firstInputIndex];
+        smoothFrames[firstOutputIndex + smoothFrameCounts[i] - 1] = pathFrames[firstInputIndex + inputFrameCount - 1];
+    }
+    
+    // calculate path lengths:
+    pathData[i].smoothLength = 0;
+    for (int j = firstOutputIndex + 1;  j < firstOutputIndex + smoothFrameCounts[i]; ++j)
+        pathData[i].smoothLength += distance(smoothFrames[j-1].position, smoothFrames[j].position);
+}
diff --git a/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta b/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta
new file mode 100644
index 000000000..589cc57c4
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PathSmoothing.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 91c36d3d171884541b751112dfac062c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Phases.cginc b/Assets/Obi/Resources/Compute/Phases.cginc
new file mode 100644
index 000000000..30bfe2086
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Phases.cginc
@@ -0,0 +1,13 @@
+#ifndef PHASES_INCLUDE
+#define PHASES_INCLUDE
+
+
+#define CategoryMask 0x0000ffff
+#define MaskMask 0xffff0000
+
+#define GroupMask 0x00ffffff
+#define SelfCollide 1 << 24
+#define Fluid 1 << 25
+#define OneSided 1 << 26
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Phases.cginc.meta b/Assets/Obi/Resources/Compute/Phases.cginc.meta
new file mode 100644
index 000000000..290fe9508
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Phases.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 96d6b61b6caf54444b039bf6f29c9205
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/PinConstraints.compute b/Assets/Obi/Resources/Compute/PinConstraints.compute
new file mode 100644
index 000000000..33bb460e4
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PinConstraints.compute
@@ -0,0 +1,229 @@
+#pragma kernel Clear
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+#pragma kernel ProjectRenderable
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> colliderIndices;
+StructuredBuffer<float4> offsets;
+StructuredBuffer<quaternion> restDarboux;
+StructuredBuffer<float2> stiffnesses;
+RWStructuredBuffer<float4> lambdas;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+RWStructuredBuffer<rigidbody> RW_rigidbodies;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> RW_orientations;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float stepTime;
+float substepTime;
+float timeLeft;
+int steps;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        int orig;
+        InterlockedExchange(RW_rigidbodies[rigidbodyIndex].constraintCount, 0, orig);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        InterlockedAdd(RW_rigidbodies[rigidbodyIndex].constraintCount, 1);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int particleIndex = particleIndices[i];
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+    // calculate time adjusted compliances
+    float2 compliances = stiffnesses[i].xy / (substepTime * substepTime);
+
+    // project particle position to the end of the full step:
+    float4 particlePosition = lerp(prevPositions[particleIndex], positions[particleIndex], substepsToEnd);
+
+    // express pin offset in world space:
+    float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+    float4 predictedPinOffset = worldPinOffset;
+    quaternion predictedRotation = transforms[colliderIndex].rotation;
+
+    float rigidbodyLinearW = 0;
+    float rigidbodyAngularW = 0;
+
+    if (rigidbodyIndex >= 0)
+    {
+        rigidbody rb = rigidbodies[rigidbodyIndex];
+
+        // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+        float4 velocityAtPoint = GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex],inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset), 
+                                                             asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                             asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        predictedPinOffset = IntegrateLinear(predictedPinOffset, inertialSolverFrame[0].frame.TransformVector(velocityAtPoint), frameEnd);
+
+        // predict rotation at the end of the step:
+        predictedRotation = IntegrateAngular(predictedRotation, rb.angularVelocity + asfloat(angularDeltasAsInt[rigidbodyIndex]), frameEnd);
+
+        // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+        rigidbodyLinearW = rb.inverseMass * rb.constraintCount; 
+        rigidbodyAngularW = RotationalInvMass(rb.inverseInertiaTensor,
+                                              worldPinOffset - rb.com,
+                                              normalizesafe(inertialSolverFrame[0].frame.TransformPoint(particlePosition) - predictedPinOffset)) * rb.constraintCount;
+
+    }
+
+    // Transform pin position to solver space for constraint solving:
+    predictedPinOffset = inertialSolverFrame[0].frame.InverseTransformPoint(predictedPinOffset);
+    predictedRotation = qmul(q_conj(inertialSolverFrame[0].frame.rotation), predictedRotation);
+
+    float4 gradient = particlePosition - predictedPinOffset;
+    float constraint = length(gradient);
+    float4 gradientDir = gradient / (constraint + EPSILON);
+
+    float4 lambda = lambdas[i];
+    float linearDLambda = (-constraint - compliances.x * lambda.w) / (invMasses[particleIndex] + rigidbodyLinearW + rigidbodyAngularW + compliances.x + EPSILON);
+    lambda.w += linearDLambda;
+    float4 correction = linearDLambda * gradientDir;
+    
+    AddPositionDelta(particleIndex, correction * invMasses[particleIndex] / substepsToEnd);
+
+    if (rigidbodyIndex >= 0)
+    {
+        ApplyImpulse(rigidbodyIndex,
+                     -correction / frameEnd,
+                     inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset),
+                     inertialSolverFrame[0].frame);
+    }
+
+    if (rigidbodyAngularW > 0 || invRotationalMasses[particleIndex] > 0)
+    {
+        // bend/twist constraint:
+        quaternion omega = qmul(q_conj(orientations[particleIndex]), predictedRotation);   //darboux vector
+
+        quaternion omega_plus;
+        omega_plus = omega + restDarboux[i];        //delta Omega with - omega_0
+        omega -= restDarboux[i];                    //delta Omega with + omega_0
+        if (dot(omega, omega) > dot(omega_plus, omega_plus))
+            omega = omega_plus;
+
+        float3 dlambda = (omega.xyz - compliances.y * lambda.xyz) / (compliances.y + invRotationalMasses[particleIndex] + rigidbodyAngularW + EPSILON);
+        lambda.xyz += dlambda;
+
+        //discrete Darboux vector does not have vanishing scalar part:
+        quaternion dlambdaQ = quaternion(dlambda[0], dlambda[1], dlambda[2], 0);
+
+        quaternion orientDelta = asfloat(orientationDeltasAsInt[particleIndex]);
+        orientDelta += qmul(predictedRotation, dlambdaQ) * invRotationalMasses[particleIndex] / substepsToEnd;
+        orientationDeltasAsInt[particleIndex] = asuint(orientDelta);
+        orientationConstraintCounts[particleIndex]++;
+
+        if (rigidbodyIndex >= 0)
+        {
+            ApplyDeltaQuaternion(rigidbodyIndex,
+                                 predictedRotation,
+                                 -qmul(orientations[particleIndex], dlambdaQ) * rigidbodyAngularW,
+                                 inertialSolverFrame[0].frame, stepTime);
+        }
+    }
+
+    lambdas[i] = lambda;
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i];
+
+    ApplyPositionDelta(RW_positions, p, sorFactor);
+    ApplyOrientationDelta(RW_orientations, p, sorFactor);
+}
+
+[numthreads(128, 1, 1)]
+void ProjectRenderable (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int particleIndex = particleIndices[i];
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to or projection deactivated, so ignore the constraint.
+    if (colliderIndex < 0 || offsets[i].w < 0.5f)
+        return;
+
+    transform attachmentMatrix = inertialSolverFrame[0].frame.Inverse().Multiply(transforms[colliderIndex]);
+
+    RW_positions[particleIndex] = attachmentMatrix.TransformPoint(offsets[i]);
+    if (stiffnesses[i].y < 10000)
+        RW_orientations[particleIndex] = qmul(attachmentMatrix.rotation, restDarboux[i]);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/PinConstraints.compute.meta b/Assets/Obi/Resources/Compute/PinConstraints.compute.meta
new file mode 100644
index 000000000..235824622
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PinConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d65f884fa36104c4493d2bc55441b89d
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/PinholeConstraints.compute b/Assets/Obi/Resources/Compute/PinholeConstraints.compute
new file mode 100644
index 000000000..1d5893ac5
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PinholeConstraints.compute
@@ -0,0 +1,306 @@
+#pragma kernel Clear
+#pragma kernel Initialize
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+
+RWStructuredBuffer<int> particleIndices;
+StructuredBuffer<int> colliderIndices;
+StructuredBuffer<float4> offsets;
+RWStructuredBuffer<float> edgeMus;
+StructuredBuffer<int2> edgeRanges;
+StructuredBuffer<float2> edgeRangeMus;
+StructuredBuffer<float> parameters;
+RWStructuredBuffer<float> relativeVelocities;
+RWStructuredBuffer<float> lambdas;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+RWStructuredBuffer<rigidbody> RW_rigidbodies;
+
+RWStructuredBuffer<float4> RW_positions;
+
+StructuredBuffer<int> deformableEdges;
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float> invMasses;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float stepTime;
+float substepTime;
+float timeLeft;
+int steps;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int colliderIndex = colliderIndices[i];
+
+    // no collider to pin to, so ignore the constraint.
+    if (colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        int orig;
+        InterlockedExchange(RW_rigidbodies[rigidbodyIndex].constraintCount, 0, orig);
+    }
+}
+
+bool IsEdgeValid(int edgeIndex, int nextEdgeIndex, float mix)
+{
+    return (mix < 0) ? deformableEdges[nextEdgeIndex * 2 + 1] == deformableEdges[edgeIndex * 2] :
+                       deformableEdges[nextEdgeIndex * 2] == deformableEdges[edgeIndex * 2 + 1];
+}
+
+bool ClampToRange(int i, int edgeIndex, inout float mix)
+{
+    bool clamped = false;
+    if (edgeIndex == edgeRanges[i].x && mix < edgeRangeMus[i].x)
+    {
+        mix = edgeRangeMus[i].x;
+        clamped = true;
+    }
+    if (edgeIndex == edgeRanges[i].y && mix > edgeRangeMus[i].y)
+    {
+        mix = edgeRangeMus[i].y;
+        clamped = true;
+    }
+    return clamped;
+}
+
+[numthreads(128, 1, 1)]
+void Initialize (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int edgeIndex = particleIndices[i];
+    int colliderIndex = colliderIndices[i];
+
+    // if no collider or edge, ignore the constraint.
+    if (edgeIndex < 0 || colliderIndex < 0)
+        return;
+
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+    if (rigidbodyIndex >= 0)
+    {
+        InterlockedAdd(RW_rigidbodies[rigidbodyIndex].constraintCount, 1);
+    }
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+    // calculate time adjusted compliances
+    float compliance = parameters[i * 5] / (substepTime * substepTime);
+
+    int p1 = deformableEdges[edgeIndex * 2];
+    int p2 = deformableEdges[edgeIndex * 2 + 1];
+    int edgeCount = max(0, edgeRanges[i].y - edgeRanges[i].x + 1);
+
+    // express pin offset in world space:
+    float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+    float4 predictedPinOffset = worldPinOffset;
+    
+    if (rigidbodyIndex >= 0)
+    {
+        // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+        float4 velocityAtPoint = GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex],inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset), 
+                                                             asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                             asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        predictedPinOffset = IntegrateLinear(predictedPinOffset, inertialSolverFrame[0].frame.TransformVector(velocityAtPoint), frameEnd);
+    }
+
+    // transform pinhole position to solver space for constraint solving:
+    float4 solverPredictedOffset = inertialSolverFrame[0].frame.InverseTransformPoint(predictedPinOffset);
+
+    // get current edge data:
+    float mix = 0;
+    float4 particlePosition1 = lerp(prevPositions[p1], positions[p1], substepsToEnd);
+    float4 particlePosition2 = lerp(prevPositions[p2], positions[p2], substepsToEnd);
+    float edgeLength = length(particlePosition1 - particlePosition2) + EPSILON;
+    NearestPointOnEdge(particlePosition1, particlePosition2, solverPredictedOffset, mix, false);
+
+    // calculate current relative velocity between rope and pinhole:
+    float velocity = (mix - edgeMus[i]) / substepTime * edgeLength; // vel = pos / time.
+    relativeVelocities[i] = velocity;
+
+    // apply motor force:
+    float targetAccel = (parameters[i * 5 + 2] - velocity) / substepTime; // accel = vel / time.
+    float maxAccel = parameters[i * 5 + 3] * max(lerp(invMasses[p1], invMasses[p2], mix), EPSILON); // accel = force / mass. Guard against inf*0
+    velocity += clamp(targetAccel, -maxAccel, maxAccel) * substepTime; 
+
+    // calculate new position by adding motor acceleration:
+    float corrMix = edgeMus[i] + velocity * substepTime / edgeLength;
+
+    // apply artificial friction by interpolating predicted position and corrected position.
+    mix = lerp(mix, corrMix, parameters[i * 5 + 1]);
+
+    // move to an adjacent simplex if needed
+    if (!ClampToRange(i, edgeIndex, mix) && (mix < 0 || mix > 1))
+    {
+        bool clampOnEnd = parameters[i * 5 + 4] > 0.5f;
+
+        // calculate distance we need to travel along simplex chain:
+        float distToTravel = length(particlePosition1 - particlePosition2) * (mix < 0 ? -mix : mix - 1);
+
+        int nextEdgeIndex;
+        for (int k = 0; k < 10; ++k)
+        {
+            // calculate index of next edge:
+            nextEdgeIndex = edgeRanges[i].x + (int)nfmod((mix < 0 ? edgeIndex - 1 : edgeIndex + 1) - edgeRanges[i].x, edgeCount);
+
+            // see if it's valid
+            if (!IsEdgeValid(edgeIndex, nextEdgeIndex, mix))
+            {
+                // disable constraint if needed
+                if (!clampOnEnd) { particleIndices[i] = -1; return; }
+
+                // otherwise clamp to end:
+                mix = saturate(mix);
+                break;
+            }
+
+            // advance to next edge:
+            edgeIndex = nextEdgeIndex;
+
+            p1 = deformableEdges[edgeIndex*2];
+            p2 = deformableEdges[edgeIndex*2 + 1];
+            particlePosition1 = lerp(prevPositions[p1], positions[p1], substepsToEnd);
+            particlePosition2 = lerp(prevPositions[p2], positions[p2], substepsToEnd);
+            edgeLength = length(particlePosition1 - particlePosition2) + EPSILON;
+
+            // stop if we reached target edge:
+            if (distToTravel <= edgeLength)
+            {
+                mix = mix < 0 ? 1 - saturate(distToTravel / edgeLength) : saturate(distToTravel / edgeLength);
+                ClampToRange(i, edgeIndex, mix);
+                break;
+            }
+
+            // stop if we reached end of range:
+            if (ClampToRange(i, edgeIndex, mix))
+                break;
+
+            distToTravel -= edgeLength;
+        }
+    }
+
+    // store new position along edge:
+    edgeMus[i] = mix; 
+    particleIndices[i] = edgeIndex;
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int edgeIndex = particleIndices[i];
+    int colliderIndex = colliderIndices[i];
+
+    // if no collider or edge, ignore the constraint.
+    if (edgeIndex < 0 || colliderIndex < 0)
+        return;
+
+    float frameEnd = stepTime * steps;
+    float substepsToEnd = timeLeft / substepTime;
+
+    // calculate time adjusted compliances
+    float compliance = parameters[i * 5] / (substepTime * substepTime);
+
+    int p1 = deformableEdges[edgeIndex * 2];
+    int p2 = deformableEdges[edgeIndex * 2 + 1];
+
+    // get current edge data:
+    float mix = edgeMus[i];
+    float4 particlePosition1 = lerp(prevPositions[p1], positions[p1], substepsToEnd);
+    float4 particlePosition2 = lerp(prevPositions[p2], positions[p2], substepsToEnd);
+    float4 projection = lerp(particlePosition1, particlePosition2, mix);
+
+    // express pin offset in world space:
+    float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+    float4 predictedPinOffset = worldPinOffset;
+
+    float rigidbodyLinearW = 0;
+    float rigidbodyAngularW = 0;
+    
+    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+    if (rigidbodyIndex >= 0)
+    {
+        rigidbody rb = rigidbodies[rigidbodyIndex];
+
+        // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+        float4 velocityAtPoint = GetRigidbodyVelocityAtPoint(rigidbodies[rigidbodyIndex],inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset), 
+                                                             asfloat(linearDeltasAsInt[rigidbodyIndex]), 
+                                                             asfloat(angularDeltasAsInt[rigidbodyIndex]), inertialSolverFrame[0]);
+
+        predictedPinOffset = IntegrateLinear(predictedPinOffset, inertialSolverFrame[0].frame.TransformVector(velocityAtPoint), frameEnd);
+        
+        // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+        rigidbodyLinearW = rb.inverseMass * rb.constraintCount; 
+        rigidbodyAngularW = RotationalInvMass(rb.inverseInertiaTensor,
+                                              worldPinOffset - rb.com,
+                                              normalizesafe(inertialSolverFrame[0].frame.TransformPoint(projection) - predictedPinOffset)) * rb.constraintCount;
+    }
+   
+    // transform pinhole position to solver space for constraint solving:
+    predictedPinOffset = inertialSolverFrame[0].frame.InverseTransformPoint(predictedPinOffset);
+
+    float4 gradient = projection - predictedPinOffset;
+    float constraint = length(gradient);
+    float4 gradientDir = gradient / (constraint + EPSILON);
+
+    float lambda = (-constraint - compliance * lambdas[i]) / (lerp(invMasses[p1], invMasses[p2], mix) + rigidbodyLinearW + rigidbodyAngularW + compliance + EPSILON);
+    lambdas[i] += lambda;
+    float4 correction = lambda * gradientDir;
+
+    float baryScale =  BaryScale(float4(1 - mix, mix, 0, 0));
+
+    AddPositionDelta(p1, correction * baryScale * invMasses[p1] * (1 - mix) / substepsToEnd);
+    AddPositionDelta(p2, correction * baryScale * invMasses[p2] * mix / substepsToEnd);
+
+    if (rigidbodyIndex >= 0)
+    {
+        ApplyImpulse(rigidbodyIndex,
+                     -correction / frameEnd,
+                     inertialSolverFrame[0].frame.InverseTransformPoint(worldPinOffset),
+                     inertialSolverFrame[0].frame);
+    }   
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int edgeIndex = particleIndices[i];
+    if (edgeIndex < 0) return;
+
+    int p1 = deformableEdges[edgeIndex * 2];
+    int p2 = deformableEdges[edgeIndex * 2 + 1];
+
+    ApplyPositionDelta(RW_positions, p1, sorFactor);
+    ApplyPositionDelta(RW_positions, p2, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/PinholeConstraints.compute.meta b/Assets/Obi/Resources/Compute/PinholeConstraints.compute.meta
new file mode 100644
index 000000000..b76f43e88
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/PinholeConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b2e9779c1ab6b4ac5b79540db1485539
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Quaternion.cginc b/Assets/Obi/Resources/Compute/Quaternion.cginc
new file mode 100644
index 000000000..9143d27ca
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Quaternion.cginc
@@ -0,0 +1,230 @@
+#ifndef QUATERNION_INCLUDE
+#define QUATERNION_INCLUDE
+
+#define QUATERNION_IDENTITY float4(0, 0, 0, 1)
+
+typedef float4 quaternion;
+
+// Quaternion multiplication
+// http://mathworld.wolfram.com/Quaternion.html
+quaternion qmul(quaternion q1, quaternion q2)
+{
+    return quaternion(
+        q2.xyz * q1.w + q1.xyz * q2.w + cross(q1.xyz, q2.xyz),
+        q1.w * q2.w - dot(q1.xyz, q2.xyz)
+    );
+}
+
+// Vector rotation with a quaternion
+// http://mathworld.wolfram.com/Quaternion.html
+float3 rotate_vector(quaternion r, float3 v)
+{
+    float4 r_c = r * float4(-1, -1, -1, 1);
+    return qmul(r, qmul(float4(v, 0), r_c)).xyz;
+}
+
+// A given angle of rotation about a given axis
+quaternion axis_angle(float3 axis, float angle)
+{
+    float sn = sin(angle * 0.5);
+    float cs = cos(angle * 0.5);
+    return quaternion(axis * sn, cs);
+}
+
+// https://stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
+quaternion from_to_rotation(float3 v1, float3 v2)
+{
+    float4 q;
+    float d = dot(v1, v2);
+    if (d < -0.999999)
+    {
+        float3 right = float3(1, 0, 0);
+        float3 up = float3(0, 1, 0);
+        float3 tmp = cross(right, v1);
+        if (length(tmp) < 0.000001)
+        {
+            tmp = cross(up, v1);
+        }
+        tmp = normalize(tmp);
+        q = axis_angle(tmp, 3.14159265359f);
+    } else if (d > 0.999999) {
+        q = QUATERNION_IDENTITY;
+    } else {
+        q.xyz = cross(v1, v2);
+        q.w = 1 + d;
+        q = normalize(q);
+    }
+    return q;
+}
+
+float4 q_conj(float4 q)
+{
+    return float4(-q.x, -q.y, -q.z, q.w);
+}
+
+// https://jp.mathworks.com/help/aeroblks/quaternioninverse.html
+quaternion q_inverse(quaternion q)
+{
+    quaternion conj = q_conj(q);
+    return conj / (q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
+}
+
+quaternion q_diff(quaternion q1, quaternion q2)
+{
+    return q2 * q_inverse(q1);
+}
+
+quaternion q_look_at(float3 forward, float3 up)
+{
+    forward = normalize(forward);
+    float3 right = normalize(cross(up, forward));
+    up = cross(forward, right);
+
+    float m00 = right.x;
+    float m01 = right.y;
+    float m02 = right.z;
+    float m10 = up.x;
+    float m11 = up.y;
+    float m12 = up.z;
+    float m20 = forward.x;
+    float m21 = forward.y;
+    float m22 = forward.z;
+
+    float num8 = (m00 + m11) + m22;
+    quaternion q = QUATERNION_IDENTITY;
+
+    if (num8 > 0.0)
+    {
+        float num = sqrt(num8 + 1.0);
+        q.w = num * 0.5;
+        num = 0.5 / num;
+        q.x = (m12 - m21) * num;
+        q.y = (m20 - m02) * num;
+        q.z = (m01 - m10) * num;
+        return q;
+    }
+    else if ((m00 >= m11) && (m00 >= m22))
+    {
+        float num7 = sqrt(((1.0 + m00) - m11) - m22);
+        float num4 = 0.5 / num7;
+        q.x = 0.5 * num7;
+        q.y = (m01 + m10) * num4;
+        q.z = (m02 + m20) * num4;
+        q.w = (m12 - m21) * num4;
+        return q;
+    }
+    else if (m11 > m22)
+    {
+        float num6 = sqrt(((1.0 + m11) - m00) - m22);
+        float num3 = 0.5 / num6;
+        q.x = (m10 + m01) * num3;
+        q.y = 0.5 * num6;
+        q.z = (m21 + m12) * num3;
+        q.w = (m20 - m02) * num3;
+        return q;
+    }
+    else
+    {
+        float num5 = sqrt(((1.0 + m22) - m00) - m11);
+        float num2 = 0.5 / num5;
+        q.x = (m20 + m02) * num2;
+        q.y = (m21 + m12) * num2;
+        q.z = 0.5 * num5;
+        q.w = (m01 - m10) * num2;
+        return q;
+    }
+}
+
+quaternion q_slerp(in quaternion a, in quaternion b, float t)
+{
+    // if either input is zero, return the other.
+    if (length(a) == 0.0)
+    {
+        if (length(b) == 0.0)
+            return QUATERNION_IDENTITY;
+        else 
+            return b;
+    }
+    else if (length(b) == 0.0)
+    {
+        return a;
+    }
+    else
+    {
+        float cosHalfAngle = a.w * b.w + dot(a.xyz, b.xyz);
+
+        if (cosHalfAngle >= 1.0 || cosHalfAngle <= -1.0)
+        {
+            return a;
+        }
+        else 
+        {
+            if (cosHalfAngle < 0.0)
+            {
+                b.xyz = -b.xyz;
+                b.w = -b.w;
+                cosHalfAngle = -cosHalfAngle;
+            }
+
+            float blendA;
+            float blendB;
+            if (cosHalfAngle < 0.99)
+            {
+                // do proper slerp for big angles
+                float halfAngle = acos(cosHalfAngle);
+                float sinHalfAngle = sin(halfAngle);
+                float oneOverSinHalfAngle = 1.0 / sinHalfAngle;
+                blendA = sin(halfAngle * (1.0 - t)) * oneOverSinHalfAngle;
+                blendB = sin(halfAngle * t) * oneOverSinHalfAngle;
+            }
+            else
+            {
+                // do lerp if angle is really small.
+                blendA = 1.0 - t;
+                blendB = t;
+            }
+
+            quaternion result = quaternion(blendA * a.xyz + blendB * b.xyz, blendA * a.w + blendB * b.w);
+
+            if (length(result) > 0.0)
+                return normalize(result);
+            else 
+                return QUATERNION_IDENTITY;
+        }
+    }
+}
+
+quaternion q_eulerXYZ(float3 euler) 
+{
+    float3 s, c;
+    sincos(0.5f * euler, s, c);
+    return quaternion(
+        // s.x * c.y * c.z + s.y * s.z * c.x,
+        // s.y * c.x * c.z - s.x * s.z * c.y,
+        // s.z * c.x * c.y - s.x * s.y * c.z,
+        // c.x * c.y * c.z + s.y * s.z * s.x
+        float4(s.xyz, c.x) * c.yxxy * c.zzyz + s.yxxy * s.zzyz * float4(c.xyz, s.x) * float4(1.0f, -1.0f, -1.0f, 1.0f)
+    );
+}
+
+float4x4 q_toMatrix(quaternion q)
+{
+    float xx = q.x * q.x;
+    float xy = q.x * q.y;
+    float xz = q.x * q.z;
+    float xw = q.x * q.w;
+
+    float yy = q.y * q.y;
+    float yz = q.y * q.z;
+    float yw = q.y * q.w;
+
+    float zz = q.z * q.z;
+    float zw = q.z * q.w;
+
+    return float4x4(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw), 0,
+                        2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw), 0,
+                        2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy), 0,
+                        0, 0, 0, 1);
+}
+
+#endif 
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Quaternion.cginc.meta b/Assets/Obi/Resources/Compute/Quaternion.cginc.meta
new file mode 100644
index 000000000..ad02e0bf5
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Quaternion.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d586fccea37884cd99448480e05b9efc
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/QueryDefinitions.cginc b/Assets/Obi/Resources/Compute/QueryDefinitions.cginc
new file mode 100644
index 000000000..ddd2b711a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/QueryDefinitions.cginc
@@ -0,0 +1,30 @@
+#ifndef QUERYDEFS_INCLUDE
+#define QUERYDEFS_INCLUDE
+
+#define SPHERE_QUERY 0
+#define BOX_QUERY 1
+#define RAY_QUERY 2
+
+struct queryShape
+{
+    float4 center;
+    float4 size;
+    int type;
+    float contactOffset;
+    float maxDistance;
+    int filter;
+};
+
+struct queryResult
+{
+    float4 simplexBary; // point A, expressed as simplex barycentric coords for simplices.
+    float4 queryPoint; // point B, expressed as a solver-space position.
+    float4 normal;
+    float dist;
+    float distAlongRay; 
+    int simplexIndex;
+    int queryIndex;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta b/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta
new file mode 100644
index 000000000..55f203af5
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/QueryDefinitions.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: aa793a9f45d044bb9af2361e9c92f11d
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/RayShapeQuery.compute b/Assets/Obi/Resources/Compute/RayShapeQuery.compute
new file mode 100644
index 000000000..a02d9f39f
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RayShapeQuery.compute
@@ -0,0 +1,132 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+struct Ray : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4x4 simplexToSolver = TRS(pos.xyz, orientation, radii.xyz);
+        float4x4 solverToSimplex = Inverse(simplexToSolver);
+        float4x4 colliderToSimplex = mul(solverToSimplex, TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+
+        // express ray in simplex space (ellipsoid == scaled sphere)
+        float4 rayOrigin = mul(colliderToSimplex, float4(s.center.xyz,1));
+        float4 rayDirection = normalizesafe(mul(colliderToSimplex, float4(s.size.xyz,0)));
+
+        float rayDistance = RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3(0,0,0), 1);
+
+        if (rayDistance < 0)
+        {
+            pos = colliderToSolver.InverseTransformPointUnscaled(pos);
+
+            float mu;
+            float4 centerLine = NearestPointOnEdge(s.center * colliderToSolver.scale, (s.center + s.size) * colliderToSolver.scale, pos, mu);
+            float4 centerToPoint = pos - centerLine;
+            float distanceToCenter = length(centerToPoint);
+
+            float4 normal = centerToPoint / (distanceToCenter + EPSILON);
+
+            projectedPoint.pos = colliderToSolver.TransformPointUnscaled(centerLine + normal * s.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+        else
+        {
+            float4 rayPoint = mul(simplexToSolver, float4((rayOrigin + rayDirection * rayDistance).xyz,1));
+            float4 normal = normalizesafe(float4((pos - rayPoint).xyz,0));
+
+            projectedPoint.pos = rayPoint + normal * s.contactOffset;
+            projectedPoint.normal = normal;
+        }
+
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*RAY_QUERY]) return; 
+   
+    int firstPair = contactOffsetsPerType[RAY_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Ray rayShape;
+    rayShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    rayShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(rayShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos, surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= rayShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            float4 pointOnRay = surfacePoint.pos + surfacePoint.normal * c.dist;
+            c.distAlongRay = dot(pointOnRay.xyz - rayShape.s.center.xyz, normalizesafe(rayShape.s.size.xyz));
+
+            results[count] = c;
+            
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta b/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta
new file mode 100644
index 000000000..5228b8174
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RayShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: cc1e43b48b9764f8585de0bd68298b1c
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Rigidbody.cginc b/Assets/Obi/Resources/Compute/Rigidbody.cginc
new file mode 100644
index 000000000..9038eef51
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Rigidbody.cginc
@@ -0,0 +1,108 @@
+#ifndef RIGIDBODY_INCLUDE
+#define RIGIDBODY_INCLUDE
+
+#include "InertialFrame.cginc"
+#include "InterlockedUtils.cginc"
+#include "Integration.cginc"
+
+RWStructuredBuffer<uint4> linearDeltasAsInt;
+RWStructuredBuffer<uint4> angularDeltasAsInt;
+
+struct rigidbody
+{
+    float4x4 inverseInertiaTensor;
+    float4 velocity;
+    float4 angularVelocity;
+    float4 com;
+    float inverseMass;
+         
+    int constraintCount;
+    int pad1;
+    int pad2;
+};
+
+StructuredBuffer<rigidbody> rigidbodies;
+
+void CalculateContactMassesB(in rigidbody rb,
+                             in transform t,
+                             float4 pointB,
+                             float4 normal,
+                             float4 bitangent,
+                             float4 tangent,
+                             out float normalInvMassB,
+                             out float tangentInvMassB,
+                             out float bitangentInvMassB)
+{
+    float4 rB = t.TransformPoint(pointB) - rb.com;
+
+    // initialize inverse linear masses:
+    normalInvMassB = tangentInvMassB = bitangentInvMassB = rb.inverseMass;
+    normalInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, normal);
+    tangentInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, tangent);
+    bitangentInvMassB += RotationalInvMass(rb.inverseInertiaTensor, rB, bitangent);
+}
+
+float4 GetRigidbodyVelocityAtPoint(in rigidbody rb,
+                                   float4 pnt,
+                                   float4 linearDelta,
+                                   float4 angularDelta,
+                                   in inertialFrame frame)
+{
+    float4 linearVel  = rb.velocity + linearDelta;
+    float4 angularVel = rb.angularVelocity + angularDelta;
+    float4 r = frame.frame.TransformPoint(pnt) - rb.com;
+
+    // calculate rigidbody velocity. (point is assumed to be expressed in solver space, convert it to world space):
+    float4 wsRigidbodyVel = linearVel + float4(cross(angularVel.xyz, r.xyz), 0);
+
+    // calculate solver velocity:
+    float4 wsSolverVelocity = frame.velocity + float4(cross(frame.angularVelocity.xyz, pnt.xyz), 0);
+
+    // convert the resulting velocity back to solver space:
+    return frame.frame.InverseTransformVector(wsRigidbodyVel - wsSolverVelocity);
+};
+
+void AtomicAddLinearDelta(in int rigidbodyIndex, in float4 delta)
+{
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 0, delta.x);
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 1, delta.y);
+    InterlockedAddFloat(linearDeltasAsInt, rigidbodyIndex, 2, delta.z);
+}
+
+void AtomicAddAngularDelta(in int rigidbodyIndex, in float4 delta)
+{
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 0, delta.x);
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 1, delta.y);
+    InterlockedAddFloat(angularDeltasAsInt, rigidbodyIndex, 2, delta.z);
+}
+
+void ApplyImpulse(int rigidbodyIndex,
+                  float4 impulse,
+                  float4 pnt,
+                  in transform frame)
+{
+    float4 impulseWS = frame.TransformVector(impulse);
+    float4 r = frame.TransformPoint(pnt) - rigidbodies[rigidbodyIndex].com;
+
+    float4 linearDelta = rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
+    float4 angularDelta = mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, float4(cross(r.xyz, impulseWS.xyz), 0));
+    
+    AtomicAddLinearDelta (rigidbodyIndex, linearDelta);
+    AtomicAddAngularDelta(rigidbodyIndex, angularDelta);
+}
+
+void ApplyDeltaQuaternion(int rigidbodyIndex,
+                          quaternion rotation,
+                          quaternion delta,
+                          in transform frame,
+                          float dt)
+{
+    quaternion rotationWS = qmul(frame.rotation, rotation);
+    quaternion deltaWS = qmul(frame.rotation, delta);
+
+    // convert quaternion delta to angular acceleration:
+    quaternion newRotation = normalize(rotationWS + deltaWS);
+    AtomicAddAngularDelta(rigidbodyIndex, DifferentiateAngular(newRotation, rotationWS, dt));
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta b/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta
new file mode 100644
index 000000000..68dede378
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Rigidbody.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 157a770866f4047a5b8a08e6aca2f1bf
+ShaderIncludeImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/RopeChainRendering.compute b/Assets/Obi/Resources/Compute/RopeChainRendering.compute
new file mode 100644
index 000000000..57ee32be6
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeChainRendering.compute
@@ -0,0 +1,109 @@
+#pragma kernel UpdateChainMesh
+
+#include "PathFrame.cginc"
+
+struct chainRendererData
+{
+    int modifierOffset;
+    float twistAnchor;
+    float twist;
+    uint usesOrientedParticles;
+
+    float4 scale;
+};
+
+struct chunkData
+{
+    int rendererIndex;
+    int offset; // index of the first element for each chunk.
+};
+
+struct linkModifier
+{
+    float3 translation;
+    float3 scale;
+    float3 rotation;
+
+    void Clear()
+    {
+        translation = float3(0,0,0);
+        scale =  float3(1,1,1);
+        rotation = float3(0,0,0);
+    }
+};
+
+StructuredBuffer<chainRendererData> rendererData;
+StructuredBuffer<chunkData> chunksData;
+StructuredBuffer<linkModifier> modifiers;
+StructuredBuffer<int2> elements;
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> colors;
+float4x4 solverToWorld;
+
+RWStructuredBuffer<float4x4> instanceTransforms;
+RWStructuredBuffer<float4x4> invInstanceTransforms;
+RWStructuredBuffer<float4> instanceColors;
+
+uint chunkCount;
+
+[numthreads(32, 1, 1)]
+void UpdateChainMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= chunkCount) return;
+
+    int firstIndex = i > 0 ? chunksData[i - 1].offset : 0;
+    uint elementCount = chunksData[i].offset - firstIndex;
+
+    int rendererIndex = chunksData[i].rendererIndex;
+    chainRendererData renderer = rendererData[rendererIndex];
+
+    int firstModifier = rendererIndex > 0 ? rendererData[rendererIndex - 1].modifierOffset : 0;
+    uint modifierCount = renderer.modifierOffset - firstModifier;
+
+    linkModifier modifier;
+    modifier.Clear();
+
+    pathFrame frame;
+    frame.Reset();
+
+    float twist = -renderer.twist * elementCount * renderer.twistAnchor;
+    frame.SetTwist(twist);
+
+    // parallel transport:
+    for (uint m = 0; m < elementCount; ++m)
+    {
+        if (modifierCount > 0)
+            modifier = modifiers[firstModifier + m % modifierCount];
+
+        int index = firstIndex + m;
+        float4 pos     = renderablePositions[elements[index].x];
+        float4 nextPos = renderablePositions[elements[index].y];
+        float4 vect = nextPos - pos;
+        float3 tangent = normalizesafe(vect.xyz);
+
+        if (renderer.usesOrientedParticles == 1)
+        {
+            frame.Transport(nextPos.xyz, tangent, rotate_vector(renderableOrientations[elements[index].x], float3(0, 1, 0)), twist);
+            twist += renderer.twist;
+        }
+        else
+            frame.Transport(nextPos.xyz, tangent, renderer.twist);
+
+        if (modifierCount > 0)
+            modifier = modifiers[firstModifier + m % (uint)modifierCount];
+
+        quaternion rotation = q_look_at(frame.tangent, frame.normal); 
+        float3 position = (pos + vect * 0.5f).xyz + rotate_vector(rotation, modifier.translation);
+        float3 scale = principalRadii[elements[index].x].x * 2 * renderer.scale.xyz * modifier.scale;
+
+        rotation = qmul(rotation, q_eulerXYZ(radians(modifier.rotation)));
+
+        instanceTransforms[index] = mul(solverToWorld, TRS(position,rotation,scale));
+        invInstanceTransforms[index] = Inverse(instanceTransforms[index]);
+        instanceColors[index] = (colors[elements[index].x] + colors[elements[index].x]) * 0.5;
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta b/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta
new file mode 100644
index 000000000..a80ac9cb2
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeChainRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 64a1b58e2d7634b3b905947b0c5e78c7
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute b/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute
new file mode 100644
index 000000000..cdcb106c5
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute
@@ -0,0 +1,164 @@
+#pragma kernel UpdateRopeMesh
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct extrudedMeshData
+{
+    int sectionVertexCount;
+    float thicknessScale;
+    float uvAnchor;
+    uint normalizeV;
+    float2 uvScale;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<float2> sectionData;
+StructuredBuffer<int> sectionOffsets;
+StructuredBuffer<int> sectionIndices;
+
+StructuredBuffer<int> vertexOffsets;
+StructuredBuffer<int> triangleOffsets;
+StructuredBuffer<int> triangleCounts;
+
+StructuredBuffer<extrudedMeshData> extrudedData;
+StructuredBuffer<smootherPathData> pathData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer tris;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+
+pathFrame LookAt(pathFrame frame, in pathFrame target, out float dist)
+{
+    float3 tangent = target.position - frame.position;
+    dist = length(tangent);
+    tangent /= dist + EPSILON;
+
+    quaternion rotQ = from_to_rotation(frame.tangent, tangent);
+    frame.normal = rotate_vector(rotQ, frame.normal);
+    frame.binormal = rotate_vector(rotQ, frame.binormal);
+    frame.tangent = tangent;
+
+    return frame;
+}
+
+[numthreads(128, 1, 1)]
+void UpdateRopeMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int u = id.x;
+    if (u >= rendererCount) return;
+
+    int k = firstRenderer + u;
+    int s = pathSmootherIndices[k];
+    
+    float3 vertex = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 texTangent = FLOAT4_ZERO;
+
+    int tri = 0;
+    int sectionIndex = 0;
+    int sectionStart = sectionOffsets[sectionIndices[k]];
+    int sectionSegments = (sectionOffsets[sectionIndices[k] + 1] - sectionStart) - 1;
+    int verticesPerSection = sectionSegments + 1;   // the last vertex in each section must be duplicated, due to uv wraparound.
+
+    float smoothLength = 0;
+    int i;
+    for (i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+        smoothLength += pathData[i].smoothLength;
+
+    float vCoord = -extrudedData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * extrudedData[k].uvAnchor;
+    float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+    int firstVertex = vertexOffsets[k];
+    int firstTriangle = triangleOffsets[k];
+
+    // clear out triangle indices for this rope:
+    for (i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+    {
+        int offset = i*3;
+        tris.Store((offset)<<2,  0);
+        tris.Store((offset+1)<<2,0);
+        tris.Store((offset+2)<<2,0);
+    }
+    
+    // for each chunk in the rope:
+    for (i = chunkOffsets[s]; i < chunkOffsets[s+1]; ++i)
+    {
+        int firstFrame = frameOffsets[i];
+        int frameCount = frameCounts[i];
+       
+        for (int f = 0; f < frameCount; ++f)
+        {
+            // Calculate previous and next curve indices:
+            int prevIndex = firstFrame + max(f - 1, 0);
+            int index = firstFrame + f;
+
+            // advance v texcoord:
+            vCoord += extrudedData[k].uvScale.y * (distance(frames[index].position, frames[prevIndex].position) /
+                                              (extrudedData[k].normalizeV ? smoothLength : actualToRestLengthRatio));
+
+            // calculate section thickness and scale the basis vectors by it:
+            float sectionThickness = frames[index].thickness * extrudedData[k].thicknessScale;
+            
+            // Loop around each segment:
+            int nextSectionIndex = sectionIndex + 1;
+            for (int j = 0; j <= sectionSegments; ++j)
+            {
+                // make just one copy of the section vertex:
+                float2 sectionVertex = sectionData[sectionStart + j];
+
+                // calculate normal using section vertex, curve normal and binormal:
+                normal.x = (sectionVertex.x * frames[index].normal.x + sectionVertex.y * frames[index].binormal.x) * sectionThickness;
+                normal.y = (sectionVertex.x * frames[index].normal.y + sectionVertex.y * frames[index].binormal.y) * sectionThickness;
+                normal.z = (sectionVertex.x * frames[index].normal.z + sectionVertex.y * frames[index].binormal.z) * sectionThickness;
+
+                // offset curve position by normal:
+                vertex.x = frames[index].position.x + normal.x;
+                vertex.y = frames[index].position.y + normal.y;
+                vertex.z = frames[index].position.z + normal.z;
+
+                // cross(normal, curve tangent)
+                texTangent.xyz = cross(normal, frames[index].tangent);
+                texTangent.w = -1;
+                
+                int base = (firstVertex + sectionIndex * verticesPerSection + j) * 16;
+                vertices.Store3( base<<2, asuint(vertex));
+                vertices.Store3((base + 3)<<2, asuint(normal));
+                vertices.Store4((base + 6)<<2, asuint(texTangent));
+                vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+                vertices.Store2((base + 14)<<2, asuint(float2(j / (float)sectionSegments * extrudedData[k].uvScale.x, vCoord)));
+
+                if (j < sectionSegments && f < frameCount - 1)
+                {
+                    int offset = firstTriangle * 3;
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + (j + 1)));
+
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * verticesPerSection + (j + 1)));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + j));
+                    tris.Store((offset + tri++)<<2, asuint(firstVertex + nextSectionIndex * verticesPerSection + (j + 1)));
+                }
+            }
+            sectionIndex++;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta b/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta
new file mode 100644
index 000000000..2861b99f9
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeExtrudedRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0d389c799c83d43f38f2486ab16fe902
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/RopeLineRendering.compute b/Assets/Obi/Resources/Compute/RopeLineRendering.compute
new file mode 100644
index 000000000..8d3582ae6
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeLineRendering.compute
@@ -0,0 +1,162 @@
+#pragma kernel UpdateLineMesh
+
+#include "PathFrame.cginc"
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct lineMeshData
+{
+    float2 uvScale;
+    float thicknessScale;
+    float uvAnchor;
+    uint normalizeV;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<int> vertexOffsets;
+StructuredBuffer<int> triangleOffsets;
+StructuredBuffer<int> triangleCounts;
+
+StructuredBuffer<lineMeshData> rendererData;
+StructuredBuffer<smootherPathData> pathData;
+
+RWByteAddressBuffer vertices;
+RWByteAddressBuffer tris;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+float3 localSpaceCamera;
+
+pathFrame LookAt(pathFrame frame, in pathFrame target, out float dist)
+{
+    float3 tangent = target.position - frame.position;
+    dist = length(tangent);
+    tangent /= dist + EPSILON;
+
+    quaternion rotQ = from_to_rotation(frame.tangent, tangent);
+    frame.normal = rotate_vector(rotQ, frame.normal);
+    frame.binormal = rotate_vector(rotQ, frame.binormal);
+    frame.tangent = tangent;
+
+    return frame;
+}
+
+[numthreads(128, 1, 1)]
+void UpdateLineMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int u = id.x;
+    if (u >= rendererCount) return;
+
+    int k = firstRenderer + u;
+    int s = pathSmootherIndices[k];
+    
+    float3 vertex = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 bitangent = FLOAT4_ZERO;
+
+    int tri = 0;
+    int sectionIndex = 0;
+    int firstVertex = vertexOffsets[k];
+    int firstTriangle = triangleOffsets[k];
+
+    float smoothLength = 0;
+    int i = 0;
+    for (i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+        smoothLength += pathData[i].smoothLength;
+
+    float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+    float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+    // clear out triangle indices for this rope:
+    for (i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+    {
+        int offset = i*3;
+        tris.Store((offset)<<2,  0);
+        tris.Store((offset+1)<<2,0);
+        tris.Store((offset+2)<<2,0);
+    }
+    
+    // for each chunk in the rope:
+    for (i = chunkOffsets[s]; i < chunkOffsets[s+1]; ++i)
+    {
+        int firstFrame = frameOffsets[i];
+        int frameCount = frameCounts[i];
+        
+        for (int f = 0; f < frameCount; ++f)
+        {
+            // Calculate previous and next curve indices:
+            int prevIndex = firstFrame + max(f - 1, 0);
+            int index = firstFrame + f;
+
+            // advance v texcoord:
+            vCoord += rendererData[k].uvScale.y * (distance(frames[index].position, frames[prevIndex].position) /
+                                              (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+            // calculate section thickness and scale the basis vectors by it:
+            float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+            normal.x = frames[index].position.x - localSpaceCamera.x;
+            normal.y = frames[index].position.y - localSpaceCamera.y;
+            normal.z = frames[index].position.z - localSpaceCamera.z;
+            normal = normalize(normal);
+
+            bitangent.x = -(normal.y * frames[index].tangent.z - normal.z * frames[index].tangent.y);
+            bitangent.y = -(normal.z * frames[index].tangent.x - normal.x * frames[index].tangent.z);
+            bitangent.z = -(normal.x * frames[index].tangent.y - normal.y * frames[index].tangent.x);
+            bitangent.xyz = normalize(bitangent.xyz);
+            bitangent.w = 1;
+
+            vertex.x = frames[index].position.x - bitangent.x * sectionThickness;
+            vertex.y = frames[index].position.y - bitangent.y * sectionThickness;
+            vertex.z = frames[index].position.z - bitangent.z * sectionThickness;
+            
+            int base = (firstVertex + sectionIndex * 2) * 16;
+            vertices.Store3( base<<2, asuint(vertex));
+            vertices.Store3((base + 3)<<2, asuint(-normal));
+            vertices.Store4((base + 6)<<2, asuint(bitangent));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+            vertices.Store2((base + 14)<<2, asuint(float2(0, vCoord)));
+
+            vertex.x = frames[index].position.x + bitangent.x * sectionThickness;
+            vertex.y = frames[index].position.y + bitangent.y * sectionThickness;
+            vertex.z = frames[index].position.z + bitangent.z * sectionThickness;
+            
+            base = (firstVertex + sectionIndex * 2 + 1) * 16;
+            vertices.Store3( base<<2, asuint(vertex));
+            vertices.Store3((base + 3)<<2, asuint(-normal));
+            vertices.Store4((base + 6)<<2, asuint(bitangent));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+            vertices.Store2((base + 14)<<2, asuint(float2(1, vCoord)));
+
+            if (f < frameCount - 1)
+            {
+           
+                int offset = firstTriangle * 3;
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1)  * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2 + 1));
+
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + sectionIndex * 2 + 1));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1) * 2));
+                tris.Store((offset + tri++)<<2, asuint(firstVertex + (sectionIndex + 1) * 2 + 1));
+            }
+
+            sectionIndex++;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta b/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta
new file mode 100644
index 000000000..05e0afc7a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeLineRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d9fce691efd9941a78e1e74355ec3d84
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/RopeMeshRendering.compute b/Assets/Obi/Resources/Compute/RopeMeshRendering.compute
new file mode 100644
index 000000000..f12fc2dcc
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeMeshRendering.compute
@@ -0,0 +1,218 @@
+#pragma kernel UpdateRopeMesh
+
+#include "PathFrame.cginc"
+
+struct ropeMeshData
+{
+    uint axis;
+    float volumeScaling;
+    uint stretchWithRope;
+    uint spanEntireLength;
+    uint instances;
+    float instanceSpacing;
+    float offset;
+    float meshSizeAlongAxis;
+    float4 scale;
+};
+
+struct smootherPathData
+{
+    uint smoothing;
+    float decimation;
+    float twist;
+    float restLength;
+    float smoothLength;
+    uint usesOrientedParticles;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> pathSmootherIndices;
+StructuredBuffer<int> chunkOffsets;
+
+StructuredBuffer<pathFrame> frames;
+StructuredBuffer<int> frameOffsets;
+StructuredBuffer<int> frameCounts;
+
+StructuredBuffer<int> vertexOffsets;
+
+StructuredBuffer<int> meshIndices;
+StructuredBuffer<MeshData> meshData;
+
+StructuredBuffer<int> sortedIndices;
+StructuredBuffer<int> sortedOffsets;
+
+StructuredBuffer<ropeMeshData> rendererData;
+StructuredBuffer<smootherPathData> pathData;
+
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+StructuredBuffer<float4> colors;
+
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint firstRenderer;
+uint rendererCount;
+
+pathFrame InterpolateFrames(pathFrame a, pathFrame b, float3 bOffset, float t)
+{
+    // this offset is used to displace a copy of the first and last frames of the path,
+    // to ensure meshes extrude correctly prior to the first or past the last frame. 
+    b.position += bOffset;
+    pathFrame interp = addFrames(multiplyFrame(1 - t, a) ,multiplyFrame(t , b));
+
+    // (no need to renormalize tangent, since offsetFromCurve[axis] = 0)
+    interp.normal = normalize(interp.normal);
+    interp.binormal = normalize(interp.binormal);
+    return interp;
+}
+
+[numthreads(16, 1, 1)]
+void UpdateRopeMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= rendererCount) return;
+    
+    int rendererIndex = firstRenderer + i;
+    int pathIndex = pathSmootherIndices[rendererIndex];
+    ropeMeshData renderer = rendererData[rendererIndex];
+
+    // get mesh data:
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    int sortedOffset = sortedOffsets[rendererIndex];
+
+    // get index of first output vertex:
+    int firstOutputVertex = vertexOffsets[rendererIndex];
+
+    // get index of first chunk, ignore others (no support for tearing):
+    int chunkIndex = chunkOffsets[pathIndex]; 
+
+    // get first frame and frame count:
+    int firstFrame = frameOffsets[chunkIndex];
+    int lastFrame = firstFrame + frameCounts[chunkIndex] - 1;
+
+    // get mesh deform axis:
+    int axis = renderer.axis;
+
+    // initialize scale vector:
+    float3 actualScale = renderer.scale.xyz;
+
+    // calculate stretch ratio:
+    float stretchRatio = renderer.stretchWithRope == 1 ? pathData[chunkIndex].smoothLength / pathData[chunkIndex].restLength : 1;
+
+    // squashing factor, makes mesh thinner when stretched and thicker when compresssed.
+    float squashing = clamp(1 + renderer.volumeScaling * (1 / max(stretchRatio, 0.01f) - 1), 0.01f, 2);
+
+    // calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
+    if (renderer.spanEntireLength == 1)
+    {
+        float totalMeshLength = renderer.meshSizeAlongAxis * renderer.instances;
+        float totalSpacing = renderer.instanceSpacing * (renderer.instances - 1);
+        float axisScale = pathData[chunkIndex].restLength / (totalMeshLength + totalSpacing);
+
+        if (axis == 0) actualScale.x = axisScale;
+        else if (axis == 1) actualScale.y = axisScale;
+        else actualScale.z = axisScale;
+    }
+
+    // init loop variables:
+    float lengthAlongAxis = renderer.offset;
+    int index = firstFrame;
+    int nextIndex = firstFrame + 1;
+    int prevIndex = firstFrame;
+    float nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+    float prevMagnitude = nextMagnitude;
+
+    
+    for (int j = 0; j < mesh.vertexCount; ++j)
+    {
+        int base = (firstOutputVertex + sortedIndices[sortedOffset + j]) * 14;
+        vertices.Store3(base << 2, asuint(positions[mesh.firstVertex + sortedIndices[sortedOffset + j]] * float3(0.5,1,1)));
+    }
+
+    for (int k = 0; k < (int)renderer.instances; ++k)
+    {
+        for (int j = 0; j < mesh.vertexCount; ++j)
+        {
+            int currVIndex = mesh.firstVertex + sortedIndices[sortedOffset + j]; 
+            int prevVIndex = mesh.firstVertex + sortedIndices[sortedOffset + max(0,j - 1)];
+
+            // calculate how much we've advanced in the sort axis since the last vertex:
+            lengthAlongAxis += (positions[currVIndex][axis] - positions[prevVIndex][axis]) * actualScale[axis] * stretchRatio;
+
+            // check if we have moved to a new section of the curve:
+            pathFrame frame;
+            if (lengthAlongAxis < 0)
+            {
+                while (-lengthAlongAxis > prevMagnitude && index > firstFrame)
+                {
+                    lengthAlongAxis += prevMagnitude;
+                    index = max(index - 1, firstFrame);
+                    nextIndex = min(index + 1, lastFrame);
+                    prevIndex = max(index - 1, firstFrame);
+                    nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+                    prevMagnitude = distance(frames[index].position, frames[prevIndex].position);
+                }
+
+                float3 offset = float3(0,0,0);
+                if (index == prevIndex)
+                {
+                    offset = frames[index].position - frames[nextIndex].position;
+                    prevMagnitude = length(offset);
+                }
+
+                frame = InterpolateFrames(frames[index], frames[prevIndex], offset, -lengthAlongAxis / prevMagnitude);
+            }
+            else
+            {
+                while (lengthAlongAxis > nextMagnitude && index < lastFrame)
+                {
+                    lengthAlongAxis -= nextMagnitude;
+                    index = min(index + 1, lastFrame);
+                    nextIndex = min(index + 1, lastFrame);
+                    prevIndex = max(index - 1, firstFrame);
+                    nextMagnitude = distance(frames[index].position, frames[nextIndex].position);
+                    prevMagnitude = distance(frames[index].position, frames[prevIndex].position);
+                }
+
+                float3 offset = float3(0,0,0);
+                if (index == nextIndex)
+                {
+                    offset = frames[index].position - frames[prevIndex].position;
+                    nextMagnitude = length(offset);
+                }
+
+                frame = InterpolateFrames(frames[index], frames[nextIndex], offset, lengthAlongAxis / nextMagnitude);
+           }
+
+            // update basis matrix:
+            float3x3 basis = frame.ToMatrix(axis);
+
+            // calculate vertex offset from curve:
+            float3 offsetFromCurve = positions[currVIndex] * actualScale * frame.thickness * squashing;
+            if (axis == 0) offsetFromCurve.x = 0;
+            else if (axis == 1) offsetFromCurve.y = 0;
+            else offsetFromCurve.z = 0;
+
+            // write modified vertex data:
+            int base = (firstOutputVertex + sortedIndices[sortedOffset + j]) * 14;
+            vertices.Store3( base<<2, asuint(frame.position + mul(basis, offsetFromCurve)));
+            vertices.Store3((base + 3)<<2, asuint(mul(basis, normals[currVIndex])));
+            vertices.Store4((base + 6)<<2, asuint(float4(mul(basis, tangents[currVIndex].xyz), tangents[currVIndex].w)));
+            vertices.Store4((base + 10)<<2, asuint(frames[index].color));
+        }
+
+        firstOutputVertex += mesh.vertexCount;
+        lengthAlongAxis += renderer.instanceSpacing * actualScale[axis] * stretchRatio;
+    }
+   
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta b/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta
new file mode 100644
index 000000000..fbe83db5c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/RopeMeshRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 68510b7d06c3544fba668628be450928
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Scan.compute b/Assets/Obi/Resources/Compute/Scan.compute
new file mode 100644
index 000000000..dc961d991
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Scan.compute
@@ -0,0 +1,78 @@
+#pragma kernel ScanInBucketExclusive
+#pragma kernel ScanAddBucketResult
+
+#define THREADS_PER_GROUP 512 // Ensure that this equals the 'threadsPerGroup' const in the host script. Must be an odd power of 2.
+
+// These must be a multiple of THREADS_PER_GROUP. 
+StructuredBuffer<uint> _Input;
+RWStructuredBuffer<uint> _Result;
+RWStructuredBuffer<uint> _BlockSum;
+uint count;
+
+groupshared uint bucket[THREADS_PER_GROUP];
+
+// Scan in each bucket.
+[numthreads(THREADS_PER_GROUP, 1, 1)]
+void ScanInBucketExclusive(uint DTid : SV_DispatchThreadID, uint Gid : SV_GroupID, uint GI : SV_GroupIndex)
+{
+    if (DTid < count) {
+        bucket[GI] = _Input[DTid];
+    } else {
+        bucket[GI] = 0;
+    }
+
+    GroupMemoryBarrierWithGroupSync();
+
+    uint stride;
+
+    // up-sweep
+    [unroll]
+    for (stride = 2; stride <= THREADS_PER_GROUP; stride <<= 1)
+    {
+        GroupMemoryBarrierWithGroupSync();
+        if (((GI + 1) % stride) == 0) 
+        {
+            const uint half_stride = (stride >> 1);
+            bucket[GI] += bucket[GI - half_stride];
+        }
+    }
+
+    // Without this barrier, setting tg_mem[-1] to 0 may not be properly
+    // propagated across the entire threadgroup.
+    GroupMemoryBarrierWithGroupSync();
+    if (GI == THREADS_PER_GROUP - 1)
+    {
+        // clear the last element
+        _BlockSum[Gid] = bucket[GI];
+        bucket[GI] = 0;
+    }
+
+    // down-sweep
+    [unroll]
+    for (stride = THREADS_PER_GROUP; stride > 1; stride >>= 1)
+    {
+        GroupMemoryBarrierWithGroupSync();
+
+        if (((GI + 1) % stride) == 0) 
+        {
+            const uint half_stride = (stride >> 1);
+            const uint prev_idx = GI - half_stride;
+            const int tmp = bucket[prev_idx];
+            bucket[prev_idx] = bucket[GI];
+            bucket[GI] += tmp;
+        }
+    }
+
+    GroupMemoryBarrierWithGroupSync();
+
+    if (DTid < count) 
+        _Result[DTid] = bucket[GI];
+}
+
+// Add the bucket scanned result to each bucket to get the final result.
+[numthreads(THREADS_PER_GROUP, 1, 1)]
+void ScanAddBucketResult(uint DTid : SV_DispatchThreadID, uint Gid : SV_GroupID)
+{
+    if (DTid < count)
+        _Result[DTid] += _Input[Gid];
+}
diff --git a/Assets/Obi/Resources/Compute/Scan.compute.meta b/Assets/Obi/Resources/Compute/Scan.compute.meta
new file mode 100644
index 000000000..4b20551d8
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Scan.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7124bb82b9af4476c8de8e82d7f8caba
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute b/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute
new file mode 100644
index 000000000..79d671b37
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute
@@ -0,0 +1,266 @@
+#pragma kernel CalculateRestShapeMatching
+#pragma kernel PlasticDeformation
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> firstIndex;
+StructuredBuffer<int> numIndices;
+StructuredBuffer<int> explicitGroup;
+StructuredBuffer<float> shapeMaterialParameters;
+
+RWStructuredBuffer<float4> RW_restComs;
+RWStructuredBuffer<float4> coms;
+RWStructuredBuffer<quaternion> constraintOrientations;
+
+RWStructuredBuffer<float4x4> RW_Aqq;
+RWStructuredBuffer<float4x4> RW_linearTransforms;
+RWStructuredBuffer<float4x4> RW_deformation;
+
+RWStructuredBuffer<float4> RW_positions;
+RWStructuredBuffer<quaternion> orientations;
+
+StructuredBuffer<float4> restComs;
+StructuredBuffer<float4x4> Aqq;
+StructuredBuffer<float4x4> linearTransforms;
+StructuredBuffer<float4x4> deformation;
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<float4> principalRadii;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+void RecalculateRestData(uint i)
+{
+    int k = 0;
+    float maximumMass = 10000;
+
+    // initialize rest center of mass and shape matrix:
+    RW_restComs[i] = FLOAT4_ZERO;
+    RW_Aqq[i] = FLOAT4X4_ZERO;
+
+    float4 restCom = FLOAT4_ZERO;
+    float4x4 _Aqq = FLOAT4X4_ZERO, _Rqq = FLOAT4X4_ZERO;
+
+    // calculate rest center of mass, shape mass and RW_Aqq matrix.
+    for (int j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+
+        float mass = maximumMass;
+        if (invMasses[k] > 1.0f / maximumMass)
+            mass = 1.0f / invMasses[k];
+
+        restCom += restPositions[k] * mass;
+
+        float4x4 particleR = q_toMatrix(restOrientations[k]);
+        particleR[3][3] = 0;
+
+        _Rqq += mul(particleR,
+                    mul(AsDiagonal(GetParticleInertiaTensor(principalRadii[k],invRotationalMasses[k])),
+                    transpose(particleR))
+                    );
+
+        float4 restPosition = restPositions[k];
+        restPosition[3] = 0;
+
+        _Aqq += mass * multrnsp4(restPosition, restPosition);
+    }
+    
+    if (restCom[3] < EPSILON)
+        return;
+    
+    restCom.xyz /= restCom[3];
+    RW_restComs[i] = restCom;
+
+    restCom[3] = 0;
+    _Aqq -= RW_restComs[i][3] * multrnsp4(restCom, restCom);
+    _Aqq[3][3] = 1; // so that the determinant is never 0 due to all-zeros row/column.
+    
+    RW_Aqq[i] = Inverse(_Rqq + mul(RW_deformation[i], mul(_Aqq, transpose(RW_deformation[i]))));
+    
+}
+
+[numthreads(128, 1, 1)]
+void CalculateRestShapeMatching (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    RecalculateRestData(i);
+}
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int k;
+    float maximumMass = 10000;
+
+    coms[i] = FLOAT4_ZERO;
+    float4x4 Apq = FLOAT4X4_ZERO, Rpq = FLOAT4X4_ZERO;
+
+    // calculate shape mass, center of mass, and moment matrix:
+    int j;
+    for (j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+
+        float mass = maximumMass;
+        if (invMasses[k] > 1.0f / maximumMass)
+            mass = 1.0f / invMasses[k];
+
+        coms[i] += positions[k] * mass;
+
+        float4x4 particleR = q_toMatrix(orientations[k]);
+        float4x4 particleRT = q_toMatrix(restOrientations[k]);
+        particleR[3][3] = 0;
+        particleRT[3][3] = 0;
+
+        Rpq += mul(particleR,
+                   mul(AsDiagonal(GetParticleInertiaTensor(principalRadii[k],invRotationalMasses[k])),
+                   transpose(particleRT))
+                   );
+
+        float4 restPosition = restPositions[k];
+        restPosition[3] = 0;
+
+        Apq += mass * multrnsp4(positions[k], restPosition);
+    }
+
+    if (restComs[i][3] < EPSILON)
+        return;
+
+    coms[i] /= restComs[i][3];
+
+    // subtract global shape moment:
+    float4 restCom = restComs[i];
+    restCom[3] = 0;
+
+    Apq -= restComs[i][3] * multrnsp4(coms[i], restCom);
+
+    // calculate optimal transform including plastic deformation:
+    float4x4 Apq_def = Rpq + mul(Apq, transpose(deformation[i]));
+    Apq_def[3][3] = 1;
+
+    // reconstruct full best-matching linear transform:
+    RW_linearTransforms[i] = mul(Apq_def, Aqq[i]);
+
+    // extract rotation from transform matrix, using warmstarting and few iterations:
+    constraintOrientations[i] = ExtractRotation(Apq_def, constraintOrientations[i], 5);
+   
+    // calculate particle orientations:
+    if (explicitGroup[i] > 0)
+    {
+        // if the group is explicit, set the orientation for all particles:
+        for (int j = 0; j < numIndices[i]; ++j)
+        {
+            k = particleIndices[firstIndex[i] + j];
+            orientations[k] = qmul(constraintOrientations[i], restOrientations[k]);
+        }
+    }
+    else
+    {
+        // set orientation of center particle only:
+        int centerIndex = particleIndices[firstIndex[i]];
+        orientations[centerIndex] = qmul(constraintOrientations[i], restOrientations[centerIndex]);
+    }
+
+    // finally, obtain rotation matrix:
+    float4x4 R = q_toMatrix(constraintOrientations[i]);
+    R[3][3] = 0;
+    float4x4 transform = mul(R,deformation[i]);
+
+    // calculate and accumulate particle goal positions:
+    float4 goal, delta;
+    for (j = 0; j < numIndices[i]; ++j)
+    {
+        k = particleIndices[firstIndex[i] + j];
+        goal = coms[i] + mul(transform, restPositions[k] - restComs[i]);
+        delta = (goal - positions[k]) * shapeMaterialParameters[i * 5];
+
+        AddPositionDelta(k, delta);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void PlasticDeformation (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= activeConstraintCount) return;
+
+    // get plastic deformation parameters:
+    float plastic_yield = shapeMaterialParameters[i * 5 + 1];
+    float plastic_creep = shapeMaterialParameters[i * 5 + 2];
+    float plastic_recovery = shapeMaterialParameters[i * 5 + 3];
+    float max_deform = shapeMaterialParameters[i * 5 + 4];
+
+    // if we are allowed to absorb deformation:
+    if (plastic_creep > 0)
+    {
+        //obtain rotation matrix:
+        float4x4 R = q_toMatrix(constraintOrientations[i]);
+        R[3][3] = 1;
+
+        // get scale matrix (A = RS so S = Rt * A) and its deviation from the identity matrix:
+        float4x4 deform_matrix = mul(transpose(R), linearTransforms[i]) - FLOAT4X4_IDENTITY;
+
+        // if the amount of deformation exceeds the yield threshold:
+        float norm = FrobeniusNorm(deform_matrix);
+        if (norm > plastic_yield)
+        {
+            // deform the shape permanently:
+            RW_deformation[i] = mul(FLOAT4X4_IDENTITY + plastic_creep * deform_matrix, RW_deformation[i]);
+
+            // clamp deformation so that it does not exceed a percentage;
+            deform_matrix = RW_deformation[i] - FLOAT4X4_IDENTITY;
+            norm = FrobeniusNorm(deform_matrix);
+            if (norm > max_deform)
+            {
+                RW_deformation[i] = FLOAT4X4_IDENTITY + max_deform * deform_matrix / norm;
+            }
+
+            // if we cannot recover from plastic deformation, recalculate rest shape now:
+            if (plastic_recovery == 0)
+                RecalculateRestData(i);
+        }
+    }
+
+    // if we can recover from plastic deformation, lerp towards non-deformed shape and recalculate rest shape:
+    if (plastic_recovery > 0)
+    {
+        RW_deformation[i] += (FLOAT4X4_IDENTITY - RW_deformation[i]) * min(plastic_recovery * deltaTime, 1.0f);
+        RecalculateRestData(i);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int first = firstIndex[i];
+    int last = first + numIndices[i];
+
+    for (int k = first; k < last; ++k)
+    {
+        int p = particleIndices[k];
+        ApplyPositionDelta(RW_positions, p, sorFactor);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta b/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta
new file mode 100644
index 000000000..ea486ca81
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/ShapeMatchingConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 18ba9336feedf4902b78736cf9abdaa8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Simplex.cginc b/Assets/Obi/Resources/Compute/Simplex.cginc
new file mode 100644
index 000000000..9fc762e39
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Simplex.cginc
@@ -0,0 +1,89 @@
+#ifndef SIMPLEX_INCLUDE
+#define SIMPLEX_INCLUDE
+
+#include "Optimization.cginc"
+
+uint pointCount;
+uint edgeCount;
+uint triangleCount;
+
+int GetSimplexStartAndSize(in uint index, out uint size)
+{
+    size = 0;
+    int start = 0;
+
+    if (index < triangleCount)
+    {
+        size = 3;
+        start = index * 3;
+    }
+    else if (index < triangleCount + edgeCount)
+    {
+        size = 2;
+        start = triangleCount * 3 + (index - triangleCount) * 2;
+    }
+    else if (index < triangleCount + edgeCount + pointCount)
+    {
+        size = 1;
+        start = triangleCount * 3 + edgeCount * 2 + (index - triangleCount - edgeCount);
+    }
+    return start;
+}
+
+float4 BarycenterForSimplexOfSize(in int simplexSize)
+{
+    switch(simplexSize)
+    {
+        case 1: return float4(1,0,0,0);
+        case 2: return float4(0.5,0.5,0,0);
+        case 3: return float4(1/3.0,1/3.0,1/3.0,0);
+        case 4: return float4(0.25,0.25,0.25,0.25);
+        default: return float4(1,0,0,0);
+    }
+}
+
+struct Simplex : IDistanceFunction
+{
+    StructuredBuffer<float4> positions;
+    StructuredBuffer<float4> radii;
+    StructuredBuffer<int> simplices;
+
+    int simplexStart;
+    int simplexSize;
+
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        switch (simplexSize)
+        {
+            case 1:
+            default:
+                {
+                    float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                    projectedPoint.bary = float4(1, 0, 0, 0);
+                    projectedPoint.pos = p1;
+                }
+                break;
+            case 2:
+                {
+                    float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                    float4 p2 = positions[simplices[simplexStart + 1]]; p2.w = 0;
+                    float mu;
+                    NearestPointOnEdge(p1, p2, pos, mu);
+                    projectedPoint.bary = float4(1 - mu, mu, 0, 0);
+                    projectedPoint.pos = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
+        
+                }break;
+            case 3:
+                {
+                    CachedTri tri;
+                    tri.Cache(float4(positions[simplices[simplexStart]].xyz,0),
+                              float4(positions[simplices[simplexStart + 1]].xyz,0),
+                              float4(positions[simplices[simplexStart + 2]].xyz,0));
+                    projectedPoint.pos = NearestPointOnTri(tri, pos, projectedPoint.bary);
+                }break;
+        }
+        projectedPoint.normal = normalizesafe(pos - projectedPoint.pos);
+    }
+
+};
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Simplex.cginc.meta b/Assets/Obi/Resources/Compute/Simplex.cginc.meta
new file mode 100644
index 000000000..a695ffd73
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Simplex.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d8eeb7300d95c4653a91d905aaaf5344
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SkinConstraints.compute b/Assets/Obi/Resources/Compute/SkinConstraints.compute
new file mode 100644
index 000000000..c3714990c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SkinConstraints.compute
@@ -0,0 +1,71 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float4> skinPoints;
+StructuredBuffer<float4> skinNormals;
+StructuredBuffer<float3> skinRadiiBackstop;
+StructuredBuffer<float> skinCompliance;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    float radius = skinRadiiBackstop[i].x;
+    float collisionRadius = skinRadiiBackstop[i].y;
+    float backstopDistance = collisionRadius + skinRadiiBackstop[i].z;
+
+    float compliance = skinCompliance[i] / (deltaTime * deltaTime);
+    int p = particleIndices[i];
+
+    if (invMasses[p] > 0)
+    {
+        float4 toSkin = positions[p] - skinPoints[i];
+        float4 toBackstop = positions[p] - (skinPoints[i] - skinNormals[i] * backstopDistance);
+
+        // distance to skin and backstop sphere centers:
+        float d = length(toSkin);
+        float b = length(toBackstop);
+
+        // constrain particle within skin radius.
+        // ignore mass in the equations (use 1), as we don't want particle mass to interfere with skin compliance.
+        // We should be able to adjust skin properties and particle mass (for collisions) independently.
+        float constraint = max(0,d - radius);
+        float dlambda = (-constraint - compliance * lambdas[i]) / (1 + compliance); 
+        lambdas[i] += dlambda;
+        float4 skinCorrection = dlambda * toSkin / (d + EPSILON);
+
+        // constrain particle outside the backstop sphere (0 compliance):
+        constraint = min(0, b - collisionRadius);
+        float4 backstopCorrection = - constraint * toBackstop / (b + EPSILON);
+        
+        AddPositionDelta(p, skinCorrection + backstopCorrection);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta b/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta
new file mode 100644
index 000000000..92eeacff3
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SkinConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2bec2152263654b08b1639ececa4ced6
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SoftbodyRendering.compute b/Assets/Obi/Resources/Compute/SoftbodyRendering.compute
new file mode 100644
index 000000000..1afb27c92
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SoftbodyRendering.compute
@@ -0,0 +1,145 @@
+#pragma kernel UpdateSoftbodyMesh
+
+#include "MathUtils.cginc"
+
+struct Influence
+{
+    int index;
+    float weight;
+};
+
+struct SkinmapData
+{
+    int firstInfluence;
+    int firstInfNumber;
+    int firstParticleBindPose;
+    
+    int firstSkinWeight;
+    int firstSkinWeightNumber;
+    int firstBoneBindPose;
+
+    int bindPoseCount;
+};
+
+struct SkeletonData
+{
+    int firstBone;
+    int boneCount;
+};
+
+struct MeshData
+{
+    int firstVertex;
+    int vertexCount;
+
+    int firstTriangle;
+    int triangleCount;
+};
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> rendererIndices; // for each vertex/particle, index of its renderer.
+
+StructuredBuffer<float4> renderablePositions;
+StructuredBuffer<quaternion> renderableOrientations;
+
+StructuredBuffer<float4> restPositions;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float4> colors;
+
+StructuredBuffer<int> skinConstraintOffsets;
+
+StructuredBuffer<int> skinmapIndices; // for each renderer, index of its skinmap.
+StructuredBuffer<int> meshIndices; // for each renderer, index of its mesh.
+StructuredBuffer<int> skeletonIndices; // for each renderer, index of its skeleton.
+
+StructuredBuffer<int> particleOffsets; // for each renderer, index of its first particle in the batch.
+StructuredBuffer<int> vertexOffsets;  // for each renderer, index of its first vertex in the batch.
+
+StructuredBuffer<SkinmapData> skinData;
+StructuredBuffer<Influence> influences;
+StructuredBuffer<int> influenceOffsets;
+StructuredBuffer<float4x4> bindPoses;
+
+StructuredBuffer<SkeletonData> skeletonData;
+StructuredBuffer<float3> bonePos;
+StructuredBuffer<quaternion> boneRot;
+StructuredBuffer<float3> boneScl;
+
+StructuredBuffer<MeshData> meshData;
+StructuredBuffer<float3> positions;
+StructuredBuffer<float3> normals;
+StructuredBuffer<float4> tangents;
+
+RWByteAddressBuffer vertices;
+
+// Variables set from the CPU
+uint vertexCount;
+float4x4 world2Solver;
+
+[numthreads(128, 1, 1)]
+void UpdateSoftbodyMesh (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= vertexCount) return;
+
+    int rendererIndex = rendererIndices[i];
+
+    // get skin map and mesh data:
+    SkinmapData skin = skinData[skinmapIndices[rendererIndex]];
+    MeshData mesh = meshData[meshIndices[rendererIndex]];
+    SkeletonData skel = skeletonData[skeletonIndices[rendererIndex]];
+    
+    // get index of this vertex in its original mesh:
+    int originalVertexIndex = i - vertexOffsets[rendererIndex];
+
+    // get index of the vertex in the mesh batch:
+    int batchedVertexIndex = mesh.firstVertex + originalVertexIndex;
+
+    // get first influence and amount of influences for this vertex:
+    int influenceStart = influenceOffsets[skin.firstInfNumber + originalVertexIndex];
+    int influenceCount = influenceOffsets[skin.firstInfNumber + originalVertexIndex + 1] - influenceStart;
+    
+    float3 position = float3(0,0,0);
+    float3 normal = float3(0,0,0);
+    float4 tangent = FLOAT4_ZERO;
+    float4 color = FLOAT4_ZERO;
+    
+    for (int k = influenceStart; k < influenceStart + influenceCount; ++k)
+    {
+        Influence inf = influences[skin.firstInfluence + k];
+        float4x4 trfm;
+
+        if (inf.index < skin.bindPoseCount) // bone influence:
+        {
+            int boneIndex = skel.firstBone + inf.index;
+            int bindIndex = skin.firstParticleBindPose + inf.index;
+
+            float4x4 bind = bindPoses[bindIndex];
+
+            float4x4 deform = inf.index < skel.boneCount ? TRS(bonePos[boneIndex], boneRot[boneIndex], boneScl[boneIndex]) : FLOAT4X4_IDENTITY;
+
+            // bone skinning leaves vertices in world space, so convert to solver space afterwards:
+            trfm = mul(world2Solver, mul(deform, bind)); 
+        }
+        else // particle influence
+        {
+            int p = particleIndices[particleOffsets[rendererIndex] + inf.index - skin.bindPoseCount];
+
+            float4x4 deform = mul(m_translate(FLOAT4X4_IDENTITY,renderablePositions[p].xyz), q_toMatrix(renderableOrientations[p]));
+            trfm = mul(deform, bindPoses[skin.firstParticleBindPose + inf.index]);
+            color += colors[p] * inf.weight;
+        }
+
+        // update vertex/normal/tangent:
+        position += mul(trfm, float4(positions[batchedVertexIndex], 1)).xyz * inf.weight;
+        normal += mul(trfm, float4(normals[batchedVertexIndex], 0)).xyz * inf.weight;
+        tangent += float4(mul(trfm, float4(tangents[batchedVertexIndex].xyz, 0)).xyz, tangents[batchedVertexIndex].w) * inf.weight;
+    }
+
+    int base = i * 14;
+    vertices.Store3( base<<2, asuint(position));
+    vertices.Store3((base + 3)<<2, asuint(normal));
+    vertices.Store4((base + 6)<<2, asuint(tangent));
+    vertices.Store4((base + 10)<<2, asuint(color));
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta b/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta
new file mode 100644
index 000000000..4ae05f36c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SoftbodyRendering.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 805ca20f71b034180a1ab0ba707928be
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Solver.compute b/Assets/Obi/Resources/Compute/Solver.compute
new file mode 100644
index 000000000..2cb5d27cc
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Solver.compute
@@ -0,0 +1,288 @@
+#pragma kernel ApplyInertialForces
+#pragma kernel ApplyRigidbodyDeltas
+#pragma kernel PredictPositions
+#pragma kernel UpdateVelocities
+#pragma kernel UpdatePositions
+#pragma kernel UpdateLifetimes
+#pragma kernel EnforceLimits
+#pragma kernel Interpolate
+
+#include "Bounds.cginc"
+#include "Integration.cginc"
+#include "CollisionMaterial.cginc"
+#include "SolverParameters.cginc"
+#include "MathUtils.cginc"
+#include "Rigidbody.cginc"
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+StructuredBuffer<int> phases;
+StructuredBuffer<float4> buoyancies;
+StructuredBuffer<float> fluidRadii;
+
+StructuredBuffer<float4> startPositions;
+StructuredBuffer<float4> endPositions;
+StructuredBuffer<quaternion> startOrientations;
+StructuredBuffer<quaternion> endOrientations;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+RWStructuredBuffer<float4> principalRadii;
+RWStructuredBuffer<float4> renderablePositions;
+RWStructuredBuffer<quaternion> renderableOrientations;
+RWStructuredBuffer<float4> renderableRadii;
+RWStructuredBuffer<float4> prevPositions;
+RWStructuredBuffer<quaternion> prevOrientations;
+RWStructuredBuffer<float4> velocities;
+RWStructuredBuffer<float4> angularVelocities;
+RWStructuredBuffer<float> life;
+RWStructuredBuffer<float4> wind;
+
+RWStructuredBuffer<int> deadParticles;
+
+RWStructuredBuffer<float4> externalForces;
+RWStructuredBuffer<float4> externalTorques;
+
+RWStructuredBuffer<float4> linearDeltas;
+RWStructuredBuffer<float4> angularDeltas;
+
+StructuredBuffer<inertialFrame> inertialSolverFrame;
+
+// Variables set from the CPU
+uint particleCount;
+
+float deltaTime;
+float blendFactor;
+float velocityScale;
+bool killOffLimits;
+
+float4 angularVel;
+float4 inertialAccel;
+float4 eulerAccel;
+float4 ambientWind;
+bool inertialWind;
+
+float4 boundaryLimitsMin;
+float4 boundaryLimitsMax;
+
+[numthreads(128, 1, 1)]
+void ApplyInertialForces(uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    if (invMasses[p] > 0)
+    {
+        float4 euler = float4(cross(eulerAccel.xyz, positions[p].xyz), 0);
+        float4 centrifugal = float4(cross(angularVel.xyz, cross(angularVel.xyz, positions[p].xyz)), 0);
+        float4 coriolis = 2 * float4(cross(angularVel.xyz, velocities[p].xyz), 0);
+        float4 angularAccel = euler + coriolis + centrifugal;
+
+        velocities[p] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
+    }
+
+    wind[p] = ambientWind;
+
+    if (inertialWind)
+    {
+        float4 wsPos = inertialSolverFrame[0].frame.TransformPoint(positions[p]);
+        wind[p] -= inertialSolverFrame[0].frame.InverseTransformVector(inertialSolverFrame[0].velocityAtPoint(wsPos));
+    }
+}
+
+[numthreads(128, 1, 1)]
+void ApplyRigidbodyDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= particleCount) return;
+    
+    linearDeltas[i].xyz = float3(asfloat(linearDeltasAsInt[i].x),
+                                 asfloat(linearDeltasAsInt[i].y),
+                                 asfloat(linearDeltasAsInt[i].z));
+
+    angularDeltas[i].xyz = float3(asfloat(angularDeltasAsInt[i].x),
+                                  asfloat(angularDeltasAsInt[i].y),
+                                  asfloat(angularDeltasAsInt[i].z));
+}
+
+[numthreads(128, 1, 1)]
+void PredictPositions (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // the previous position/orientation is the current position/orientation at the start of the step.
+    prevPositions[p] = positions[p];
+    prevOrientations[p] = orientations[p];
+  
+    // predict positions:
+    if (invMasses[p] > 0)
+    {
+        float4 effectiveGravity = float4(gravity,0);
+
+        // Adjust gravity for buoyant fluid particles:
+        if ((phases[p] & (int)PHASE_FLUID) != 0)
+            effectiveGravity *= -buoyancies[p].z;
+
+        // apply external forces and gravity:
+        float4 vel = velocities[p] + (invMasses[p] * externalForces[p] + effectiveGravity) * deltaTime; 
+
+        // project velocity to 2D plane if needed:
+        if (mode == 1)
+            vel[3] = 0;
+
+        velocities[p] = vel;
+    }
+
+    if (invRotationalMasses[p] > 0)
+    {
+        // apply external torques (simplification: we don't use full inertia tensor here)
+        float3 angularVel = angularVelocities[p].xyz + invRotationalMasses[p] * externalTorques[p].xyz * deltaTime;
+
+        // project angular velocity to 2D plane normal if needed:
+        if (mode == 1)
+            angularVel = Project(angularVel,float3(0, 0, 1));
+            
+        angularVelocities[p] = float4(angularVel, angularVelocities[p].w);
+    }
+
+    positions[p] = IntegrateLinear(positions[p], velocities[p], deltaTime);
+    orientations[p] = IntegrateAngular(orientations[p], angularVelocities[p], deltaTime);
+}
+
+[numthreads(128, 1, 1)]
+void UpdateVelocities (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // Project particles on the XY plane if we are in 2D mode:
+    if (mode == 1)
+    {
+        // restrict position to the 2D plane
+        float4 pos = positions[p];
+        pos[2] = prevPositions[p][2];
+        positions[p] = pos;
+    }
+
+    if (invMasses[p] > 0)
+        velocities[p] = DifferentiateLinear(positions[p],prevPositions[p],deltaTime);
+    else
+        velocities[p] = FLOAT4_ZERO;
+
+    if (invRotationalMasses[p] > 0)
+        angularVelocities[p].xyz = DifferentiateAngular(orientations[p], prevOrientations[p], deltaTime).xyz;
+    else
+        angularVelocities[p] = FLOAT4_ZERO;
+}
+
+[numthreads(128, 1, 1)]
+void UpdatePositions (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    // damp velocities:
+    velocities[p] *= velocityScale;
+    angularVelocities[p].xyz *= velocityScale;
+
+    // clamp velocities:
+    float velMagnitude = length(velocities[p]);
+    float angularVelMagnitude = length(angularVelocities[p].xyz);
+
+    if (velMagnitude > EPSILON)
+        velocities[p] *= min(maxVelocity, velMagnitude) / velMagnitude;
+
+    if (angularVelMagnitude > EPSILON)
+        angularVelocities[p].xyz *= min(maxAngularVelocity, angularVelMagnitude) / angularVelMagnitude;
+
+    // if the kinetic energy is below the sleep threshold, keep the particle at its previous position.
+    if (velMagnitude * velMagnitude * 0.5f + angularVelMagnitude * angularVelMagnitude * 0.5f <= sleepThreshold)
+    {
+        positions[p] = prevPositions[p];
+        orientations[p] = prevOrientations[p];
+        velocities[p] = FLOAT4_ZERO;
+        angularVelocities[p].xyz = float3(0,0,0);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void UpdateLifetimes (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+    
+    life[p] -= deltaTime;
+
+    // if particle is dead, append it to array.
+    if (life[p] <= 0)
+    {
+        // atomically increment dead particle counter:
+        uint count = deadParticles.IncrementCounter();
+
+        deadParticles[count] = p;
+        life[p] = 0;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void EnforceLimits (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    int p = activeParticles[i];
+
+    float4 pos = positions[p];
+    float4 prevPos = prevPositions[p];
+
+    bool outside = any(step(pos, boundaryLimitsMin).xyz + step(boundaryLimitsMax, pos).xyz);
+    
+    if ((phases[p] & (int)PHASE_ISOLATED) != 0)
+        life[p] = killOffLimits && outside ? 0 : life[p];
+
+    pos.xyz = clamp(pos, boundaryLimitsMin, boundaryLimitsMax).xyz;
+    prevPos.xyz = clamp(prevPos, boundaryLimitsMin, boundaryLimitsMax).xyz;
+
+    positions[p] = pos;
+    prevPositions[p] = prevPos;
+}
+
+[numthreads(128, 1, 1)]
+void Interpolate (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= particleCount) return;
+
+    if (interpolation == 1)
+    {
+        renderablePositions[i] = lerp(startPositions[i], endPositions[i], blendFactor);
+        renderableOrientations[i] = normalize(q_slerp(startOrientations[i], endOrientations[i], blendFactor));
+        renderableRadii[i] = principalRadii[i];
+    }
+    else if (interpolation == 2)
+    {
+        renderablePositions[i] = lerp(endPositions[i], positions[i], blendFactor);
+        renderableOrientations[i] = normalize(q_slerp(endOrientations[i], orientations[i], blendFactor));
+        renderableRadii[i] = principalRadii[i];
+    }
+    else
+    {
+        renderablePositions[i] = endPositions[i];
+        renderableOrientations[i] = normalize(endOrientations[i]);
+        renderableRadii[i] = principalRadii[i];
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Solver.compute.meta b/Assets/Obi/Resources/Compute/Solver.compute.meta
new file mode 100644
index 000000000..5e9538951
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Solver.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8f597cb6a5a9e45499d9fd0f6160e5b4
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SolverParameters.cginc b/Assets/Obi/Resources/Compute/SolverParameters.cginc
new file mode 100644
index 000000000..8de4762a4
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SolverParameters.cginc
@@ -0,0 +1,23 @@
+#ifndef SOLVERPARAMS_INCLUDE
+#define SOLVERPARAMS_INCLUDE
+
+int mode;
+int interpolation;
+float3 gravity;
+float damping;
+float worldLinearInertiaScale;
+float worldAngularInertiaScale;
+float maxAnisotropy;
+float sleepThreshold;
+float maxVelocity;
+float maxAngularVelocity;
+float collisionMargin;
+float maxDepenetration;
+float colliderCCD;
+float particleCCD;
+float shockPropagation;
+int surfaceCollisionIterations;
+float surfaceCollisionTolerance;
+float4 diffusionMask;
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta b/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta
new file mode 100644
index 000000000..a591ec8ca
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SolverParameters.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 57c61c65170924f0aa225156e164ceb8
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SortParticleData.compute b/Assets/Obi/Resources/Compute/SortParticleData.compute
new file mode 100644
index 000000000..80282cf6f
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SortParticleData.compute
@@ -0,0 +1,30 @@
+#pragma kernel SortData
+
+StructuredBuffer<int> sortedToOriginal;
+  
+StructuredBuffer<float4> positions;
+StructuredBuffer<float4> prevPositions;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> userData;
+
+RWStructuredBuffer<float4> sortedPositions;
+RWStructuredBuffer<float4> sortedPrevPositions;
+RWStructuredBuffer<float4> sortedPrincipalRadii;
+RWStructuredBuffer<float4> sortedUserData;
+
+StructuredBuffer<uint> dispatchBuffer; 
+
+[numthreads(128, 1, 1)]
+void SortData (uint3 id : SV_DispatchThreadID)
+{
+    unsigned int i = id.x;
+    if (i >= dispatchBuffer[3]) return;
+    
+    int original = sortedToOriginal[i];
+
+    sortedPositions[i] = positions[original];
+    sortedPrevPositions[i] = prevPositions[original];
+    sortedPrincipalRadii[i] = principalRadii[original];
+    sortedUserData[i] = userData[original];
+}
+
diff --git a/Assets/Obi/Resources/Compute/SortParticleData.compute.meta b/Assets/Obi/Resources/Compute/SortParticleData.compute.meta
new file mode 100644
index 000000000..13aa550a1
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SortParticleData.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9cd8eed4d0d6e45c18941232e855994f
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SpatialQueries.compute b/Assets/Obi/Resources/Compute/SpatialQueries.compute
new file mode 100644
index 000000000..b9db064d1
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SpatialQueries.compute
@@ -0,0 +1,314 @@
+#include "GridUtils.cginc"
+#include "CollisionMaterial.cginc"
+#include "ContactHandling.cginc"
+#include "ColliderDefinitions.cginc"
+#include "Rigidbody.cginc"
+#include "Bounds.cginc"
+#include "Simplex.cginc"
+#include "SolverParameters.cginc"
+#include "AtomicDeltas.cginc"
+#include "Phases.cginc"
+#include "QueryDefinitions.cginc"
+
+#define MAX_RESULTS_PER_SIMPLEX 32
+
+#pragma kernel Clear
+#pragma kernel BuildUnsortedList
+#pragma kernel FindPopulatedLevels
+#pragma kernel SortList
+#pragma kernel BuildContactList
+#pragma kernel PrefixSumColliderCounts
+#pragma kernel SortContactPairs
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+
+StructuredBuffer<int> activeParticles;
+StructuredBuffer<int> simplices;
+StructuredBuffer<int> filters;    
+RWStructuredBuffer<aabb> simplexBounds; // bounding box of each simplex. 
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+RWStructuredBuffer<uint> sortedColliderIndices;
+
+RWStructuredBuffer<uint> colliderTypeCounts;
+RWStructuredBuffer<uint> contactOffsetsPerType;
+RWStructuredBuffer<uint2> unsortedContactPairs;
+
+RWStructuredBuffer<uint> cellIndices;
+RWStructuredBuffer<uint> cellOffsets;
+
+RWStructuredBuffer<uint> cellCounts;
+RWStructuredBuffer<uint> offsetInCells;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint2> contactPairs;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> solverToWorld;
+StructuredBuffer<transform> worldToSolver;
+
+uint maxResults;
+uint queryCount;    // amount of colliders in the grid.
+uint cellsPerShape; // max amount of cells a collider can be inserted into. Typically this is 8.
+int shapeTypeCount; // number of different query shapes, ie: box, sphere, ray, etc. 
+
+aabb CalculateShapeAABB(in queryShape shape)
+{
+    float offset = shape.contactOffset + shape.maxDistance;
+
+    aabb bounds;
+    bounds.min_ = FLT_MAX;
+    bounds.max_ = FLT_MIN;
+    switch (shape.type)
+    {
+        case SPHERE_QUERY:
+            bounds.FromParticle(shape.center, shape.size.x + offset); break;
+        case BOX_QUERY:
+            bounds.FromEdge(shape.center - shape.size*0.5f, shape.center + shape.size * 0.5f, offset); break;
+        case RAY_QUERY:
+            bounds.FromEdge(shape.center, shape.center + shape.size, offset); break;
+    }
+    return bounds;
+}
+
+[numthreads(128, 1, 1)]
+void Clear (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i == 0)
+    {
+        for (int l = 0; l <= GRID_LEVELS; ++l)
+            levelPopulation[l] = 0;
+    }
+
+    // clear all cell offsets to invalid, so that we can later use atomic minimum to calculate the offset.
+    if (i < maxCells)
+    {
+        cellOffsets[i] = INVALID;
+        cellCounts[i] = 0;
+    }
+
+    // clear all cell indices to invalid.
+    if (i < queryCount)
+    {
+        for (uint j = 0; j < cellsPerShape; ++j)
+            cellIndices[i*cellsPerShape+j] = INVALID;
+    }
+}
+
+[numthreads(128, 1, 1)]
+void BuildUnsortedList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+    if (i >= queryCount) return;
+
+    // get bounds in solver space:
+    aabb bounds = CalculateShapeAABB(shapes[i]).Transformed(worldToSolver[0].Multiply(transforms[i])); 
+
+    // calculate bounds size, grid level and cell size:
+    float4 size = bounds.max_ - bounds.min_;
+    float maxSize = max(max (size.x, size.y), size.z);
+    int level = GridLevelForSize(maxSize);
+    float cellSize = CellSizeOfLevel(level);
+    
+    // calculate max and min cell coordinates (force 4th component to zero, might not be after expanding)
+    int4 minCell = floor(bounds.min_ / cellSize);
+    int4 maxCell = floor(bounds.max_ / cellSize);
+    minCell[3] = 0;
+    maxCell[3] = 0;
+
+    int4 cellSpan = maxCell - minCell;
+   
+    // insert collider in cells:
+    for (int x = 0; x <= cellSpan[0]; ++x)
+    {
+        for (int y = 0; y <= cellSpan[1]; ++y)
+        {
+            for (int z = 0; z <= cellSpan[2]; ++z)
+            {
+                int cellIndex = GridHash(minCell + int4(x, y, z, level));
+                
+                // calculate flat index of this cell into arrays:
+                int k = x + y*2 + z*4 + i*cellsPerShape;
+
+                cellIndices[k] = cellIndex;
+                InterlockedAdd(cellCounts[cellIndex],1,offsetInCells[k]);
+            }
+        }
+    }
+
+    // atomically increase this level's population by one:
+    InterlockedAdd(levelPopulation[1 + level],1);
+}
+
+[numthreads(128, 1, 1)]
+void SortList (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= queryCount * cellsPerShape) return;
+
+    uint cellIndex = cellIndices[i];
+
+    if (cellIndex != INVALID)
+    {
+        // write shape to its sorted index:
+        uint sortedIndex = cellOffsets[cellIndex] + offsetInCells[i];
+        sortedColliderIndices[sortedIndex] = i;
+    }
+} 
+
+[numthreads(128, 1, 1)]
+void BuildContactList (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int threadIndex = id.x;
+
+    if (threadIndex >= pointCount + edgeCount + triangleCount) return;
+
+    uint cellCount = queryCount * cellsPerShape;
+    int candidateCount = 0;
+    uint candidates[MAX_RESULTS_PER_SIMPLEX];
+    
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(threadIndex, simplexSize);
+    
+    aabb b = simplexBounds[threadIndex];
+
+    // max size of the particle bounds in cells:
+    int4 maxSize = int4(10,10,10,10);
+
+    // build a list of candidate colliders:
+    for (uint m = 1; m <= levelPopulation[0]; ++m)
+    {
+        uint l = levelPopulation[m];
+        float cellSize = CellSizeOfLevel(l);
+
+        int4 minCell = floor(b.min_ / cellSize);
+        int4 maxCell = floor(b.max_ / cellSize);
+        maxCell = minCell + min(maxCell - minCell, maxSize);
+
+        for (int x = minCell[0]; x <= maxCell[0]; ++x)
+        {
+            for (int y = minCell[1]; y <= maxCell[1]; ++y)
+            {
+                for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                {
+                    uint flatCellIndex = GridHash(int4(x,y,z,l));
+                    uint cellStart = cellOffsets[flatCellIndex];
+                    uint cellCount = cellCounts[flatCellIndex];
+
+                    // iterate through queries in the neighbour cell
+                    for (uint n = cellStart; n < cellStart + cellCount; ++n)
+                    {
+                        if (candidateCount < MAX_RESULTS_PER_SIMPLEX)
+                            candidates[candidateCount++] = sortedColliderIndices[n] / cellsPerShape;
+                    }
+                   
+                }
+            }
+        }
+    }
+    
+    //evaluate candidates and create contacts: 
+    if (candidateCount > 0)
+    {
+        // insert sort:
+        for (int k = 1; k < candidateCount; ++k)
+        {
+            uint key = candidates[k];
+            int j = k - 1;
+
+            while (j >= 0 && candidates[j] > key)
+                candidates[j + 1] = candidates[j--];
+
+            candidates[j + 1] = key;
+        }
+
+        // make sure each candidate only shows up once in the list:
+        int first = 0, contactCount = 0;
+        while(++first != candidateCount)
+        {
+            if (candidates[contactCount] != candidates[first])
+                candidates[++contactCount] = candidates[first];
+        }
+        contactCount++;
+
+        // append contacts:
+        for (int i = 0; i < contactCount; i++)
+        {
+            int c = candidates[i];
+           
+            // get shape bounds in solver space:
+            aabb colliderBoundsSS = CalculateShapeAABB(shapes[c]).Transformed(worldToSolver[0].Multiply(transforms[c])); 
+
+            // check if any simplex particle and the collider should collide:
+            bool shouldCollide = false;
+            int colliderCategory = shapes[c].filter & CategoryMask;
+            int colliderMask = (shapes[c].filter & MaskMask) >> 16;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int simplexCategory = filters[simplices[simplexStart + j]] & CategoryMask;
+                int simplexMask = (filters[simplices[simplexStart + j]] & MaskMask) >> 16;
+                shouldCollide = shouldCollide || ((simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0);
+            }
+
+            if (shouldCollide && b.IntersectsAabb(colliderBoundsSS))
+            {
+                uint count;
+                InterlockedAdd(dispatchBuffer[7], 1, count);
+
+                // technically incorrect, as number of pairs != number of contacts but
+                // we will ignore either excess pairs or contacts.
+                if (count < maxResults) 
+                {
+                    // increment the amount of contacts for this shape type:
+                    InterlockedAdd(colliderTypeCounts[shapes[c].type],1);
+
+                    // enqueue a new contact pair:
+                    unsortedContactPairs[count] = uint2(threadIndex,c);
+
+                    InterlockedMax(dispatchBuffer[4],(count + 1) / 128 + 1);
+                }
+            }
+        }
+    }   
+}
+
+[numthreads(1, 1, 1)]
+void PrefixSumColliderCounts (uint3 id : SV_DispatchThreadID) 
+{
+    contactOffsetsPerType[0] = 0;
+    int i;
+
+    for (i = 0; i < shapeTypeCount; ++i)
+    {
+        contactOffsetsPerType[i+1] = contactOffsetsPerType[i] + colliderTypeCounts[i];
+
+        // write amount of pairs per collider type in the dispatch buffer:
+        dispatchBuffer[8 + i*4] = colliderTypeCounts[i] / 128 + 1;
+        dispatchBuffer[8 + i*4 + 3] = colliderTypeCounts[i];
+    }
+}
+
+[numthreads(128, 1, 1)]
+void SortContactPairs (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+    if (i >= dispatchBuffer[7] || i >= maxResults) return;
+
+    uint2 pair = unsortedContactPairs[i];
+    int shapeType = (int)shapes[pair.y].type;
+
+    // decrement amount of pairs for the given collider type:
+    uint count;
+    InterlockedAdd(colliderTypeCounts[shapeType],-1, count);
+
+    // write the pair directly at its position in the sorted array:
+    contactPairs[contactOffsetsPerType[shapeType] + count - 1] = pair;
+}
+
+
+
diff --git a/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta b/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta
new file mode 100644
index 000000000..69122c2b3
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SpatialQueries.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dbbb4eb0bd2fa43e08564bf661b00670
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SphereShape.compute b/Assets/Obi/Resources/Compute/SphereShape.compute
new file mode 100644
index 000000000..d801dd95f
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SphereShape.compute
@@ -0,0 +1,72 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;  
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*SPHERE_SHAPE]) return;
+    
+    uint count = contacts.IncrementCounter();
+    if (count < maxContacts)
+    {
+        int firstPair = contactOffsetsPerType[SPHERE_SHAPE];
+        int simplexIndex = contactPairs[firstPair + i].x;
+        int colliderIndex = contactPairs[firstPair + i].y;
+
+        contact c = (contact)0;
+
+        Sphere sphereShape;
+        sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+        sphereShape.s = shapes[colliderIndex];
+
+        int simplexSize;
+        int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+        float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+        float4 simplexPoint;
+
+        SurfacePoint surfacePoint = Optimize(sphereShape, positions, orientations, principalRadii,
+                                             simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+        c.pointB = surfacePoint.pos;
+        c.normal = surfacePoint.normal * sphereShape.s.isInverted();
+        c.pointA = simplexBary;
+        c.bodyA = simplexIndex;
+        c.bodyB = colliderIndex;
+
+        contacts[count] = c;
+        
+        InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+        InterlockedMax(dispatchBuffer[3], count + 1);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SphereShape.compute.meta b/Assets/Obi/Resources/Compute/SphereShape.compute.meta
new file mode 100644
index 000000000..282bd67c2
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SphereShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 6bde4f5390fee479ba06d6691eb9450b
+ComputeShaderImporter:
+  externalObjects: {}
+  preprocessorOverride: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SphereShapeQuery.compute b/Assets/Obi/Resources/Compute/SphereShapeQuery.compute
new file mode 100644
index 000000000..cea2c12e3
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SphereShapeQuery.compute
@@ -0,0 +1,107 @@
+#include "ColliderDefinitions.cginc"
+#include "QueryDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "Transform.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateResults
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<int> simplices;
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<queryShape> shapes;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<queryResult> results;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts;   
+
+struct Sphere : IDistanceFunction
+{
+    queryShape s;
+    transform colliderToSolver;
+    
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint)
+    {
+        float4 center = s.center * colliderToSolver.scale;
+        float4 pnt = colliderToSolver.InverseTransformPointUnscaled(pos) - center;
+
+        float radius = s.size.x * cmax(colliderToSolver.scale.xyz);
+        float distanceToCenter = length(pnt);
+
+        float4 normal = pnt / (distanceToCenter + EPSILON);
+
+        projectedPoint.pos = colliderToSolver.TransformPointUnscaled(center + normal * (radius + s.contactOffset));
+        projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        projectedPoint.bary = float4(1,0,0,0);
+    }
+};
+
+[numthreads(128, 1, 1)]
+void GenerateResults (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4*SPHERE_QUERY]) return; 
+   
+    int firstPair = contactOffsetsPerType[SPHERE_QUERY];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int queryIndex = contactPairs[firstPair + i].y;
+
+    queryResult c = (queryResult)0;
+
+    Sphere sphereShape;
+    sphereShape.colliderToSolver = worldToSolver[0].Multiply(transforms[queryIndex]);
+    sphereShape.s = shapes[queryIndex];
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+    float4 simplexPoint;
+
+    SurfacePoint surfacePoint = Optimize(sphereShape, positions, orientations, principalRadii,
+                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+
+    float4 simplexPrevPosition = FLOAT4_ZERO;
+    float simplexRadius = 0;
+    for (int j = 0; j < simplexSize; ++j)
+    {
+        int particleIndex = simplices[simplexStart + j];
+        simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+        simplexRadius += EllipsoidRadius(surfacePoint.normal, orientations[particleIndex], principalRadii[particleIndex].xyz) * simplexBary[j];
+    }
+
+    c.queryPoint = surfacePoint.pos;
+    c.normal = surfacePoint.normal;
+    c.simplexBary = simplexBary;
+    c.simplexIndex = simplexIndex;
+    c.queryIndex = queryIndex;
+    c.dist = dot(simplexPrevPosition - surfacePoint.pos,surfacePoint.normal) - simplexRadius;
+
+    if (c.dist <= sphereShape.s.maxDistance)
+    {
+        uint count = results.IncrementCounter();
+        if (count < maxContacts)
+        {
+            results[count] = c;
+     
+            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+            InterlockedMax(dispatchBuffer[3], count + 1);
+        }
+    }
+    
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta b/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta
new file mode 100644
index 000000000..c8efb5a70
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SphereShapeQuery.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1b86e67abd0f74accb1c47af5aa6ffbe
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/StitchConstraints.compute b/Assets/Obi/Resources/Compute/StitchConstraints.compute
new file mode 100644
index 000000000..e26a380fd
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/StitchConstraints.compute
@@ -0,0 +1,64 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float constraint = length(dist);
+
+    // calculate lambda and position deltas:
+    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+    float4 delta = dlambda * dist / (constraint + EPSILON);
+
+    lambdas[i] += dlambda;
+
+    float4 delta1 = delta * w1;
+    float4 delta2 = -delta * w2;
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2);   
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta b/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta
new file mode 100644
index 000000000..bf07c4dc6
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/StitchConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 9d8b905ab89234f6c9c7774317150282
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/StretchShearConstraints.compute b/Assets/Obi/Resources/Compute/StretchShearConstraints.compute
new file mode 100644
index 000000000..5da22d7e1
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/StretchShearConstraints.compute
@@ -0,0 +1,86 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<int> orientationIndices;
+StructuredBuffer<float> restLengths;
+StructuredBuffer<quaternion> restOrientations;
+StructuredBuffer<float3> stiffnesses;
+RWStructuredBuffer<float3> lambdas;
+
+RWStructuredBuffer<float4> positions;
+RWStructuredBuffer<quaternion> orientations;
+StructuredBuffer<float> invMasses;
+StructuredBuffer<float> invRotationalMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+    int q = orientationIndices[i];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float3 compliances = stiffnesses[i] / (deltaTime * deltaTime);
+
+    float3 e = rotate_vector(restOrientations[i], float3(0, 0, 1));
+    quaternion basis = qmul(orientations[q],restOrientations[i]);
+
+    // calculate rod vector in local element space:
+    float3 gamma = rotate_vector(q_conj(basis), (positions[p2] - positions[p1]).xyz) / (restLengths[i] + EPSILON);
+
+    // subtract third director vector (0,0,1):
+    gamma[2] -= 1;
+    
+    float W = (w1 + w2) / (restLengths[i] + EPSILON) + invRotationalMasses[q] * 4.0f * restLengths[i];
+    float3 dlambda = (gamma - compliances * lambdas[i]) / (W + compliances + EPSILON);
+    lambdas[i] += dlambda;
+
+    // convert lambda delta lambda back to world space:
+    dlambda = rotate_vector(basis, dlambda);
+
+    float4 delta1 = float4(dlambda, 0) * w1;
+    float4 delta2 = -float4(dlambda, 0) * w2;
+
+    quaternion e_3 = quaternion(e.x,e.y,e.z,0);
+    quaternion q_e_3_bar = qmul(orientations[q],q_conj(e_3));
+    
+    // calculate rotation delta:
+    quaternion rotDelta = qmul(quaternion(dlambda[0], dlambda[1], dlambda[2], 0.0f),q_e_3_bar);
+    rotDelta *= 2.0f * invRotationalMasses[q] * restLengths[i];
+
+    AddPositionDelta(p1, delta1);
+    AddPositionDelta(p2, delta2); 
+    AddOrientationDelta(q, rotDelta);
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+    int q = orientationIndices[i];
+
+    ApplyPositionDelta(positions, p1, sorFactor);
+    ApplyPositionDelta(positions, p2, sorFactor);
+    ApplyOrientationDelta(orientations, q, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta b/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta
new file mode 100644
index 000000000..99b251aff
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/StretchShearConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 09e95e8821fe445bf87f0d434d789822
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/SurfacePoint.cginc b/Assets/Obi/Resources/Compute/SurfacePoint.cginc
new file mode 100644
index 000000000..e9d25466a
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SurfacePoint.cginc
@@ -0,0 +1,19 @@
+#ifndef SURFACEPOINT_INCLUDE
+#define SURFACEPOINT_INCLUDE
+
+/**
+ * point in the surface of a signed distance field.
+ */
+struct SurfacePoint
+{
+    float4 bary;
+    float4 pos;
+    float4 normal;
+};
+
+interface IDistanceFunction
+{
+    void Evaluate(in float4 pos, in float4 radii, in quaternion orientation, inout SurfacePoint projectedPoint);
+};
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta b/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta
new file mode 100644
index 000000000..f7b123e22
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/SurfacePoint.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b54db800f0f884467b02edb24ca317d4
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/TetherConstraints.compute b/Assets/Obi/Resources/Compute/TetherConstraints.compute
new file mode 100644
index 000000000..cd99220ff
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/TetherConstraints.compute
@@ -0,0 +1,64 @@
+#pragma kernel Project
+#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> particleIndices;
+StructuredBuffer<float2> maxLengthScale;
+StructuredBuffer<float> stiffnesses;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+float deltaTime;
+float sorFactor;
+
+[numthreads(128, 1, 1)]
+void Project (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    int p1 = particleIndices[i * 2];
+    int p2 = particleIndices[i * 2 + 1];
+
+    float w1 = invMasses[p1];
+    float w2 = invMasses[p2];
+
+    // calculate time adjusted compliance
+    float compliance = stiffnesses[i] / (deltaTime * deltaTime);
+
+    // calculate position and lambda deltas:
+    float4 dist = positions[p1] - positions[p2];
+    float d = length(dist);
+
+    // calculate constraint value (distance - rest length)
+    float constraint = d - (maxLengthScale[i].x * maxLengthScale[i].y);
+
+    if (constraint > 0)
+    {
+        // calculate lambda and position deltas:
+        float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + EPSILON);
+        float4 delta = dlambda * dist / (d + EPSILON);
+        lambdas[i] += dlambda;
+        
+        AddPositionDelta(p1, delta * w1);
+    }
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    int p = particleIndices[i * 2];
+
+    ApplyPositionDelta(positions, p, sorFactor);
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta b/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta
new file mode 100644
index 000000000..280042e3c
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/TetherConstraints.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dcd2ea33ecfcb4fb0ac44c5a66ea69f8
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/Transform.cginc b/Assets/Obi/Resources/Compute/Transform.cginc
new file mode 100644
index 000000000..039279a43
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Transform.cginc
@@ -0,0 +1,98 @@
+#ifndef TRANSFORM_INCLUDE
+#define TRANSFORM_INCLUDE
+
+#include "Quaternion.cginc"
+#include "Integration.cginc"
+
+struct transform
+{
+    float4 translation;
+    float4 scale;
+    quaternion rotation;
+    
+    transform Transform(float4 translation_, quaternion rotation_, float4 scale_)
+    {
+        // make sure there are good values in the 4th component:
+        translation_[3] = 0;
+        scale_[3] = 1;
+
+        transform t;
+        t.translation = translation_;
+        t.rotation = rotation_;
+        t.scale = scale_;
+        return t;
+    }
+    
+    transform Inverse()
+    {
+        return Transform(float4(rotate_vector(q_conj(rotation),(translation / -scale).xyz),0),
+                         q_conj(rotation),
+                         1 / scale);
+    }
+
+    transform Interpolate(transform other, float translationalMu, float rotationalMu, float scaleMu)
+    { 
+        return Transform(lerp(translation, other.translation, translationalMu),
+                         q_slerp(rotation, other.rotation, rotationalMu),
+                         lerp(scale, other.scale, scaleMu));
+    }
+
+    transform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
+    {
+        return Transform(IntegrateLinear(translation, linearVelocity, dt),
+                         IntegrateAngular(rotation, angularVelocity, dt),
+                         scale);
+    }
+
+    float4 TransformPoint(float4 pnt)
+    {
+        return float4(translation.xyz + rotate_vector(rotation, (pnt * scale).xyz),0);
+    }
+
+    float4 InverseTransformPoint(float4 pnt)
+    {
+        return float4(rotate_vector(q_conj(rotation),(pnt - translation).xyz) / scale.xyz , 0);
+    }
+
+    float4 TransformPointUnscaled(float4 pnt)
+    {
+        return float4(translation.xyz + rotate_vector(rotation,pnt.xyz), 0);
+    }
+    
+    float4 InverseTransformPointUnscaled(float4 pnt)
+    {
+        return float4(rotate_vector(q_conj(rotation), (pnt - translation).xyz), 0);
+    }
+
+    float4 TransformDirection(float4 dir)
+    {
+        return float4(rotate_vector(rotation, dir.xyz), 0);
+    }
+
+    float4 InverseTransformDirection(float4 dir)
+    {
+        return float4(rotate_vector(q_conj(rotation), dir.xyz), 0);
+    }
+
+    float4 TransformVector(float4 vect)
+    {
+        return float4(rotate_vector(rotation, (vect * scale).xyz), 0);
+    }
+
+    float4 InverseTransformVector(float4 vect)
+    {
+        return float4(rotate_vector(q_conj(rotation),vect.xyz) / scale.xyz, 0);
+    }
+
+    transform Multiply(transform b)
+    {
+        return Transform(this.TransformPoint(b.translation),
+                         qmul(this.rotation,b.rotation),
+                         this.scale * b.scale);
+    }
+};
+
+
+
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/Transform.cginc.meta b/Assets/Obi/Resources/Compute/Transform.cginc.meta
new file mode 100644
index 000000000..f749fcd8d
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/Transform.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 7e54b6c6b777643958abffa4510e0518
+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/TriangleMeshShape.compute b/Assets/Obi/Resources/Compute/TriangleMeshShape.compute
new file mode 100644
index 000000000..f5ea3f0d3
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/TriangleMeshShape.compute
@@ -0,0 +1,154 @@
+#include "ColliderDefinitions.cginc"
+#include "ContactHandling.cginc"
+#include "DistanceFunctions.cginc"
+#include "Simplex.cginc"
+#include "Bounds.cginc"
+#include "SolverParameters.cginc"
+#include "Optimization.cginc"
+
+#pragma kernel GenerateContacts
+
+StructuredBuffer<float4> positions;
+StructuredBuffer<quaternion> orientations;
+StructuredBuffer<float4> principalRadii;
+StructuredBuffer<float4> velocities;
+
+StructuredBuffer<int> simplices;
+StructuredBuffer<aabb> simplexBounds; // bounding box of each simplex.    
+
+StructuredBuffer<transform> transforms;
+StructuredBuffer<shape> shapes;
+
+// triangle mesh data:
+StructuredBuffer<TriangleMeshHeader> triangleMeshHeaders;
+StructuredBuffer<BIHNode> bihNodes;
+StructuredBuffer<Triangle> triangles;
+StructuredBuffer<float3> vertices;
+
+StructuredBuffer<uint2> contactPairs;
+StructuredBuffer<int> contactOffsetsPerType;
+
+RWStructuredBuffer<contact> contacts;
+RWStructuredBuffer<uint> dispatchBuffer;
+
+StructuredBuffer<transform> worldToSolver;
+
+uint maxContacts; 
+float deltaTime;
+
+
+[numthreads(128, 1, 1)]
+void GenerateContacts (uint3 id : SV_DispatchThreadID) 
+{
+    uint i = id.x;
+
+    // entry #11 in the dispatch buffer is the amount of pairs for the first shape type.
+    if (i >= dispatchBuffer[11 + 4 * TRIANGLE_MESH_SHAPE]) return; 
+
+    int firstPair = contactOffsetsPerType[TRIANGLE_MESH_SHAPE];
+    int simplexIndex = contactPairs[firstPair + i].x;
+    int colliderIndex = contactPairs[firstPair + i].y;
+    shape s = shapes[colliderIndex];
+
+    if (s.dataIndex < 0) return;
+
+    TriangleMeshHeader header = triangleMeshHeaders[s.dataIndex];
+    
+    TriangleMesh meshShape;
+    meshShape.colliderToSolver = worldToSolver[0].Multiply(transforms[colliderIndex]);
+    meshShape.s = s;
+
+    // invert a full matrix here to accurately represent collider bounds scale.
+    float4x4 solverToCollider = Inverse(TRS(meshShape.colliderToSolver.translation.xyz, meshShape.colliderToSolver.rotation, meshShape.colliderToSolver.scale.xyz));
+    aabb simplexBound = simplexBounds[simplexIndex].Transformed(solverToCollider);
+
+    float4 marginCS = float4((s.contactOffset + collisionMargin) / meshShape.colliderToSolver.scale.xyz, 0);
+
+    int simplexSize;
+    int simplexStart = GetSimplexStartAndSize(simplexIndex, simplexSize);
+
+    int stack[12]; 
+    int stackTop = 0;
+
+    stack[stackTop++] = 0;
+
+    while (stackTop > 0)
+    {
+        // pop node index from the stack:
+        int nodeIndex = stack[--stackTop];
+
+        BIHNode node = bihNodes[header.firstNode + nodeIndex];
+
+        // leaf node:
+        if (node.firstChild < 0)
+        {
+            // check for contact against all triangles:
+            for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+            {
+                Triangle t = triangles[header.firstTriangle + dataOffset];
+                float4 v1 = float4(vertices[header.firstVertex + t.i1], 0);
+                float4 v2 = float4(vertices[header.firstVertex + t.i2], 0);
+                float4 v3 = float4(vertices[header.firstVertex + t.i3], 0);
+                aabb triangleBounds;
+                triangleBounds.FromTriangle(v1, v2, v3, marginCS);
+
+                if (triangleBounds.IntersectsAabb(simplexBound, s.is2D()))
+                {
+                    float4 simplexBary = BarycenterForSimplexOfSize(simplexSize);
+                    float4 simplexPoint;
+
+                    meshShape.tri.Cache(v1 * meshShape.colliderToSolver.scale, v2 * meshShape.colliderToSolver.scale, v3 * meshShape.colliderToSolver.scale);
+
+                    SurfacePoint surfacePoint = Optimize(meshShape, positions, orientations, principalRadii,
+                                                         simplices, simplexStart, simplexSize, simplexBary, simplexPoint, surfaceCollisionIterations, surfaceCollisionTolerance);
+
+                    float4 velocity = FLOAT4_ZERO;
+                    float simplexRadius = 0;
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        simplexRadius += principalRadii[particleIndex].x * simplexBary[j];
+                        velocity += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    /*float4 rbVelocity = float4.zero;
+                    if (rigidbodyIndex >= 0)
+                        rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);*/
+
+                    float dAB = dot(simplexPoint - surfacePoint.pos, surfacePoint.normal);
+                    float vel = dot(velocity     /*- rbVelocity*/, surfacePoint.normal); 
+
+                    if (vel * deltaTime + dAB <= simplexRadius + s.contactOffset + collisionMargin)
+                    {
+                        uint count = contacts.IncrementCounter();
+                        if (count < maxContacts)
+                        {
+                            contact c = (contact)0;
+
+                            c.pointB = surfacePoint.pos;
+                            c.normal = surfacePoint.normal * meshShape.s.isInverted();
+                            c.pointA = simplexBary;
+                            c.bodyA = simplexIndex;
+                            c.bodyB = colliderIndex;
+
+                            contacts[count] = c;
+                            
+                            InterlockedMax(dispatchBuffer[0],(count + 1) / 128 + 1);
+                            InterlockedMax(dispatchBuffer[3], count + 1);
+                        }
+                    }
+                }
+            }
+        }
+        else // check min and/or max children:
+        {
+            // visit min node:
+            if (simplexBound.min_[node.axis] <= node.min_)
+                stack[stackTop++] = node.firstChild;
+
+            // visit max node:
+            if (simplexBound.max_[node.axis] >= node.max_)
+                stack[stackTop++] = node.firstChild + 1;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta b/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta
new file mode 100644
index 000000000..a677721aa
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/TriangleMeshShape.compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a5454af20f9614aa79e51a90271093e3
+ComputeShaderImporter:
+  externalObjects: {}
+  currentAPIMask: 65536
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/Compute/VolumeConstraints.compute b/Assets/Obi/Resources/Compute/VolumeConstraints.compute
new file mode 100644
index 000000000..4f6e3d71b
--- /dev/null
+++ b/Assets/Obi/Resources/Compute/VolumeConstraints.compute
@@ -0,0 +1,153 @@
+#pragma kernel Gradients
+#pragma kernel CalculateVolume
+#pragma kernel Denominators
+#pragma kernel Constraint
+#pragma kernel AccumulateDeltas
+#pragma kernel Apply
+
+//#pragma kernel Project
+//#pragma kernel Apply
+
+#include "MathUtils.cginc"
+#include "AtomicDeltas.cginc"
+
+StructuredBuffer<int> triangles;
+StructuredBuffer<int> firstTriangle;
+StructuredBuffer<int> numTriangles;
+StructuredBuffer<float> restVolumes;
+StructuredBuffer<float2> pressureStiffness;
+RWStructuredBuffer<float> lambdas;
+
+RWStructuredBuffer<uint> denominators; 
+RWStructuredBuffer<uint> volumes; 
+RWStructuredBuffer<uint4> gradients; 
+
+StructuredBuffer<int> particles;
+StructuredBuffer<int> particleConstraintIndex;
+StructuredBuffer<int> triangleConstraintIndex;
+
+RWStructuredBuffer<float4> positions;
+StructuredBuffer<float> invMasses;
+
+// Variables set from the CPU
+uint activeConstraintCount;
+uint trianglesCount;
+uint particlesCount;
+
+float deltaTime;
+float sorFactor;
+
+
+void AccumulateGradient(in int index, in float3 grad)
+{
+    InterlockedAddFloat(gradients, index, 0, grad.x);
+    InterlockedAddFloat(gradients, index, 1, grad.y);
+    InterlockedAddFloat(gradients, index, 2, grad.z);
+}
+
+[numthreads(128, 1, 1)]
+void Gradients (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= trianglesCount) return;
+  
+    int v = i * 3;
+    int i1 = triangles[v];
+    int i2 = triangles[v + 1];
+    int i3 = triangles[v + 2];
+
+    //accumulate gradient for each particle in the triangle:
+    AccumulateGradient(i1,cross(positions[i2].xyz, positions[i3].xyz));
+    AccumulateGradient(i2,cross(positions[i3].xyz, positions[i1].xyz));
+    AccumulateGradient(i3,cross(positions[i1].xyz, positions[i2].xyz));
+}
+
+[numthreads(128, 1, 1)]
+void CalculateVolume (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= trianglesCount) return;
+  
+    int constraintIndex = triangleConstraintIndex[i];
+
+    int v = i * 3;
+    int i1 = triangles[v];
+    int i2 = triangles[v + 1];
+    int i3 = triangles[v + 2];
+
+    float vol = dot(cross(positions[i1].xyz, positions[i2].xyz), positions[i3].xyz) / 6.0f;
+    InterlockedAddFloat(volumes, triangleConstraintIndex[i],vol);
+}
+
+// One denominator per constraint
+// each particle in the constraint contributes only once.
+
+[numthreads(128, 1, 1)]
+void Denominators (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particlesCount) return;
+
+    int p = particles[i];
+
+    float3 grad = asfloat(gradients[p]).xyz;
+    float denom = invMasses[p] * dot(grad, grad);
+    InterlockedAddFloat(denominators, particleConstraintIndex[i], denom);
+}
+
+[numthreads(128, 1, 1)]
+void Constraint (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= activeConstraintCount) return;
+
+    float compliance = pressureStiffness[i].y / (deltaTime * deltaTime);
+
+    // equality constraint: volume - pressure * rest volume = 0
+    float constraint = asfloat(volumes[i]) - pressureStiffness[i].x * restVolumes[i];
+
+    // calculate lagrange multiplier delta:
+    float dlambda = (-constraint - compliance * 0) / (asfloat(denominators[i]) + compliance + EPSILON);
+    lambdas[i] = dlambda;//+= dlambda;
+
+    volumes[i] = asuint(0);
+    denominators[i] = asuint(0);
+}
+
+[numthreads(128, 1, 1)]
+void AccumulateDeltas (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+
+    if (i >= particlesCount) return;
+
+    int p = particles[i];
+    int c = particleConstraintIndex[i];
+
+    AddPositionDelta(p, lambdas[c] * invMasses[p] * asfloat(gradients[p]));
+    gradients[p] = asuint(FLOAT4_ZERO);
+}
+
+[numthreads(128, 1, 1)]
+void Apply (uint3 id : SV_DispatchThreadID) 
+{
+    unsigned int i = id.x;
+   
+    if (i >= activeConstraintCount) return;
+
+    for (int j = 0; j < numTriangles[i]; ++j)
+    {
+        int v = (firstTriangle[i] + j) * 3;
+        int p1 = triangles[v];
+        int p2 = triangles[v + 1];
+        int p3 = triangles[v + 2];
+
+        ApplyPositionDelta(positions, p1, sorFactor);
+        ApplyPositionDelta(positions, p2, sorFactor);
+        ApplyPositionDelta(positions, p3, sorFactor);
+    }
+}
diff --git a/Assets/Obi/Resources/Compute/VolumeConstraints.compute.meta b/Assets/Obi/Resources/Compute/VolumeConstraints.compute.meta
new file mode 100644
index 000000000..33f05bbe2
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@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta b/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces.meta
similarity index 77%
rename from Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta
rename to Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces.meta
index 22b2f5c7b..4f530cfdd 100644
--- a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta
+++ b/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces.meta
@@ -1,5 +1,5 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader b/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader
rename to Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader
diff --git a/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader.meta b/Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader.meta
rename to Assets/Obi/Resources/ObiMaterials/BuiltInStandardBackfaces/StandardVertexColors.shader.meta
diff --git a/Assets/Obi/Plugins/Android/arm64-v8a.meta b/Assets/Obi/Resources/ObiMaterials/Common.meta
similarity index 77%
rename from Assets/Obi/Plugins/Android/arm64-v8a.meta
rename to Assets/Obi/Resources/ObiMaterials/Common.meta
index 847d43cea..dd79e2da0 100644
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new file mode 100644
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new file mode 100644
index 000000000..3bd5233dc
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@@ -0,0 +1,8 @@
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new file mode 100644
index 000000000..8187ff606
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+++ b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Burst/Instanced.mat
@@ -0,0 +1,140 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta
new file mode 100644
index 000000000..299e52000
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstanced.shadergraph.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 4df17ed533d3349a194f3bb8c89dcf5d
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 625f186215c104763be7675aa2d941aa, type: 3}
diff --git a/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc
new file mode 100644
index 000000000..44c796b32
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc
@@ -0,0 +1,33 @@
+#ifndef PROCEDURAL_INCLUDED
+#define PROCEDURAL_INCLUDED
+
+#define UNITY_INDIRECT_DRAW_ARGS IndirectDrawIndexedArgs
+#include "UnityIndirect.cginc"
+
+StructuredBuffer<float4x4> _InstanceTransforms;
+StructuredBuffer<float4x4> _InvInstanceTransforms;
+StructuredBuffer<float4> _Colors;
+
+#if UNITY_ANY_INSTANCING_ENABLED
+    // Based on : 
+    // https://github.com/Unity-Technologies/Graphics/blob/master/com.unity.shadergraph/Editor/Generation/Targets/BuiltIn/ShaderLibrary/ParticlesInstancing.hlsl
+    // and/or
+    // https://github.com/TwoTailsGames/Unity-Built-in-Shaders/blob/master/CGIncludes/UnityStandardParticleInstancing.cginc
+
+    void vertInstancingSetup() {
+    }
+#endif
+
+void GetInstanceData_float(uint svInstanceID, float3 pos, out float3 outPos, out float4 color)
+{
+    InitIndirectDrawArgs(0);
+    uint instanceID = GetIndirectInstanceID_Base(svInstanceID);
+        
+    unity_ObjectToWorld = _InstanceTransforms[instanceID];
+    unity_WorldToObject = _InvInstanceTransforms[instanceID];
+    color = _Colors[instanceID];
+
+    outPos = pos;
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta
new file mode 100644
index 000000000..68b2e76df
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/Instanced/Compute/ProceduralInstancing.cginc.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 9d77a2f1bd0624d4aa045916cb0955c9
+ShaderIncludeImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc
similarity index 63%
rename from Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc
rename to Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc
index 157d9d0b5..63513cb9c 100644
--- a/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc
+++ b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc
@@ -1,15 +1,13 @@
 #ifndef OBIELLIPSOIDS_INCLUDED
 #define OBIELLIPSOIDS_INCLUDED
 
-float _RadiusScale;
-
 // Eye ray origin in world space.
 // Works both for orthographic and perspective cameras.
 float3 WorldEye(float3 worldPos){
 	if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
 		return mul(UNITY_MATRIX_I_V,float4(mul(UNITY_MATRIX_V, float4(worldPos,1)).xy,0,1)).xyz;
 	}else
-		return UNITY_MATRIX_I_V._m03_m13_m23;
+		return _WorldSpaceCameraPos;
 }
 
 // Returns visible ellipsoid radius and offset from center, given the eye position in parameter space. 
@@ -43,6 +41,20 @@ float IntersectEllipsoid(float3 v, float4 mapping, float3 a2, float3 a3, out flo
 	return 2 * sqrtiq * exp(-r2*2.0f);
 }
 
+void BuildVelocityStretchedBasis(float3 velocity, float stretchIntensity, float radius, out float4 t0, out float4 t1, out float4 t2)
+{
+    t0 = float4(UNITY_MATRIX_V[0].xyz, radius); // camera right vector
+    t2 = float4(UNITY_MATRIX_V[2].xyz, radius); // camera forward vector
+
+    float3 eyeVel = velocity - dot(velocity, t2.xyz) * t2.xyz;
+    float velNorm = length(eyeVel);
+    float stretchAmount = velNorm * stretchIntensity;
+
+    // use it to lerp between velocity vector and camera right:
+    t0 = float4(velNorm > 0.00001 ? eyeVel / velNorm : t0, radius * (1 + stretchAmount));
+    t1 = float4(normalize(cross(t0.xyz,t2.xyz)), radius);
+}
+
 void BuildParameterSpaceMatrices(float4 t0, float4 t1, float4 t2, out float3x3 P, out float3x3 IP)
 {
 	// build 3x3 orientation matrix and its inverse;
@@ -50,18 +62,18 @@ void BuildParameterSpaceMatrices(float4 t0, float4 t1, float4 t2, out float3x3 P
 	float3x3 O = transpose(IO);
 
 	// build 3x3 scaling matrix and its inverse:
-	float3x3 S = float3x3(_RadiusScale*t0.w,0,0,0,_RadiusScale*t1.w,0,0,0,_RadiusScale*t2.w);
-	float3x3 IS = float3x3(1/(_RadiusScale*t0.w),0,0,0,1/(_RadiusScale*t1.w),0,0,0,1/(_RadiusScale*t2.w));
+	float3x3 S = float3x3(t0.w,0,0,0,t1.w,0,0,0,t2.w);
+	float3x3 IS = float3x3(1/t0.w,0,0,0,1/t1.w,0,0,0,1/t2.w);
 
 	// build 3x3 transformation matrix and its inverse:
-	P = mul(mul(O,S),IO);
-	IP = mul(mul(O,IS),IO);
+    P = mul((float3x3)unity_ObjectToWorld,  mul(O,mul(S,IO)) );
+    IP = mul(mul(mul(O,IS),IO), (float3x3)unity_WorldToObject);
 }
 
 float BuildEllipsoidBillboard(float3 center, float3 corner, float3x3 P, float3x3 IP, out float3 worldPos, out float3 view, out float3 eye)
 {
 	// eye position and quad vectors in parameter space:
-	eye = mul(IP,WorldEye(center) - center);
+	eye = mul(IP, WorldEye(center) - center);
 	float3 u = normalize(cross(-eye,UNITY_MATRIX_V[1].xyz));
 	float3 k = normalize(cross(-eye,u));
 
@@ -78,8 +90,14 @@ float BuildEllipsoidBillboard(float3 center, float3 corner, float3x3 P, float3x3
 
 void BuildAuxiliaryNormalVectors(float3 center, float3 worldPos, float3 view, float3x3 P, float3x3 IP, out float3 a2, out float3 a3)
 {
-	a2 = mul((float3x3)UNITY_MATRIX_V,mul(IP,mul(IP,WorldEye(worldPos) - center))); //T^-2 * (eye - center)
-	a3 = mul((float3x3)UNITY_MATRIX_V,mul(IP,mul(IP,view))); 						//T^-2 * A[0]
+    // calculate T^-2 in object space, then multiply by 
+    // inverse transpose of modelview to rotate normal from object to eye. 
+    // This way the normal calculated in IntersectEllipsoid() is already in view space.
+    IP = mul((float3x3)unity_ObjectToWorld,IP);
+    float3x3 IP2 = mul((float3x3)UNITY_MATRIX_IT_MV, mul((float3x3)unity_WorldToObject,mul (IP, IP)));
+
+	a2 = mul(IP2,WorldEye(worldPos) - center); //T^-2 * (eye - center)
+	a3 = mul(IP2,view); 					   //T^-2 * A[0]
 }
 
 #endif
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc.meta b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc.meta
rename to Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoids.cginc.meta
diff --git a/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc
new file mode 100644
index 000000000..af6982158
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc
@@ -0,0 +1,106 @@
+#ifndef OBIELLIPSOIDS_INCLUDED
+#define OBIELLIPSOIDS_INCLUDED
+
+// Eye ray origin in world space.
+// Works both for orthographic and perspective cameras.
+float3 WorldEye(float3 worldPos){
+    if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+        return mul(UNITY_MATRIX_I_V,float4(mul(UNITY_MATRIX_V, float4(worldPos,1)).xy,0,1)).xyz;
+    }else
+        return _WorldSpaceCameraPos;
+}
+
+// Returns visible ellipsoid radius and offset from center, given the eye position in parameter space. 
+// Works both for orthographic and perspective cameras.
+float VisibleEllipsoidCircleRadius(float3 eye, out float3 m){
+    if ((UNITY_MATRIX_P[3].x == 0.0) && (UNITY_MATRIX_P[3].y == 0.0) && (UNITY_MATRIX_P[3].z == 0.0)){
+        m = float3(0,0,0);
+        return 1;
+    }else{
+        float t = 1/dot(eye,eye);
+        m = t * eye;
+        return sqrt(1-t);
+    }
+}
+
+// Performs accurate raycasting of a spherical impostor.
+// Works both for orthographic and perspective cameras.
+void IntersectEllipsoid_float(float3 v, float4 mapping, float3 a2, float3 a3, out float3 eyePos, out float3 eyeNormal, out float thickness, out float clipThreshold)
+{
+    float r2 = dot(mapping.xy, mapping.xy);
+
+    // clip if the ray does not intersect the sphere.
+    clipThreshold = r2/mapping.w;
+    float iq = 1 - clipThreshold;
+
+    float sqrtiq = sqrt(iq);
+    float lambda = 1/(1 + mapping.z * sqrtiq);
+
+    eyePos = lambda * v;
+    eyeNormal = normalize(a2 + lambda * a3);
+
+    // return gaussian-falloff thickness.
+    thickness = 2 * sqrtiq * exp(-r2*2.0f);
+
+    clipThreshold = (1 - clipThreshold > 0) ? 0 : 1.01;
+}
+
+void BuildVelocityStretchedBasis_float(float3 velocity, float stretchIntensity, float radius, out float4 t0, out float4 t1, out float4 t2)
+{
+    t0 = float4(UNITY_MATRIX_V[0].xyz, radius); // camera right vector
+    t2 = float4(UNITY_MATRIX_V[2].xyz, radius); // camera forward vector
+
+    float3 eyeVel = velocity - dot(velocity, t2.xyz) * t2.xyz;
+    float velNorm = length(eyeVel);
+    float stretchAmount = velNorm * stretchIntensity;
+
+    // use it to lerp between velocity vector and camera right:
+    t0 = float4(velNorm > 0.00001 ? eyeVel / velNorm : t0.xyz, radius * (1 + stretchAmount));
+    t1 = float4(normalize(cross(t0.xyz,t2.xyz)), radius);
+}
+
+void BuildParameterSpaceMatrices_float(float4 t0, float4 t1, float4 t2, float radiusScale, out float3x3 P, out float3x3 IP)
+{
+    // build 3x3 orientation matrix and its inverse;
+    float3x3 IO = float3x3(t0.xyz,t1.xyz,t2.xyz);
+    float3x3 O = transpose(IO);
+
+    // build 3x3 scaling matrix and its inverse:
+    float3x3 S = float3x3(radiusScale*t0.w,0,0,0,radiusScale*t1.w,0,0,0,radiusScale*t2.w);
+    float3x3 IS = float3x3(1/(radiusScale*t0.w),0,0,0,1/(radiusScale*t1.w),0,0,0,1/(radiusScale*t2.w));
+
+    // build 3x3 transformation matrix and its inverse:
+    P = mul((float3x3)UNITY_MATRIX_M,  mul(O,mul(S,IO)) );
+    IP = mul(mul(mul(O,IS),IO), (float3x3)UNITY_MATRIX_I_M);
+}
+
+void BuildEllipsoidBillboard_float(float3 center, float3 corner, float3x3 P, float3x3 IP, out float3 worldPos, out float3 view, out float3 eye, out float radius)
+{
+    // eye position and quad vectors in parameter space:
+    eye = mul(IP,WorldEye(center) - center);
+    float3 u = normalize(cross(-eye,UNITY_MATRIX_V[1].xyz));
+    float3 k = normalize(cross(-eye,u));
+
+    // visible circle radius and offset from center in the direction of the view ray:
+    float3 m;
+    radius = VisibleEllipsoidCircleRadius(eye,m);
+
+    // world position of the billboard corner, and view vector to it:
+    worldPos = center + mul(P, m) + radius * (mul(P,u)* corner.x + mul(P,k)* corner.y);
+    view = worldPos - WorldEye(worldPos);
+}
+
+void BuildAuxiliaryNormalVectors_float(float3 center, float3 worldPos, float3 view, float3x3 P, float3x3 IP, out float3 a2, out float3 a3)
+{
+    // calculate T^-2 in object space, then multiply by 
+    // inverse transpose of modelview to rotate normal from object to eye. 
+    // This way the normal calculated in IntersectEllipsoid() is already in view space.
+    IP = mul((float3x3)UNITY_MATRIX_M,IP);
+    float3x3 IT_MV = transpose(mul((float3x3)UNITY_MATRIX_I_V, (float3x3)UNITY_MATRIX_I_M));
+    float3x3 IP2 = mul(IT_MV, mul((float3x3)UNITY_MATRIX_I_M,mul (IP, IP))); // UNITY_MATRIX_IT_MV
+
+    a2 = mul(IP2,WorldEye(worldPos) - center); //T^-2 * (eye - center)
+    a3 = mul(IP2,view);                        //T^-2 * A[0]
+}
+
+#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta
new file mode 100644
index 000000000..62b298766
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/ObiEllipsoidsHDRP.cginc.meta
@@ -0,0 +1,7 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc b/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc
rename to Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc.meta b/Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc.meta
rename to Assets/Obi/Resources/ObiMaterials/Common/ObiUtils.cginc.meta
diff --git a/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph b/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph
new file mode 100644
index 000000000..4b61fbcdf
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Common/ParticleShader.shadergraph
@@ -0,0 +1,5867 @@
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+    - _ZWrite: 1
+    m_Colors:
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _DoubleSidedConstants: {r: 1, g: 1, b: -1, a: 0}
+    - _EmissionColor: {r: 1, g: 1, b: 1, a: 1}
+    - _ParticleColor: {r: 1, g: 1, b: 1, a: 0}
+    - _TintColor: {r: 0.5, g: 0.5, b: 0.5, a: 0.5}
+  m_BuildTextureStacks: []
+  m_AllowLocking: 1
+--- !u!114 &8525542056368626370
+MonoBehaviour:
+  m_ObjectHideFlags: 11
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: da692e001514ec24dbc4cca1949ff7e8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: Unity.RenderPipelines.HighDefinition.Editor::UnityEditor.Rendering.HighDefinition.AssetVersion
+  version: 13
+  hdPluginSubTargetMaterialVersions:
+    m_Keys: []
+    m_Values: 
diff --git a/Assets/Obi/Samples/RopeAndRod/CraneSettings.lighting.meta b/Assets/Obi/Resources/ObiMaterials/Common/Particles.mat.meta
similarity index 60%
rename from Assets/Obi/Samples/RopeAndRod/CraneSettings.lighting.meta
rename to Assets/Obi/Resources/ObiMaterials/Common/Particles.mat.meta
index 36965af7a..c30f265c0 100644
--- a/Assets/Obi/Samples/RopeAndRod/CraneSettings.lighting.meta
+++ b/Assets/Obi/Resources/ObiMaterials/Common/Particles.mat.meta
@@ -1,8 +1,8 @@
 fileFormatVersion: 2
-guid: f69d9bf90d79f8e4f9b48ca794a1f860
+guid: fb88690dea2394644849cde5abd037f9
 NativeFormatImporter:
   externalObjects: {}
-  mainObjectFileID: 4890085278179872738
+  mainObjectFileID: 2100000
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/particle.png b/Assets/Obi/Resources/ObiMaterials/Common/particle.png
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/particle.png
rename to Assets/Obi/Resources/ObiMaterials/Common/particle.png
diff --git a/Assets/Obi/Resources/ObiMaterials/particle.png.meta b/Assets/Obi/Resources/ObiMaterials/Common/particle.png.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/particle.png.meta
rename to Assets/Obi/Resources/ObiMaterials/Common/particle.png.meta
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFields.meta b/Assets/Obi/Resources/ObiMaterials/DistanceFields.meta
new file mode 100644
index 000000000..bbfbc4174
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/DistanceFields.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: aacd9fe47bf4d416d883fd99066cf37e
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFieldRendering.mat b/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/DistanceFieldRendering.mat
rename to Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFieldRendering.mat.meta b/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/DistanceFieldRendering.mat.meta
rename to Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldRendering.mat.meta
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader b/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader
rename to Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader.meta b/Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader.meta
similarity index 100%
rename from Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader.meta
rename to Assets/Obi/Resources/ObiMaterials/DistanceFields/DistanceFieldSlice.shader.meta
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc b/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc
deleted file mode 100644
index 35ff81bb9..000000000
--- a/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef OBILIGHTINGBUILTIN_INCLUDED
-#define OBILIGHTINGBUILTIN_INCLUDED
-
-#include "UnityCG.cginc"
-#include "UnityStandardUtils.cginc"
-#include "AutoLight.cginc"
-
-half3 SampleSphereAmbient(float3 eyeNormal, float3 eyePos)
-{
-	#if UNITY_SHOULD_SAMPLE_SH
-		half3 worldNormal = mul(transpose((float3x3)UNITY_MATRIX_V),eyeNormal);  
-		half3 worldPos = mul(_Camera_to_World,half4(eyePos,1.0));  	
-		return ShadeSHPerPixel(half4(worldNormal, 1.0),half3(0,0,0),worldPos);
-	#else
-		return UNITY_LIGHTMODEL_AMBIENT;
-	#endif
-}
-
-#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc b/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc
deleted file mode 100644
index b2e8f8f40..000000000
--- a/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef OBIPARTICLES_INCLUDED
-#define OBIPARTICLES_INCLUDED
-
-float _RadiusScale;
-
-float3 BillboardSphereNormals(float2 texcoords)
-{
-	float3 n;
-	n.xy = texcoords*2.0-1.0;
-	float r2 = dot(n.xy, n.xy);
-	clip (1 - r2);   // clip pixels outside circle
-	n.z = sqrt(1.0 - r2);
-	return n;
-}
-
-float BillboardSphereThickness(float2 texcoords)
-{
-	float2 n = texcoords*2.0-1.0;
-	float r2 = dot(n.xy, n.xy);
-	clip (1 - r2);   // clip pixels outside circle
-	return sqrt(1.0 - r2)*2.0f*exp(-r2*2.0f);
-}
-
-#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc.meta b/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc.meta
deleted file mode 100644
index a08cdc8ea..000000000
--- a/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc.meta
+++ /dev/null
@@ -1,9 +0,0 @@
-fileFormatVersion: 2
-guid: e4575c757879646c793ff2b434b83e74
-timeCreated: 1445285630
-licenseType: Store
-ShaderImporter:
-  defaultTextures: []
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta b/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta
deleted file mode 100644
index c37067413..000000000
--- a/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: fb972beb020dd4ff5ab78835f4393522
-timeCreated: 1444705309
-licenseType: Store
-NativeFormatImporter:
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader b/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader
deleted file mode 100644
index 941d682f9..000000000
--- a/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader
+++ /dev/null
@@ -1,215 +0,0 @@
-Shader "Obi/Particles" {
-
-Properties {
-	_Color 		("Particle color", Color) = (1,1,1,1)
-	_RadiusScale("Radius scale",float) = 1
-}
-
-	SubShader { 
-
-		Pass { 
-
-			Name "ParticleFwdBase"
-			Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque" "LightMode" = "ForwardBase"}
-			Blend SrcAlpha OneMinusSrcAlpha  
-			
-			CGPROGRAM
-			#pragma vertex vert
-			#pragma fragment frag
-			#pragma fragmentoption ARB_precision_hint_fastest
-
-			#pragma multi_compile_fwdbase nolightmap
-
-		    #include "ObiEllipsoids.cginc"
-            #include "ObiUtils.cginc"
-            #include "ObiLightingBuiltIn.cginc"
-
-			fixed4 _Color;
-			fixed4 _LightColor0; 
-
-			struct vin{
-				float4 vertex   : POSITION;
-				float3 corner   : NORMAL;
-				fixed4 color    : COLOR;
-			
-				float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-			    float4 t1 : TEXCOORD1; // ellipsoid t2 vector
-			    float4 t2 : TEXCOORD2; // ellipsoid t3 vector
-			};
-			
-			struct v2f
-			{
-				float4 pos   : SV_POSITION;
-				fixed4 color    : COLOR;
-				float4 mapping  : TEXCOORD0;
-				float3 viewRay : TEXCOORD1;
-				float3 lightDir : TEXCOORD2;
-				float3 a2 : TEXCOORD3;
-				float3 a3 : TEXCOORD4;
-				LIGHTING_COORDS(5,6)
-			};
-
-            struct fout 
-            {
-                half4 color : SV_Target;
-                float depth : SV_Depth;
-            };
-
-			v2f vert(vin v)
-			{ 
-				float3x3 P, IP;
-				BuildParameterSpaceMatrices(v.t0,v.t1,v.t2,P,IP);
-			
-				float3 worldPos;
-				float3 view;
-				float3 eye;
-				float radius = BuildEllipsoidBillboard(v.vertex,v.corner,P,IP,worldPos,view,eye);
-			
-				v2f o;
-				o.pos = mul(UNITY_MATRIX_VP, float4(worldPos,v.vertex.w));
-				o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
-				o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
-				o.color = v.color * _Color;
-			
-				BuildAuxiliaryNormalVectors(v.vertex,worldPos,view,P,IP,o.a2,o.a3);
-						
-				o.lightDir = mul((float3x3)UNITY_MATRIX_MV, ObjSpaceLightDir(v.vertex));
-				TRANSFER_VERTEX_TO_FRAGMENT(o);
-			
-				return o;
-			}
-
-			fout frag(v2f i) 
-			{
-				fout fo;
-
-				fo.color =  half4(0,0,0,i.color.a); 
-
-				// generate sphere normals:
-				float3 p,n;
-				IntersectEllipsoid(i.viewRay,i.mapping, i.a2,i.a3,p, n);
-
-				// clip space position:
-				float4 pos = mul(UNITY_MATRIX_P,float4(p,1.0));
-
-				// simple lighting: ambient
-				half3 amb = SampleSphereAmbient(n,p);
-
-				// simple lighting: diffuse
-		   	 	float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
-				UNITY_LIGHT_ATTENUATION(atten,i,0);
-
-				// final lit color:
-				fo.color.rgb = i.color * (_LightColor0 * ndotl * atten + amb);
-
-				// normalized device coordinates:
-				fo.depth = pos.z/pos.w;
-
-				// in openGL calculated depth range is <-1,1> map it to <0,1>
-				#if SHADER_API_OPENGL || SHADER_API_GLCORE || SHADER_API_GLES || SHADER_API_GLES3	 
-					fo.depth = 0.5*fo.depth + 0.5;
-				#endif
-
-				return fo;
-			}
-			 
-			ENDCG
-
-		} 
-
-		Pass {
-        	Name "ShadowCaster"
-		        Tags { "LightMode" = "ShadowCaster" }
-		        Offset 1, 1
-		       
-		        Fog {Mode Off}
-		        ZWrite On ZTest LEqual
-		 
-				CGPROGRAM
-
-				#pragma vertex ellipsoidShadowVS
-				#pragma fragment frag
-				#pragma fragmentoption ARB_precision_hint_fastest
-
-				#pragma multi_compile_shadowcaster nolightmap
-
-				#include "ObiEllipsoids.cginc"
-                #include "ObiUtils.cginc"
-                #include "ObiLightingBuiltIn.cginc"
-				 
-				sampler3D  _DitherMaskLOD;
-				fixed4 _Color;
-
-				struct vin{
-					float4 vertex   : POSITION;
-					float3 corner   : NORMAL;
-					fixed4 color    : COLOR;
-				
-					float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-				    float4 t1 : TEXCOORD1; // ellipsoid t2 vector
-				    float4 t2 : TEXCOORD2; // ellipsoid t3 vector
-				};
-				
-				struct v2f {
-					fixed4 color    : COLOR;
-					float4 mapping  : TEXCOORD0;
-					float3 viewRay : TEXCOORD1;
-				};
-
-                struct fout 
-                {
-                    half4 color : SV_Target;
-                    float depth : SV_Depth;
-                };
-
-				v2f ellipsoidShadowVS( vin v , out float4 outpos : SV_POSITION )// clip space position output
-				{
-					float3x3 P, IP;
-					BuildParameterSpaceMatrices(v.t0,v.t1,v.t2,P,IP);
-				
-					float3 worldPos;
-					float3 view;
-					float3 eye;
-					float radius = BuildEllipsoidBillboard(v.vertex,v.corner,P,IP,worldPos,view,eye);
-				
-					v2f o;
-					outpos = mul(UNITY_MATRIX_VP, float4(worldPos,v.vertex.w));
-					o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
-					o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
-					o.color = v.color * _Color;
-					return o;
-				}
-								 
-				fout frag( v2f i , UNITY_VPOS_TYPE vpos : VPOS) 
-				{
-					fout fo;
-
-					float3 p,n;
-					IntersectEllipsoid(i.viewRay,i.mapping, float3(0,0,0),float3(0,0,0),p, n);
-	
-					// project camera space position.
-					float4 pos = UnityApplyLinearShadowBias( mul(UNITY_MATRIX_P,float4(p,1.0)) );
-
-					fo.color = pos.z/pos.w; //similar to what SHADOW_CASTER_FRAGMENT does in case there's no depth buffer.
-					fo.depth = pos.z/pos.w; 
-
-					// in openGL calculated depth range is <-1,1> map it to <0,1>
-					#if SHADER_API_OPENGL || SHADER_API_GLCORE || SHADER_API_GLES || SHADER_API_GLES3
-						fo.depth = fo.depth*0.5+0.5;
-					#endif
-
-	                // Use dither mask for alpha blended shadows, based on pixel position xy
-	                // and alpha level. Our dither texture is 4x4x16.
-	                half alphaRef = tex3D(_DitherMaskLOD, float3(vpos.xy*0.25,i.color.a*0.9375)).a;
-	                clip (alphaRef - 0.01);
-           
-					return fo;
-				}
-				ENDCG
-		 
-		    }
-
-	} 
-FallBack "Diffuse"
-}
-
diff --git a/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader b/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader
deleted file mode 100644
index b6b0f89aa..000000000
--- a/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader
+++ /dev/null
@@ -1,131 +0,0 @@
-Shader "Obi/Simple Particles" {
-
-Properties {
-	_Color 		("Particle color", Color) = (1,1,1,1)
-}
-
-	SubShader { 
-
-		Pass { 
-
-			Name "ParticleFwdBase"
-			Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque" "LightMode" = "ForwardBase"}
-			Blend SrcAlpha OneMinusSrcAlpha  
-			
-			CGPROGRAM
-			#pragma vertex vert
-			#pragma fragment frag
-			#pragma fragmentoption ARB_precision_hint_fastest
-
-			#pragma multi_compile_fwdbase nolightmap
-
-			#include "ObiParticles.cginc"
-            #include "ObiUtils.cginc"
-            #include "ObiLightingBuiltIn.cginc"
-
-			fixed4 _Color;
-			fixed4 _LightColor0; 
-
-			struct vin{
-				float4 vertex   : POSITION;
-				float3 corner   : NORMAL;
-				fixed4 color    : COLOR;
-				float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-			};
-
-			struct v2f
-			{
-				float4 pos   : POSITION;
-				fixed4 color    : COLOR;
-				float2 texcoord  : TEXCOORD0;
-				float3 lightDir : TEXCOORD1;
-				LIGHTING_COORDS(3,4)
-			};
-
-			v2f vert(vin v)
-			{ 
-				v2f o;
-		
-				// particle positions are passed in world space, no need to use modelview matrix, just view.
-				float radius = v.t0.w * _RadiusScale;
-				float4 viewpos = mul(UNITY_MATRIX_V, v.vertex) + float4(v.corner.x, v.corner.y, 0, 0) * radius; // multiply by size.
-				o.pos = mul(UNITY_MATRIX_P, viewpos);
-				o.texcoord = float3(v.corner.x*0.5+0.5, v.corner.y*0.5+0.5, radius);
-				o.color = v.color * _Color;
-
-				o.lightDir = mul ((float3x3)UNITY_MATRIX_MV, ObjSpaceLightDir(v.vertex));
-
-				TRANSFER_VERTEX_TO_FRAGMENT(o);
-
-				return o;
-			} 
-
-			fixed4 frag(v2f i) : SV_Target
-			{
-				// generate sphere normals:
-				float3 n = BillboardSphereNormals(i.texcoord);
-
-				// simple lighting: diffuse
-		   	 	float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
-
-				// final lit color:
-				return fixed4(i.color.rgb * (_LightColor0 * ndotl + UNITY_LIGHTMODEL_AMBIENT),i.color.a);
-			}
-			 
-			ENDCG
-
-		} 
-
-		Pass {
-        	Name "ShadowCaster"
-		        Tags { "LightMode" = "ShadowCaster" }
-		        Offset 1, 1
-		       
-		        Fog {Mode Off}
-		        ZWrite On ZTest LEqual
-		 
-				CGPROGRAM
-				#pragma vertex vert
-				#pragma fragment frag
-				#pragma fragmentoption ARB_precision_hint_fastest
-
-				#pragma multi_compile_shadowcaster nolightmap
-
-				#include "ObiParticles.cginc"
-				 
-				struct vin{
-					float4 vertex   : POSITION;
-					float3 corner   : NORMAL;
-					float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-				};
-
-				struct v2f {
-					float4 pos   : POSITION;
-				    float3 texcoord : TEXCOORD0;
-				};
-				 
-				v2f vert( vin v )
-				{
-				    v2f o;
-
-					float radius = v.t0.w * _RadiusScale;
-					float4 viewpos = mul(UNITY_MATRIX_V, v.vertex) + float4(v.corner.x, v.corner.y, 0, 0) * radius;
-					o.pos = mul(UNITY_MATRIX_P, viewpos);
-					o.texcoord = float3(v.corner.x*0.5+0.5, v.corner.y*0.5+0.5, radius);
-				    return o;
-				}
-				 
-				fixed4 frag( v2f i ) : SV_Target
-				{
-					float3 n = BillboardSphereNormals(i.texcoord);
-
-					return fixed4(0,0,0,0);
-				}
-				ENDCG
-		 
-		    }
-
-	} 
-FallBack "Diffuse"
-}
-
diff --git a/Assets/Obi/Resources/ObiMaterials/URP.meta b/Assets/Obi/Resources/ObiMaterials/URP.meta
deleted file mode 100644
index 0507e4054..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 7377795ea5bbd404ba97de2909380e01
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc b/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc
deleted file mode 100644
index aa1019617..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef OBILIGHTINGBUILTURP_INCLUDED
-#define OBILIGHTINGBUILTURP_INCLUDED
-
-#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
-#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Lighting.hlsl"
-#include "Packages/com.unity.render-pipelines.universal/Shaders/LitInput.hlsl"
-
-half3 SampleSphereAmbient(float3 eyeNormal)
-{
-    half3 worldNormal = mul(UNITY_MATRIX_I_V,half4(eyeNormal,0.0));
-    return SampleSH(worldNormal);
-}
-
-float3 ObjSpaceLightDir(in float4 modelPos)
-{
-    float3 lightPos = mul(unity_WorldToObject,_MainLightPosition).xyz;
-    float3 lightVector = lightPos.xyz - modelPos * _MainLightPosition.w;
-    return lightVector;
-}
-
-float3 WorldSpaceLightDir(in float4 modelPos)
-{
-    float3 vertexPos = mul(unity_ObjectToWorld, modelPos).xyz;
-    float3 lightVector = _MainLightPosition.xyz - vertexPos * _MainLightPosition.w;
-    return lightVector;
-}
-
-half Attenuation(float3 eyePos)
-{
-    half3 worldPos = mul(UNITY_MATRIX_I_V,half4(eyePos,1.0));
-    float4 shadowCoord = TransformWorldToShadowCoord(worldPos);
-    Light mainLight = GetMainLight(shadowCoord);
-    return mainLight.shadowAttenuation * mainLight.distanceAttenuation;
-}
-
-#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc.meta b/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc.meta
deleted file mode 100644
index 7a766777a..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc.meta
+++ /dev/null
@@ -1,9 +0,0 @@
-fileFormatVersion: 2
-guid: 2231c15aefcd6484e9857cbb64ad8cd7
-timeCreated: 1445285630
-licenseType: Store
-ShaderImporter:
-  defaultTextures: []
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader b/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader
deleted file mode 100644
index 7d20e3601..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader
+++ /dev/null
@@ -1,236 +0,0 @@
-Shader "Obi/URP/Particles" {
-
-Properties {
-	_Color 		("Particle color", Color) = (1,1,1,1)
-	_RadiusScale("Radius scale",float) = 1
-}
-
-	SubShader { 
-
-        Tags{"RenderPipeline" = "UniversalRenderPipeline"}
-
-		Pass { 
-
-			Name "ParticleFwdBase"
-			Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque" "LightMode" = "UniversalForward"}
-			Blend SrcAlpha OneMinusSrcAlpha  
-			
-			HLSLPROGRAM
-            
-            #pragma prefer_hlslcc gles
-            #pragma exclude_renderers d3d11_9x
-            #pragma target 2.0
-
-			#pragma vertex vert
-			#pragma fragment frag
-			#pragma fragmentoption ARB_precision_hint_fastest
-            
-            #pragma multi_compile _ _MAIN_LIGHT_SHADOWS
-            #pragma multi_compile _ _MAIN_LIGHT_SHADOWS_CASCADE
-            #pragma multi_compile _ _SHADOWS_SOFT
-
-            #include "../ObiUtils.cginc"
-            #include "ObiLightingURP.cginc"
-			#include "../ObiEllipsoids.cginc"
-
-			float4 _Color;
-			float4 _LightColor0; 
-
-			struct vin{
-				float4 vertex   : POSITION;
-				float3 corner   : NORMAL;
-				float4 color    : COLOR;
-				float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-			    float4 t1 : TEXCOORD1; // ellipsoid t2 vector
-			    float4 t2 : TEXCOORD2; // ellipsoid t3 vector
-			};
-			
-			struct v2f
-			{
-				float4 pos   : SV_POSITION;
-				float4 color    : COLOR;
-				float4 mapping  : TEXCOORD0;
-				float3 viewRay : TEXCOORD1;
-				float3 lightDir : TEXCOORD2;
-				float3 a2 : TEXCOORD3;
-				float3 a3 : TEXCOORD4;
-			};
-
-            struct fout 
-            {
-                half4 color : SV_Target;
-                float depth : SV_Depth;
-            };
-
-			v2f vert(vin v)
-			{ 
-				float3x3 P, IP;
-				BuildParameterSpaceMatrices(v.t0,v.t1,v.t2,P,IP);
-			
-				float3 worldPos;
-				float3 view;
-				float3 eye;
-				float radius = BuildEllipsoidBillboard(v.vertex,v.corner,P,IP,worldPos,view,eye);
-			
-				v2f o;
-				o.pos = mul(UNITY_MATRIX_VP, float4(worldPos,v.vertex.w));
-				o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
-				o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
-				o.color = v.color * _Color;
-			
-				BuildAuxiliaryNormalVectors(v.vertex,worldPos,view,P,IP,o.a2,o.a3);
-						
-				o.lightDir = mul((float3x3)UNITY_MATRIX_MV, ObjSpaceLightDir(v.vertex));
-
-				return o;
-			}
-
-			fout frag(v2f i) 
-			{
-				fout fo;
-
-				fo.color =  half4(0,0,0,i.color.a); 
-
-				// generate sphere normals:
-				float3 p,n;
-				IntersectEllipsoid(i.viewRay,i.mapping, i.a2,i.a3, p, n);
-
-				// clip space position:
-				float4 pos = mul(UNITY_MATRIX_P,float4(p,1.0));
-
-				// simple lighting: ambient
-				half3 amb = SampleSphereAmbient(n);
-
-				// simple lighting: diffuse
-		   	 	float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
-				float atten = Attenuation(p);
-
-				// final lit color:
-				fo.color.rgb = i.color * (_LightColor0 * ndotl * atten + amb);
-
-				// normalized device coordinates:
-				fo.depth = pos.z/pos.w;
-
-				// in openGL calculated depth range is <-1,1> map it to <0,1>
-				#if SHADER_API_OPENGL || SHADER_API_GLCORE || SHADER_API_GLES || SHADER_API_GLES3	 
-					fo.depth = 0.5 * fo.depth + 0.5;
-				#endif
-
-				return fo;
-			}
-			 
-			ENDHLSL
-
-		} 
-
-	    Pass {
-
-    	    Name "ShadowCaster"
-	        Tags { "LightMode" = "ShadowCaster" }
-	        Offset 1, 1
-	       
-	        Fog {Mode Off}
-	        ZWrite On ZTest LEqual
-	 
-			HLSLPROGRAM
-
-            #pragma prefer_hlslcc gles
-            #pragma exclude_renderers d3d11_9x
-            #pragma target 2.0
-
-			#pragma vertex ellipsoidShadowVS
-			#pragma fragment frag
-			#pragma fragmentoption ARB_precision_hint_fastest
-
-			#pragma multi_compile_shadowcaster
-
-            #include "../ObiUtils.cginc"
-            #include "ObiLightingURP.cginc"
-	        #include "../ObiEllipsoids.cginc"
-
-			sampler3D  _DitherMaskLOD;
-			float4 _Color;
-
-			struct vin{
-				float4 vertex   : POSITION;
-				float3 corner   : NORMAL;
-				float4 color    : COLOR;
-				float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-			    float4 t1 : TEXCOORD1; // ellipsoid t2 vector
-			    float4 t2 : TEXCOORD2; // ellipsoid t3 vector
-			};
-			
-			struct v2f {
-				float4 color    : COLOR;
-				float4 mapping  : TEXCOORD0;
-				float3 viewRay : TEXCOORD1;
-                float3 lightDir : TEXCOORD2;
-                float3 a2 : TEXCOORD3;
-                float3 a3 : TEXCOORD4;
-			};
-
-            struct fout 
-            {
-                half4 color : SV_Target;
-                float depth : SV_Depth;
-            };
-
-			v2f ellipsoidShadowVS( vin v , out float4 outpos : SV_POSITION )// clip space position output
-			{
-				float3x3 P, IP;
-				BuildParameterSpaceMatrices(v.t0,v.t1,v.t2,P,IP);
-			
-				float3 worldPos;
-				float3 view;
-				float3 eye;
-				float radius = BuildEllipsoidBillboard(v.vertex,v.corner,P,IP,worldPos,view,eye);
-			
-				v2f o;
-				outpos = mul(UNITY_MATRIX_VP, float4(worldPos,v.vertex.w));
-				o.mapping = float4(v.corner.xy,1/length(eye),radius); // A[1]
-				o.viewRay = mul((float3x3)UNITY_MATRIX_V,view); 	  // A[0]
-				o.color = v.color * _Color;
-
-                BuildAuxiliaryNormalVectors(v.vertex,worldPos,view,P,IP,o.a2,o.a3);
-
-                o.lightDir = WorldSpaceLightDir(v.vertex);
-				return o;
-			}
-         			 
-			fout frag( v2f i ) 
-			{
-				fout fo;
-
-				float3 p,n;
-				IntersectEllipsoid(i.viewRay,i.mapping,i.a2,i.a3,p, n);
-
-				// calculate world space position and normal:
-                float4 wnormal = mul(UNITY_MATRIX_I_V,float4(n,0));
-                float4 wpos = mul(UNITY_MATRIX_I_V,float4(p,1));
-
-                // calculate clip space position.
-                float4 clipPos = TransformWorldToHClip(ApplyShadowBias(wpos, wnormal, normalize(i.lightDir)));
-
-                #if UNITY_REVERSED_Z
-                    clipPos.z = min(clipPos.z, clipPos.w * UNITY_NEAR_CLIP_VALUE);
-                #else
-                    clipPos.z = max(clipPos.z, clipPos.w * UNITY_NEAR_CLIP_VALUE);
-                #endif
-
-                fo.color = clipPos.z/clipPos.w; //similar to what SHADOW_CASTER_FRAGMENT does in case there's no depth buffer.
-                fo.depth = clipPos.z/clipPos.w; 
-
-				// in openGL calculated depth range is <-1,1> map it to <0,1>
-				#if SHADER_API_OPENGL || SHADER_API_GLCORE || SHADER_API_GLES || SHADER_API_GLES3
-					fo.depth = fo.depth*0.5+0.5;
-				#endif
-       
-				return fo;
-			}
-			ENDHLSL
-		 
-	    }
-        
-	} 
-}
-
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader.meta b/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader.meta
deleted file mode 100644
index c201e984d..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader.meta
+++ /dev/null
@@ -1,9 +0,0 @@
-fileFormatVersion: 2
-guid: 28641a0edd6e047c6af7e3c6b342c81a
-timeCreated: 1438934781
-licenseType: Store
-ShaderImporter:
-  defaultTextures: []
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader b/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader
deleted file mode 100644
index 95d2ee5d8..000000000
--- a/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader
+++ /dev/null
@@ -1,145 +0,0 @@
-Shader "Obi/URP/Simple Particles" {
-
-Properties {
-	_Color 		("Particle color", Color) = (1,1,1,1)
-}
-
-	SubShader { 
-
-        Tags{"RenderPipeline" = "UniversalRenderPipeline"}
-
-		Pass { 
-
-			Name "ParticleFwdBase"
-			Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque" "LightMode" = "UniversalForward"}
-			Blend SrcAlpha OneMinusSrcAlpha  
-			
-			HLSLPROGRAM
-
-            #pragma prefer_hlslcc gles
-            #pragma exclude_renderers d3d11_9x
-            #pragma target 2.0
-
-			#pragma vertex vert
-			#pragma fragment frag
-			#pragma fragmentoption ARB_precision_hint_fastest
-
-			#pragma multi_compile _ _MAIN_LIGHT_SHADOWS
-            #pragma multi_compile _ _MAIN_LIGHT_SHADOWS_CASCADE
-            #pragma multi_compile _ _SHADOWS_SOFT
-
-            #include "../ObiUtils.cginc"
-            #include "ObiLightingURP.cginc"
-            #include "../ObiParticles.cginc"
-
-			float4 _Color;
-			float4 _LightColor0; 
-
-			struct vin{
-				float4 vertex   : POSITION;
-				float3 corner   : NORMAL;
-				float4 color    : COLOR;
-				float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-			};
-
-			struct v2f
-			{
-				float4 pos   : POSITION;
-				float4 color    : COLOR;
-				float2 texcoord  : TEXCOORD0;
-				float3 lightDir : TEXCOORD1;
-			};
-
-			v2f vert(vin v)
-			{ 
-				v2f o;
-		
-				// particle positions are passed in world space, no need to use modelview matrix, just view.
-				float radius = v.t0.w * _RadiusScale;
-				float4 viewpos = mul(UNITY_MATRIX_V, v.vertex) + float4(v.corner.x, v.corner.y, 0, 0) * radius; // multiply by size.
-				o.pos = mul(UNITY_MATRIX_P, viewpos);
-				o.texcoord = float3(v.corner.x*0.5+0.5, v.corner.y*0.5+0.5, radius);
-				o.color = v.color * _Color;
-
-				o.lightDir = mul ((float3x3)UNITY_MATRIX_MV, ObjSpaceLightDir(v.vertex));
-
-				return o;
-			} 
-
-			float4 frag(v2f i) : SV_Target
-			{
-				// generate sphere normals:
-				float3 n = BillboardSphereNormals(i.texcoord);
-
-                // simple lighting: ambient
-                half3 amb = SampleSphereAmbient(n);
-
-				// simple lighting: diffuse
-		   	    float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
-
-				// final lit color:
-				return float4(i.color.rgb * (_LightColor0 * ndotl + amb),i.color.a);
-			}
-			 
-			ENDHLSL
-
-		} 
-
-		Pass {
-        	Name "ShadowCaster"
-		        Tags { "LightMode" = "ShadowCaster" }
-		        Offset 1, 1
-		       
-		        Fog {Mode Off}
-		        ZWrite On ZTest LEqual
-		 
-				HLSLPROGRAM
-                #pragma prefer_hlslcc gles
-                #pragma exclude_renderers d3d11_9x
-                #pragma target 2.0
-
-				#pragma vertex vert
-				#pragma fragment frag
-				#pragma fragmentoption ARB_precision_hint_fastest
-
-				#pragma multi_compile_shadowcaster
-
-				#include "../ObiUtils.cginc"
-                #include "ObiLightingURP.cginc"
-                #include "../ObiParticles.cginc"
-				 
-				struct vin{
-					float4 vertex   : POSITION;
-					float3 corner   : NORMAL;
-					float4 t0 : TEXCOORD0; // ellipsoid t1 vector
-				};
-
-				struct v2f {
-					float4 pos   : POSITION;
-				    float3 texcoord : TEXCOORD0;
-				};
-				 
-				v2f vert( vin v )
-				{
-				    v2f o;
-
-					float radius = v.t0.w * _RadiusScale;
-					float4 viewpos = mul(UNITY_MATRIX_V, v.vertex) + float4(v.corner.x, v.corner.y, 0, 0) * radius;
-					o.pos = mul(UNITY_MATRIX_P, viewpos);
-					o.texcoord = float3(v.corner.x*0.5+0.5, v.corner.y*0.5+0.5, radius);
-				    return o;
-				}
-				 
-				float4 frag( v2f i ) : SV_Target
-				{
-					float3 n = BillboardSphereNormals(i.texcoord);
-
-					return float4(0,0,0,0);
-				}
-				ENDHLSL
-		 
-		    }
-
-	} 
-}
-
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim b/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim
new file mode 100644
index 000000000..589ba23c3
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim
@@ -0,0 +1,213 @@
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diff --git a/Assets/Obi/Samples/RopeAndRod/ElectricalWiresSettings.lighting.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim.meta
similarity index 60%
rename from Assets/Obi/Samples/RopeAndRod/ElectricalWiresSettings.lighting.meta
rename to Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim.meta
index b433fbfa3..af40a9d24 100644
--- a/Assets/Obi/Samples/RopeAndRod/ElectricalWiresSettings.lighting.meta
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/FanHorizontal.anim.meta
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller b/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller
new file mode 100644
index 000000000..abdf16d85
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/FanRoot.controller
@@ -0,0 +1,72 @@
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index 352f070d3..ae997429e 100644
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index 686668d4f..bb418697b 100644
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index 7a63fa378..d98d3e3ee 100644
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+  stickinessCombine: 1
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diff --git a/Assets/Obi/Samples/Common/SampleResources/CollisionMaterials/RollingFrictionSmoke.asset b/Assets/Obi/Samples/Common/SampleResources/CollisionMaterials/RollingFrictionSmoke.asset
new file mode 100644
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new file mode 100644
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index 8a9681338..dddae90c4 100644
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+  stickDistance: 0.025
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   stickinessCombine: 3
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Materials/Checker.mat b/Assets/Obi/Samples/Common/SampleResources/Materials/Checker.mat
index 9d6caa40d..e2aefe395 100644
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+++ b/Assets/Obi/Samples/Common/SampleResources/Materials/Checker.mat
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Materials/CoarseChecker.mat b/Assets/Obi/Samples/Common/SampleResources/Materials/CoarseChecker.mat
index a5a18fa72..ef95fa00a 100644
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new file mode 100644
index 000000000..cd9a62c9d
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Models/Fan.fbx.meta
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Models/TestEnvironment.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Models/TestEnvironment.fbx.meta
index 45c3b5676..68499baea 100644
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@@ -20,7 +20,7 @@ ModelImporter:
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@@ -29,6 +29,7 @@ ModelImporter:
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     rigImportErrors: 
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@@ -58,20 +59,27 @@ ModelImporter:
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     serializedVersion: 3
     human: []
@@ -102,8 +109,11 @@ ModelImporter:
     hasExtraRoot: 0
     skeletonHasParents: 1
   lastHumanDescriptionAvatarSource: {instanceID: 0}
+  autoGenerateAvatarMappingIfUnspecified: 1
   animationType: 0
   humanoidOversampling: 1
+  avatarSetup: 0
+  addHumanoidExtraRootOnlyWhenUsingAvatar: 0
   additionalBone: 0
   userData: 
   assetBundleName: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs
new file mode 100644
index 000000000..db2ef153a
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs
@@ -0,0 +1,69 @@
+using UnityEngine;
+using UnityEngine.Events;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class ActorActorCollisionDetector : MonoBehaviour
+    {
+        public struct ActorPair
+        {
+            public readonly ObiActor actorA;
+            public readonly ObiActor actorB;
+            public int particleA;
+            public int particleB;
+
+            public ActorPair(ObiActor actorA, ObiActor actorB, int particleA, int particleB)
+            {
+                this.actorA = actorA;
+                this.actorB = actorB;
+                this.particleA = particleA;
+                this.particleB = particleB;
+            }
+        }
+
+        public UnityEvent<ActorPair> callback;
+        ObiSolver solver;
+
+        void OnEnable()
+        {
+            solver = GetComponent<Obi.ObiSolver>();
+            solver.OnParticleCollision += Solver_OnCollision;
+        }
+
+        void OnDisable()
+        {
+            solver.OnParticleCollision -= Solver_OnCollision;
+        }
+
+        void Solver_OnCollision(object sender, ObiNativeContactList e)
+        {
+            if (!solver.initialized || callback == null) return;
+
+            // just iterate over all contacts in the current frame:
+            foreach (Oni.Contact contact in e)
+            {
+                // if this one is an actual collision:
+                if (contact.distance < 0.01)
+                {
+                    // get the index of the first entry in the simplices array for both bodies:
+                    int startA = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyA, out _);
+                    int startB = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyB, out _);
+
+                    // retrieve the index of both particles from the simplices array:
+                    int particleA = solver.simplices[startA];
+                    int particleB = solver.simplices[startB];
+
+                    // retrieve info about both actors involved in the collision:
+                    var particleInActorA = solver.particleToActor[particleA];
+                    var particleInActorB = solver.particleToActor[particleB];
+
+                    // if they're not the same actor, trigger a callback:
+                    if (particleInActorA != null && particleInActorB != null && particleInActorA.actor != particleInActorB.actor)
+                        callback.Invoke(new ActorPair(particleInActorA.actor, particleInActorB.actor, particleA, particleB));
+                }
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs.meta
new file mode 100644
index 000000000..d036a2d12
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorActorCollisionDetector.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a5a3cc3afb7a14486848b022c300ea32
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs
new file mode 100644
index 000000000..ec64776aa
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs
@@ -0,0 +1,32 @@
+using UnityEngine;
+using Obi;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiActor))]
+    public class ActorBlinker : MonoBehaviour
+    {
+        public Color neutralColor = Color.white;
+        public Color highlightColor = Color.red;
+        private ObiActor actor;
+
+        void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void Blink(int particleIndex)
+        {
+            if (actor.solver != null)
+                actor.solver.colors[particleIndex] = highlightColor;
+        }
+
+        void LateUpdate()
+        {
+            if (actor.solver != null)
+                for (int i = 0; i < actor.activeParticleCount; ++i)
+                    actor.solver.colors[actor.solverIndices[i]] += (neutralColor - actor.solver.colors[actor.solverIndices[i]]) * Time.deltaTime * 5;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs.meta
new file mode 100644
index 000000000..95fad905d
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorBlinker.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fbbc507232dcc4cb1ae27d9474ddbe70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
index 051482236..018a320c4 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
@@ -1,21 +1,23 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-public class ActorCOMTransform : MonoBehaviour
+namespace Obi.Samples
 {
-   
-    public Vector3 offset;
-    public ObiActor actor;
-
-    public void Update()
+    public class ActorCOMTransform : MonoBehaviour
     {
-        if (actor != null && actor.isLoaded)
+
+        public Vector3 offset;
+        public ObiActor actor;
+
+        public void Update()
         {
-            Vector3 com;
-            actor.GetMass(out com);
-            transform.position = actor.solver.transform.TransformPoint(com) + offset;
+            if (actor != null && actor.isLoaded)
+            {
+                Vector3 com;
+                actor.GetMass(out com);
+                transform.position = actor.solver.transform.TransformPoint(com) + offset;
+            }
         }
     }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
index 5afb457fd..609290646 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
@@ -1,35 +1,33 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-public class ActorSpawner : MonoBehaviour {
+namespace Obi.Samples
+{
+    public class ActorSpawner : MonoBehaviour
+    {
 
-	public ObiActor template;
+        public ObiActor template;
 
-	public int basePhase = 2;
-	public int maxInstances = 32;
-	public float spawnDelay = 0.3f;
+        public int maxInstances = 32;
+        public float spawnDelay = 0.3f;
 
-	private int phase = 0;
-	private int instances = 0;
-	private float timeFromLastSpawn = 0;
-	
-	// Update is called once per frame
-	void Update () {
+        private int instances = 0;
+        private float timeFromLastSpawn = 0;
 
-		timeFromLastSpawn += Time.deltaTime;
+        // Update is called once per frame
+        void Update()
+        {
 
-		if (Input.GetMouseButtonDown(0) && instances < maxInstances && timeFromLastSpawn > spawnDelay)
-		{
-			GameObject go = Instantiate(template.gameObject,transform.position,Quaternion.identity);
-            go.transform.SetParent(transform.parent);
+            timeFromLastSpawn += Time.deltaTime;
 
-            go.GetComponent<ObiActor>().SetFilterCategory(basePhase + phase);
-
-			phase++;
-			instances++;
-			timeFromLastSpawn = 0;
-		}
-	}
-}
+            if (Input.GetMouseButtonDown(0) && instances < maxInstances && timeFromLastSpawn > spawnDelay)
+            {
+                GameObject go = Instantiate(template.gameObject, transform.position, Quaternion.identity);
+                go.transform.SetParent(transform.parent);
+                instances++;
+                timeFromLastSpawn = 0;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
index 9a1f94717..72fbe5837 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
@@ -1,16 +1,21 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[RequireComponent(typeof(ObiActor))]
-public class AddRandomVelocity : MonoBehaviour {
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiActor))]
+    public class AddRandomVelocity : MonoBehaviour
+    {
 
-	public float intensity = 5;
-	
-	void Update () {
-		if (Input.GetKeyDown(KeyCode.Space)){
-			GetComponent<ObiActor>().AddForce(UnityEngine.Random.onUnitSphere*intensity,ForceMode.VelocityChange);
-		}
-	}
+        public float intensity = 5;
+
+        void Update()
+        {
+            if (Input.GetKeyDown(KeyCode.Space))
+            {
+                GetComponent<ObiActor>().AddForce(UnityEngine.Random.onUnitSphere * intensity, ForceMode.VelocityChange);
+            }
+        }
+    }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
index 897374084..b8fcd917f 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
@@ -1,23 +1,30 @@
 using UnityEngine;
 
-public class Blinker : MonoBehaviour {
+namespace Obi.Samples
+{
+    public class Blinker : MonoBehaviour
+    {
 
-	public Color highlightColor;
+        public Color highlightColor;
 
- 	private Renderer rend;
-	private Color original;
+        private Renderer rend;
+        private Color original;
 
-	void Awake(){
-		rend = GetComponent<Renderer>();
-		original = rend.material.color;
-	}
+        void Awake()
+        {
+            rend = GetComponent<Renderer>();
+            original = rend.material.color;
+        }
 
-	public void Blink(){
-		rend.material.color = highlightColor;
-	}
+        public void Blink()
+        {
+            rend.material.color = highlightColor;
+        }
 
-	void LateUpdate(){
-		rend.material.color += (original - rend.material.color)*Time.deltaTime*5;
-	}
+        void LateUpdate()
+        {
+            rend.material.color += (original - rend.material.color) * Time.deltaTime * 5;
+        }
 
-}
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
index 6d76046ea..93c6fb00e 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
@@ -33,7 +33,7 @@ namespace Obi{
         }
 
 
-        private void FixedUpdate()
+        private void Update()
         {
             if (!m_Jump)
             {
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
index 42b38487e..b53a0f8b5 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
@@ -1,48 +1,51 @@
 using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using Obi;
 
-[RequireComponent(typeof(ObiSolver))]
-public class ColliderHighlighter : MonoBehaviour {
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class ColliderHighlighter : MonoBehaviour
+    {
 
- 	ObiSolver solver;
+        ObiSolver solver;
 
-	void Awake(){
-		solver = GetComponent<Obi.ObiSolver>();
-	}
+        void Awake()
+        {
+            solver = GetComponent<Obi.ObiSolver>();
+        }
 
-	void OnEnable () {
-		solver.OnCollision += Solver_OnCollision;
-	}
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
 
-	void OnDisable(){
-		solver.OnCollision -= Solver_OnCollision;
-	}
-	
-	void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
-	{
-        var colliderWorld = ObiColliderWorld.GetInstance();
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
 
-        Oni.Contact[] contacts = e.contacts.Data;
-		for(int i = 0; i < e.contacts.Count; ++i)
-		{
-			Oni.Contact c = contacts[i];
-			// make sure this is an actual contact:
-			if (c.distance < 0.01f)
-			{
-				// get the collider:
-				var col = colliderWorld.colliderHandles[c.bodyB].owner;
+        void Solver_OnCollision(object sender, ObiNativeContactList e)
+        {
+            var colliderWorld = ObiColliderWorld.GetInstance();
 
-				if (col != null)
+            for (int i = 0; i < e.count; ++i)
+            {
+                Oni.Contact c = e[i];
+                // make sure this is an actual contact:
+                if (c.distance < 0.01f)
                 {
-					// make it blink:
-					Blinker blinker = col.GetComponent<Blinker>();
-	
-					if (blinker)
-						blinker.Blink();
-				}
-			}
-		}
-	}
+                    // get the collider:
+                    var col = colliderWorld.colliderHandles[c.bodyB].owner;
+
+                    if (col != null)
+                    {
+                        // make it blink:
+                        Blinker blinker = col.GetComponent<Blinker>();
+
+                        if (blinker)
+                            blinker.Blink();
+                    }
+                }
+            }
+        }
+    }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
index fe6749dc5..2db887399 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
@@ -1,184 +1,97 @@
 using UnityEngine;
 using System.Collections;
 using System.Collections.Generic;
-using Obi;
 
-[RequireComponent(typeof(ObiSolver))]
-public class CollisionEventHandler : MonoBehaviour
+namespace Obi.Samples
 {
-
-    ObiSolver solver;
-    public int contactCount;
-
-    Obi.ObiSolver.ObiCollisionEventArgs frame;
-
-    void Awake()
+    [RequireComponent(typeof(ObiSolver))]
+    public class CollisionEventHandler : MonoBehaviour
     {
-        solver = GetComponent<Obi.ObiSolver>();
-    }
 
-    void OnEnable()
-    {
-        solver.OnParticleCollision += Solver_OnCollision;
-    }
+        ObiSolver solver;
+        public int contactCount;
 
-    void OnDisable()
-    {
-        solver.OnParticleCollision -= Solver_OnCollision;
-    }
+        ObiNativeContactList frame;
 
-    void Solver_OnCollision(object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
-    {
-        frame = e;
-    }
-
-    void OnDrawGizmos()
-    {
-        if (solver == null || frame == null || frame.contacts == null) return;
-
-        Gizmos.matrix = solver.transform.localToWorldMatrix;
-
-        contactCount = frame.contacts.Count;
-
-        /*for (int i = 0; i < frame.contacts.Count; ++i)
+        void Awake()
         {
-            var contact = frame.contacts.Data[i];
+            solver = GetComponent<Obi.ObiSolver>();
+        }
 
-            //if (contact.distance > 0.001f) continue;
-
-            Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
-
-            //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
-
-            Vector3 point = frame.contacts.Data[i].pointB;
-
-            Gizmos.DrawSphere(point, 0.01f);
-
-            Gizmos.DrawRay(point, contact.normal * contact.distance);
-
-            Gizmos.color = Color.cyan;
-            Gizmos.DrawRay(point, contact.tangent * contact.tangentImpulse + contact.bitangent * contact.bitangentImpulse);
-
-        }*/
-
-        for (int i = 0; i < frame.contacts.Count; ++i)
+        void OnEnable()
         {
-            var contact = frame.contacts.Data[i];
+            solver.OnCollision += Solver_OnCollision;
+        }
 
-            //if (contact.distance > 0.001f) continue;
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
 
-            Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+        void Solver_OnCollision(object sender, ObiNativeContactList e)
+        {
+            frame = e;
+        }
 
-            //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+        void OnDrawGizmos()
+        {
+            if (solver == null || frame == null) return;
 
-            Vector3 point = Vector3.zero;//frame.contacts.Data[i].point;
+            Gizmos.matrix = solver.transform.localToWorldMatrix;
 
-            int simplexStart = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSize);
+            contactCount = frame.count;
 
-            float radius = 0;
-            for (int j = 0; j < simplexSize; ++j)
+            for (int i = 0; i < frame.count; ++i)
             {
-                point += (Vector3)solver.positions[solver.simplices[simplexStart + j]] * contact.pointB[j];
-                radius += solver.principalRadii[solver.simplices[simplexStart + j]].x * contact.pointB[j];
+                var contact = frame[i];
+
+                //if (contact.distance > 0.001f) continue;
+
+                Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+
+                //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+                Vector3 point = frame[i].pointB;
+
+                Gizmos.DrawSphere(point, 0.01f);
+
+                Gizmos.DrawRay(point, contact.normal * contact.distance);
+
+                Gizmos.color = Color.cyan;
+                //Gizmos.DrawRay(point, contact.tangent * contact.tangentImpulse + contact.bitangent * contact.bitangentImpulse);
+
             }
 
-            Vector3 normal = contact.normal;
+            /*for (int i = 0; i < frame.count; ++i)
+            {
+                var contact = frame[i];
 
-            //Gizmos.DrawSphere(point + normal.normalized * frame.contacts[i].distance, 0.01f);
+                //if (contact.distance > 0.001f) continue;
 
-            Gizmos.DrawSphere(point + normal * radius, 0.01f);
+                Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
 
-            Gizmos.DrawRay(point + normal * radius, normal.normalized * contact.distance);
+                //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+                Vector3 point = Vector3.zero;//frame.contacts.Data[i].point;
+
+                int simplexStart = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSize);
+
+                float radius = 0;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    point += (Vector3)solver.positions[solver.simplices[simplexStart + j]] * contact.pointB[j];
+                    radius += solver.principalRadii[solver.simplices[simplexStart + j]].x * contact.pointB[j];
+                }
+
+                Vector3 normal = contact.normal;
+
+                //Gizmos.DrawSphere(point + normal.normalized * frame.contacts[i].distance, 0.01f);
+
+                Gizmos.DrawSphere(point + normal * radius, 0.01f);
+
+                Gizmos.DrawRay(point + normal * radius, normal.normalized * contact.distance);
+            }*/
         }
+
     }
-
 }
-
-/*
-[RequireComponent(typeof(ObiSolver))]
-public class CollisionEventHandler : MonoBehaviour {
-
- 	ObiSolver solver;
-	public int counter = 0;
-	public Collider targetCollider = null;
-
-	HashSet<int> particles = new HashSet<int>();
-
-	void Awake(){
-		solver = GetComponent<Obi.ObiSolver>();
-	}
-
-	void OnEnable () {
-		solver.OnCollision += Solver_OnCollision;
-	}
-
-	void OnDisable(){
-		solver.OnCollision -= Solver_OnCollision;
-	}
-	
-	void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
-	{
-		HashSet<int> currentParticles = new HashSet<int>();
-		
-		for(int i = 0;  i < e.contacts.Count; ++i)
-		{
-			if (e.contacts.Data[i].distance < 0.001f)
-			{
-
-				Component collider;
-				if (ObiCollider.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
-
-					if (collider == targetCollider)
-						currentParticles.Add(e.contacts.Data[i].particle);
-
-				}
-			}
-		}
-
-		particles.ExceptWith(currentParticles);
-		counter += particles.Count;
-		particles = currentParticles;
-	}
-
-}
-*/
-
-/*[RequireComponent(typeof(ObiSolver))]
-public class CollisionEventHandler : MonoBehaviour {
-
- 	ObiSolver solver;
-	public Collider targetCollider = null;
-
-	void Awake(){
-		solver = GetComponent<Obi.ObiSolver>();
-	}
-
-	void OnEnable () {
-		solver.OnCollision += Solver_OnCollision;
-	}
-
-	void OnDisable(){
-		solver.OnCollision -= Solver_OnCollision;
-	}
-	
-	void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
-	{
-		
-		for(int i = 0;  i < e.contacts.Count; ++i)
-		{
-			if (e.contacts.Data[i].distance < 0.001f)
-			{
-				Component collider;
-				if (ObiCollider.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
-
-					if (collider == targetCollider)
-						
-						solver.viscosities[e.contacts.Data[i].particle] = Mathf.Max(0,solver.viscosities[e.contacts.Data[i].particle] - 0.1f * Time.fixedDeltaTime);
-	
-				}
-			}
-		}
-
-	}
-
-}*/
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
index af3d4df10..5fcfe1c98 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
@@ -3,7 +3,7 @@ using System;
 using System.Collections;
 using System.Collections.Generic;
 
-namespace Obi
+namespace Obi.Samples
 {
 	/**
 	 * Sample script that colors fluid particles based on their vorticity (2D only)
@@ -22,7 +22,7 @@ namespace Obi
             if (!isActiveAndEnabled || actor.solver == null)
 				return;
 
-            for (int i = 0; i < actor.solverIndices.Length; ++i)
+            for (int i = 0; i < actor.solverIndices.count; ++i)
             {
 
 				int k = actor.solverIndices[i];
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
index 3c1d5552f..a1cf04c61 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
@@ -3,7 +3,7 @@ using System;
 using System.Collections;
 using System.Collections.Generic;
 
-namespace Obi
+namespace Obi.Samples
 {
 	/**
 	 * Sample script that colors fluid particles based on their vorticity (2D only)
@@ -25,7 +25,7 @@ namespace Obi
             if (!isActiveAndEnabled || actor.solver == null)
 				return;
 
-            for (int i = 0; i < actor.solverIndices.Length; ++i){
+            for (int i = 0; i < actor.solverIndices.count; ++i){
 
 				int k = actor.solverIndices[i];
 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
index dcc1ba2d7..c445dfc28 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
@@ -1,9 +1,6 @@
 using UnityEngine;
-using System;
-using System.Collections;
-using System.Collections.Generic;
 
-namespace Obi
+namespace Obi.Samples
 {
 	[RequireComponent(typeof(ObiActor))]
 	public class ColorRandomizer : MonoBehaviour
@@ -14,13 +11,16 @@ namespace Obi
 		void Start()
         {
 			actor = GetComponent<ObiActor>();
+            actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
+		}
 
-            for (int i = 0; i < actor.solverIndices.Length; ++i)
+        private void Actor_OnBlueprintLoaded(ObiActor a, ObiActorBlueprint blueprint)
+        {
+            for (int i = 0; i < actor.solverIndices.count; ++i)
             {
                 actor.solver.colors[actor.solverIndices[i]] = gradient.Evaluate(UnityEngine.Random.value);
-			}
-		}
-	
-	}
+            }
+        }
+    }
 }
 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
index 25e1f211b..298017a89 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
@@ -1,39 +1,42 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[ExecuteInEditMode]
-[RequireComponent(typeof(ObiActor))]
-public class DebugParticleFrames : MonoBehaviour {
+namespace Obi.Samples
+{
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    public class DebugParticleFrames : MonoBehaviour
+    {
 
-	ObiActor actor;
-	public float size = 1;
-	
-	public void Awake()
-    {
-		actor = GetComponent<ObiActor>();
-	}
-	
-	// Update is called once per frame
-	void OnDrawGizmos () 
-    {
-        Vector4 b1 = new Vector4(1, 0, 0, 0);
-        Vector4 b2 = new Vector4(0, 1, 0, 0);
-        Vector4 b3 = new Vector4(0, 0, 1, 0);
-        for (int i = 0; i < actor.activeParticleCount; ++i)
+        ObiActor actor;
+        public float size = 1;
+
+        public void Awake()
         {
+            actor = GetComponent<ObiActor>();
+        }
 
-            Vector3 position = actor.GetParticlePosition(actor.solverIndices[i]);
-            Quaternion quat = actor.GetParticleOrientation(actor.solverIndices[i]);
- 
-            Gizmos.color = Color.red;
-            Gizmos.DrawRay(position, quat * b1 * size);
-            Gizmos.color = Color.green;
-            Gizmos.DrawRay(position, quat * b2 * size);
-            Gizmos.color = Color.blue;
-            Gizmos.DrawRay(position, quat * b3 * size);
-		}
-	
-	}
+        // Update is called once per frame
+        void OnDrawGizmos()
+        {
+            Vector4 b1 = new Vector4(1, 0, 0, 0);
+            Vector4 b2 = new Vector4(0, 1, 0, 0);
+            Vector4 b3 = new Vector4(0, 0, 1, 0);
+            for (int i = 0; i < actor.activeParticleCount; ++i)
+            {
+
+                Vector3 position = actor.GetParticlePosition(actor.solverIndices[i]);
+                Quaternion quat = actor.GetParticleOrientation(actor.solverIndices[i]);
+
+                Gizmos.color = Color.red;
+                Gizmos.DrawRay(position, quat * b1 * size);
+                Gizmos.color = Color.green;
+                Gizmos.DrawRay(position, quat * b2 * size);
+                Gizmos.color = Color.blue;
+                Gizmos.DrawRay(position, quat * b3 * size);
+            }
+
+        }
+    }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
index 4f7a13465..ff7bb55d0 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
@@ -1,76 +1,78 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-public class ExtrapolationCamera : MonoBehaviour
+namespace Obi.Samples
 {
-    public Transform target = null;
-
-    public float extrapolation = 10;
-
-    [Range(0, 1)]
-    public float smoothness = 0.8f;
-
-    [Range(0, 1)]
-    public float linearSpeed = 1;
-
-    [Range(0, 1)]
-    public float rotationalSpeed = 1;
-
-    [Min(0)]
-    public float distanceFromTarget = 4;
-
-    Vector3 lastPosition;
-    Vector3 extrapolatedPos;
-
-    void Start()
+    public class ExtrapolationCamera : MonoBehaviour
     {
-        if (target != null)
-            lastPosition = target.position;
-    }
+        public Transform target = null;
 
-    private void FixedUpdate()
-    {
-        if (target != null)
+        public float extrapolation = 10;
+
+        [Range(0, 1)]
+        public float smoothness = 0.8f;
+
+        [Range(0, 1)]
+        public float linearSpeed = 1;
+
+        [Range(0, 1)]
+        public float rotationalSpeed = 1;
+
+        [Min(0)]
+        public float distanceFromTarget = 4;
+
+        Vector3 lastPosition;
+        Vector3 extrapolatedPos;
+
+        void Start()
         {
-			// Get position delta since the last physics update:
-			Vector3 positionDelta = target.position - lastPosition;
-            positionDelta.y = 0;
-
-            // extrapolate position using velocity (the division/multiplication by Time.deltaTime simplify out)
-            extrapolatedPos = Vector3.Lerp(target.position + positionDelta * extrapolation, extrapolatedPos, smoothness);
-
-            // store the target's current com for the next frame:
-            lastPosition = target.position;
+            if (target != null)
+                lastPosition = target.position;
         }
-    }
 
-    void LateUpdate()
-    {
-        if (target != null)
+        private void FixedUpdate()
         {
-            // get vector from the camera to the extrapolated position:
-            Vector3 toTarget = extrapolatedPos - transform.position;
+            if (target != null)
+            {
+                // Get position delta since the last physics update:
+                Vector3 positionDelta = target.position - lastPosition;
+                positionDelta.y = 0;
 
-            // rotate the camera towards the extrapolated position:
-            transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.LookRotation(toTarget), rotationalSpeed);
-
-            // keep our current world space height:
-            toTarget.y = 0;
-
-            // move the camera towards the extrapolated position, keeping some distance to it:
-            transform.position += toTarget.normalized * (toTarget.magnitude - distanceFromTarget) * linearSpeed;
+                // extrapolate position using velocity (the division/multiplication by Time.deltaTime simplify out)
+                extrapolatedPos = Vector3.Lerp(target.position + positionDelta * extrapolation, extrapolatedPos, smoothness);
 
+                // store the target's current com for the next frame:
+                lastPosition = target.position;
+            }
         }
-    }
 
-    public void Teleport(Vector3 position, Quaternion rotation)
-    {
-        transform.position = position;
-        transform.rotation = rotation;
+        void LateUpdate()
+        {
+            if (target != null)
+            {
+                // get vector from the camera to the extrapolated position:
+                Vector3 toTarget = extrapolatedPos - transform.position;
 
-        if (target != null)
-			extrapolatedPos = lastPosition = target.position;
+                // rotate the camera towards the extrapolated position:
+                transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.LookRotation(toTarget), rotationalSpeed);
+
+                // keep our current world space height:
+                toTarget.y = 0;
+
+                // move the camera towards the extrapolated position, keeping some distance to it:
+                transform.position += toTarget.normalized * (toTarget.magnitude - distanceFromTarget) * linearSpeed;
+
+            }
+        }
+
+        public void Teleport(Vector3 position, Quaternion rotation)
+        {
+            transform.position = position;
+            transform.rotation = rotation;
+
+            if (target != null)
+                extrapolatedPos = lastPosition = target.position;
+        }
     }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
index 2433ea770..bd83d2163 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
@@ -2,56 +2,59 @@
 using UnityEngine.UI;
 using System.Collections;
 
-[RequireComponent(typeof(Text))]
-public class FPSDisplay : MonoBehaviour
+namespace Obi.Samples
 {
-    public float updateInterval = 0.5f;
-
-    public bool showMedian = false;
-    public float medianLearnrate = 0.05f;
-
-    private float accum = 0; // FPS accumulated over the interval
-    private int frames = 0; // Frames drawn over the interval
-    private float timeleft; // Left time for current interval
-    private float currentFPS = 0;
-
-    private float median = 0;
-    private float average = 0;
-
-    public float CurrentFPS{
-        get { return currentFPS; }
-    }
-
-    public float FPSMedian
+    [RequireComponent(typeof(Text))]
+    public class FPSDisplay : MonoBehaviour
     {
-        get { return median; }
-    }
+        public float updateInterval = 0.5f;
 
-    public float FPSAverage
-    {
-        get { return average; }
-    }
+        public bool showMedian = false;
+        public float medianLearnrate = 0.05f;
 
-    Text uguiText;
+        private float accum = 0; // FPS accumulated over the interval
+        private int frames = 0; // Frames drawn over the interval
+        private float timeleft; // Left time for current interval
+        private float currentFPS = 0;
 
-    void Start()
-    {
-        uguiText = GetComponent<Text>();
-        timeleft = updateInterval;
-    }
+        private float median = 0;
+        private float average = 0;
 
-    void Update()
-    {
-        // Timing inside the editor is not accurate. Only use in actual build.
+        public float CurrentFPS
+        {
+            get { return currentFPS; }
+        }
 
-        //#if !UNITY_EDITOR
+        public float FPSMedian
+        {
+            get { return median; }
+        }
+
+        public float FPSAverage
+        {
+            get { return average; }
+        }
+
+        Text uguiText;
+
+        void Start()
+        {
+            uguiText = GetComponent<Text>();
+            timeleft = updateInterval;
+        }
+
+        void Update()
+        {
+            // Timing inside the editor is not accurate. Only use in actual build.
+
+            //#if !UNITY_EDITOR
 
             timeleft -= Time.deltaTime;
-            accum += Time.timeScale/Time.deltaTime;
+            accum += Time.timeScale / Time.deltaTime;
             ++frames;
-         
+
             // Interval ended - update GUI text and start new interval
-            if( timeleft <= 0.0)
+            if (timeleft <= 0.0)
             {
                 currentFPS = accum / frames;
 
@@ -60,18 +63,19 @@ public class FPSDisplay : MonoBehaviour
 
                 // display two fractional digits (f2 format)
                 float fps = showMedian ? median : currentFPS;
-                uguiText.text = System.String.Format("{0:F2} FPS ({1:F1} ms)", fps, 1000.0f / fps); 
+                uguiText.text = System.String.Format("{0:F2} FPS ({1:F1} ms)", fps, 1000.0f / fps);
 
                 timeleft = updateInterval;
                 accum = 0.0F;
                 frames = 0;
             }
-        //#endif
-    }
+            //#endif
+        }
 
-    public void ResetMedianAndAverage()
-    {
-        median = 0;
-        average = 0;
+        public void ResetMedianAndAverage()
+        {
+            median = 0;
+            average = 0;
+        }
     }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
index bcd4788a5..79bcebe3e 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
@@ -1,6 +1,6 @@
 using UnityEngine;
 
-namespace Obi
+namespace Obi.Samples
 {
     [RequireComponent(typeof(Camera))]
     public class LookAroundCamera : MonoBehaviour
@@ -64,7 +64,10 @@ namespace Obi
 
             currentShot.position += delta * Time.deltaTime * movementSpeed;
 
-            if (Input.GetKey(KeyCode.Mouse0))
+            var system = UnityEngine.EventSystems.EventSystem.current;
+            bool focusUI = system != null && system.IsPointerOverGameObject();
+
+            if (Input.GetKey(KeyCode.Mouse0) && !focusUI)
             {
                 float deltaX = Input.GetAxis("Mouse X") * rotationSpeed;
                 float deltaY = Input.GetAxis("Mouse Y") * rotationSpeed;
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
index 7597a980e..a077e14f6 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
@@ -1,7 +1,7 @@
 using System;
 using UnityEngine;
 
-namespace Obi
+namespace Obi.Samples
 {
     public class MoveAndRotate : MonoBehaviour
     {
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
index d9b6f8d66..ba39a0312 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
@@ -1,15 +1,17 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-public class ObiActorTeleport : MonoBehaviour
+namespace Obi.Samples
 {
-    public ObiActor actor;
-    public Transform target;
-
-    public void Teleport()
+    public class ObiActorTeleport : MonoBehaviour
     {
-        actor.Teleport(target.position, target.rotation);
+        public ObiActor actor;
+        public Transform target;
+
+        public void Teleport()
+        {
+            actor.Teleport(target.position, target.rotation);
+        }
     }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
index ee392463f..ae6fcf333 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
@@ -1,53 +1,58 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[RequireComponent(typeof(ObiSolver))]
-public class ObiParticleCounter : MonoBehaviour {
-
-    ObiSolver solver;
-    public int counter = 0;
-    public Collider2D targetCollider = null;
-    
-    Obi.ObiSolver.ObiCollisionEventArgs frame;
-    HashSet<int> particles = new HashSet<int>();
-
-    void Awake(){
-        solver = GetComponent<Obi.ObiSolver>();
-    }
-
-    void OnEnable () {
-        solver.OnCollision += Solver_OnCollision;
-    }
-
-    void OnDisable(){
-        solver.OnCollision -= Solver_OnCollision;
-    }
-    
-    void Solver_OnCollision (object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class ObiParticleCounter : MonoBehaviour
     {
-        HashSet<int> currentParticles = new HashSet<int>();
-        
-        for(int i = 0;  i < e.contacts.Count; ++i)
+
+        ObiSolver solver;
+        public int counter = 0;
+        public Collider2D targetCollider = null;
+
+        ObiNativeContactList frame;
+        HashSet<int> particles = new HashSet<int>();
+
+        void Awake()
         {
-            if (e.contacts.Data[i].distance < 0.001f)
-            {
-
-                /*Component collider;
-                if (ObiCollider2D.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
-
-                    if (collider == targetCollider)
-                        currentParticles.Add(e.contacts.Data[i].particle);
-
-                }*/
-            }
+            solver = GetComponent<Obi.ObiSolver>();
+        }
+
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
+
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
+
+        void Solver_OnCollision(object sender, ObiNativeContactList e)
+        {
+            HashSet<int> currentParticles = new HashSet<int>();
+
+            for (int i = 0; i < e.count; ++i)
+            {
+                if (e[i].distance < 0.001f)
+                {
+
+                    /*Component collider;
+                    if (ObiCollider2D.idToCollider.TryGetValue(e.contacts.Data[i].other,out collider)){
+
+                        if (collider == targetCollider)
+                            currentParticles.Add(e.contacts.Data[i].particle);
+
+                    }*/
+                }
+            }
+
+            particles.ExceptWith(currentParticles);
+            counter += particles.Count;
+            particles = currentParticles; Debug.Log(counter);
         }
 
-        particles.ExceptWith(currentParticles);
-        counter += particles.Count;
-		particles = currentParticles;Debug.Log(counter);
     }
-
 }
-
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
index 1ca0319cf..9f8127d1a 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
@@ -1,23 +1,25 @@
 using UnityEngine;
 using System.Collections;
- 
-public class ObjectDragger : MonoBehaviour 
-{
- 
-	private Vector3 screenPoint;
-	private Vector3 offset;
-	 
-	void OnMouseDown()
-	{
-		screenPoint = Camera.main.WorldToScreenPoint(gameObject.transform.position);
-		offset = gameObject.transform.position - Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z));
-	}
-	
-	void OnMouseDrag()
-	{
-		Vector3 curScreenPoint = new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z);
-		transform.position = Camera.main.ScreenToWorldPoint(curScreenPoint) + offset;
-	}
 
- 
+namespace Obi.Samples
+{
+    public class ObjectDragger : MonoBehaviour
+    {
+
+        private Vector3 screenPoint;
+        private Vector3 offset;
+
+        void OnMouseDown()
+        {
+            screenPoint = Camera.main.WorldToScreenPoint(gameObject.transform.position);
+            offset = gameObject.transform.position - Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z));
+        }
+
+        void OnMouseDrag()
+        {
+            Vector3 curScreenPoint = new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z);
+            transform.position = Camera.main.ScreenToWorldPoint(curScreenPoint) + offset;
+        }
+
+    }
  }
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
index 9bea6154e..673104e56 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
@@ -1,22 +1,25 @@
 using UnityEngine;
  using System.Collections;
- 
- public class ObjectLimit : MonoBehaviour 
- {
- 
-	 public float minX = 0;
-	 public float maxX = 1;
-	 public float minY = 0;
-	 public float maxY = 1;
-	 public float minZ = 0;
-	 public float maxZ = 1;
-	 
-	 void Update()
-	 {
-		transform.localPosition = new Vector3(Mathf.Clamp(gameObject.transform.localPosition.x,minX,maxX),
-										 	  Mathf.Clamp(gameObject.transform.localPosition.y,minY,maxY),
-										 	  Mathf.Clamp(gameObject.transform.localPosition.z,minZ,maxZ));
-	 
-	 }
- 
- }
\ No newline at end of file
+
+namespace Obi.Samples
+{
+    public class ObjectLimit : MonoBehaviour
+    {
+
+        public float minX = 0;
+        public float maxX = 1;
+        public float minY = 0;
+        public float maxY = 1;
+        public float minZ = 0;
+        public float maxZ = 1;
+
+        void Update()
+        {
+            transform.localPosition = new Vector3(Mathf.Clamp(gameObject.transform.localPosition.x, minX, maxX),
+                                                   Mathf.Clamp(gameObject.transform.localPosition.y, minY, maxY),
+                                                   Mathf.Clamp(gameObject.transform.localPosition.z, minZ, maxZ));
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs
new file mode 100644
index 000000000..aff42672f
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs
@@ -0,0 +1,24 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(Rigidbody))]
+	public class RigidbodyMaxAngularVel : MonoBehaviour
+	{
+		public float maxAngularVelocity = 20;
+
+		// Start is called before the first frame update
+		void Start()
+		{
+			GetComponent<Rigidbody>().maxAngularVelocity = maxAngularVelocity;
+		}
+
+		// Update is called once per frame
+		void Update()
+		{
+
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs.meta
new file mode 100644
index 000000000..bdba51d88
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/RigidbodyMaxAngularVel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c31446bcaf82443aa64afa152fac3d0
+MonoImporter:
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
index 2e9072166..5b70d25ac 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
@@ -2,9 +2,14 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-public class SlowmoToggler : MonoBehaviour {
+namespace Obi.Samples
+{
+    public class SlowmoToggler : MonoBehaviour
+    {
 
-	public void Slowmo (bool slowmo) {
-		Time.timeScale = slowmo?0.25f:1;
-	}
+        public void Slowmo(bool slowmo)
+        {
+            Time.timeScale = slowmo ? 0.25f : 1;
+        }
+    }
 }
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
index c91f8816c..fc9c9971a 100644
--- a/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
@@ -1,21 +1,24 @@
 using UnityEngine;
 using Obi;
 
-[RequireComponent(typeof(ObiSolver))]
-public class WorldSpaceGravity : MonoBehaviour
+namespace Obi.Samples
 {
-
-    ObiSolver solver;
-    public Vector3 worldGravity = new Vector3(0,-9.81f,0);
-
-    void Awake()
+    [RequireComponent(typeof(ObiSolver))]
+    public class WorldSpaceGravity : MonoBehaviour
     {
-        solver = GetComponent<ObiSolver>();
-    }
 
-    void Update()
-    {
-        solver.parameters.gravity = transform.InverseTransformDirection(worldGravity);
-        solver.PushSolverParameters();
+        ObiSolver solver;
+        public Vector3 worldGravity = new Vector3(0, -9.81f, 0);
+
+        void Awake()
+        {
+            solver = GetComponent<ObiSolver>();
+        }
+
+        void Update()
+        {
+            solver.parameters.gravity = transform.InverseTransformDirection(worldGravity);
+            solver.PushSolverParameters();
+        }
     }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/CableCar.unity b/Assets/Obi/Samples/RopeAndRod/CableCar.unity
new file mode 100644
index 000000000..7377017d8
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/CableCar.unity
@@ -0,0 +1,3602 @@
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diff --git a/Assets/Obi/Samples/RopeAndRod/CableCar.unity.meta b/Assets/Obi/Samples/RopeAndRod/CableCar.unity.meta
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diff --git a/Assets/Obi/Samples/RopeAndRod/Chains.unity b/Assets/Obi/Samples/RopeAndRod/Chains.unity
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diff --git a/Assets/Obi/Samples/RopeAndRod/FreightLift.unity b/Assets/Obi/Samples/RopeAndRod/FreightLift.unity
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diff --git a/Assets/Obi/Samples/RopeAndRod/RopeCutting.unity b/Assets/Obi/Samples/RopeAndRod/RopeCutting.unity
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CableCarRope.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CableCarRope.asset
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+  - {x: 0, y: 0, z: 0}
+  - {x: 0, y: 0, z: 0}
+  - {x: 0, y: 0, z: 0}
+  angularVelocities: []
+  invMasses:
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+  colors:
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+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CableCarRope.asset.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CableCarRope.asset.meta
new file mode 100644
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Chain.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Chain.asset
index 39bd8fb65..f41a50046 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Chain.asset
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index e88abc2c3..dc5be0c6e 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Crane.asset
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CuttableRope.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CuttableRope.asset
index 144451914..c8755b429 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CuttableRope.asset
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/CuttableRope.asset
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Firehose.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Firehose.asset
index 1ae6e511a..6c0759535 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Firehose.asset
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Firehose.asset
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+  m_Edited: 0
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Freightlift cable.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Freightlift cable.asset
index 822226765..9abe25e41 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Freightlift cable.asset	
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Freightlift cable.asset	
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 1.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 1.asset
index 2e25ae882..e6b720a46 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 1.asset	
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 1.asset	
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 2.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 2.asset
index cb2a140a2..9380ffa99 100644
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+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 2.asset	
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/RatchetCable.asset.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/RatchetCable.asset.meta
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/SpringRod.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/SpringRod.asset
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight long rope.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight long rope.asset
index c4b8acb3a..16674a607 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight long rope.asset	
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight long rope.asset	
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight short rope.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight short rope.asset
index f2b79041b..034a84723 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight short rope.asset	
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Straight short rope.asset	
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Very long cable.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Very long cable.asset
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+  - {x: -34.736782, y: 0.000012436195, z: 0, w: 1}
+  - {x: -34.03514, y: 0.000012190286, z: 0, w: 1}
+  - {x: -33.3348, y: 0.000011944836, z: 0, w: 1}
+  - {x: -32.63596, y: 0.000011699913, z: 0, w: 1}
+  - {x: -31.93881, y: 0.000011455588, z: 0, w: 1}
+  - {x: -31.243555, y: 0.000011211931, z: 0, w: 1}
+  - {x: -30.55039, y: 0.000010969012, z: 0, w: 1}
+  - {x: -29.849604, y: 0.000010723426, z: 0, w: 1}
+  - {x: -29.141989, y: 0.0000104754545, z: 0, w: 1}
+  - {x: -28.437225, y: 0.0000102284885, z: 0, w: 1}
+  - {x: -27.735544, y: 0.000009982609, z: 0, w: 1}
+  - {x: -27.037157, y: 0.0000097378925, z: 0, w: 1}
+  - {x: -26.342283, y: 0.0000094944135, z: 0, w: 1}
+  - {x: -25.651136, y: 0.0000092522505, z: 0, w: 1}
+  - {x: -24.963936, y: 0.00000901148, z: 0, w: 1}
+  - {x: -24.255404, y: 0.000008763244, z: 0, w: 1}
+  - {x: -23.543732, y: 0.000008513922, z: 0, w: 1}
+  - {x: -22.83715, y: 0.000008266394, z: 0, w: 1}
+  - {x: -22.135895, y: 0.000008020745, z: 0, w: 1}
+  - {x: -21.440226, y: 0.000007777066, z: 0, w: 1}
+  - {x: -20.750393, y: 0.0000075354455, z: 0, w: 1}
+  - {x: -20.066652, y: 0.0000072959747, z: 0, w: 1}
+  - {x: -19.370548, y: 0.0000070521896, z: 0, w: 1}
+  - {x: -18.650707, y: 0.000006800111, z: 0, w: 1}
+  - {x: -17.93878, y: 0.0000065508225, z: 0, w: 1}
+  - {x: -17.235085, y: 0.000006304439, z: 0, w: 1}
+  - {x: -16.53993, y: 0.000006061068, z: 0, w: 1}
+  - {x: -15.853621, y: 0.000005820816, z: 0, w: 1}
+  - {x: -15.176478, y: 0.000005583798, z: 0, w: 1}
+  - {x: -14.474341, y: 0.000005338059, z: 0, w: 1}
+  - {x: -13.74865, y: 0.000005084108, z: 0, w: 1}
+  - {x: -13.035345, y: 0.000004834527, z: 0, w: 1}
+  - {x: -12.334836, y: 0.0000045894585, z: 0, w: 1}
+  - {x: -11.6475525, y: 0.0000043490554, z: 0, w: 1}
+  - {x: -10.973908, y: 0.000004113463, z: 0, w: 1}
+  - {x: -10.288517, y: 0.0000038738076, z: 0, w: 1}
+  - {x: -9.550542, y: 0.0000036158215, z: 0, w: 1}
+  - {x: -8.832268, y: 0.000003364784, z: 0, w: 1}
+  - {x: -8.134326, y: 0.0000031209188, z: 0, w: 1}
+  - {x: -7.457354, y: 0.0000028844502, z: 0, w: 1}
+  - {x: -6.801976, y: 0.0000026555983, z: 0, w: 1}
+  - {x: -6.0594335, y: 0.0000023964103, z: 0, w: 1}
+  - {x: -5.328869, y: 0.0000021415253, z: 0, w: 1}
+  - {x: -4.633066, y: 0.0000018989022, z: 0, w: 1}
+  - {x: -3.9731514, y: 0.0000016689376, z: 0, w: 1}
+  - {x: -3.2821789, y: 0.0000014283355, z: 0, w: 1}
+  - {x: -2.5243132, y: 0.0000011647192, z: 0, w: 1}
+  - {x: -1.835691, y: 0.00000092552716, z: 0, w: 1}
+  - {x: -1.2188883, y: 0.0000007116681, z: 0, w: 1}
+  - {x: -0.41393957, y: 0.00000043345753, z: 0, w: 1}
+  - {x: 0.21306933, y: 0.00000021810774, z: 0, w: 1}
   - {x: 0.87061304, y: -1.838695e-15, z: 0, w: 1}
+  restNormals: []
   orientations: []
   restOrientations: []
   velocities:
@@ -383,6 +386,21 @@ MonoBehaviour:
   invMasses:
   - 10
   - 10
+  - 10.000001
+  - 9.999999
+  - 10
+  - 10.000001
+  - 9.999999
+  - 10
+  - 10.000001
+  - 9.999999
+  - 10
+  - 9.999999
+  - 9.999999
+  - 9.999999
+  - 10
+  - 9.999999
+  - 10
   - 10
   - 10.000001
   - 10
@@ -394,44 +412,30 @@ MonoBehaviour:
   - 10
   - 10.000001
   - 10.000001
+  - 10
+  - 9.999999
   - 9.999999
   - 10.000001
-  - 9.999999
-  - 9.999999
-  - 10
-  - 10.000001
-  - 9.999999
-  - 10
-  - 10.000001
-  - 10
-  - 9.999999
-  - 10
-  - 10
-  - 10
-  - 10.000001
-  - 10
-  - 10
-  - 10
-  - 10
-  - 9.999999
-  - 10
-  - 10
-  - 10
-  - 10
-  - 9.999999
-  - 10
   - 10
   - 10
   - 10.000001
   - 9.999999
   - 10.000001
+  - 10
+  - 10
+  - 10
+  - 10
+  - 10
+  - 9.999999
+  - 10.000001
+  - 9.999999
+  - 10
   - 9.999999
   - 10
   - 10
-  - 10
-  - 10
-  - 10
-  - 10
+  - 10.000001
+  - 10.000001
+  - 10.000001
   - 10
   - 10
   - 10
@@ -494,12 +498,26 @@ MonoBehaviour:
   - 10
   - 10
   - 10
-  - 10
   invRotationalMasses: []
   filters: 0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff0100ffff
   principalRadii:
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35, y: 0.35, z: 0.35}
@@ -507,48 +525,34 @@ MonoBehaviour:
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
-  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
+  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
-  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.35000002, y: 0.35000002, z: 0.35000002}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
+  - {x: 0.34999996, y: 0.34999996, z: 0.34999996}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
@@ -611,10 +615,24 @@ MonoBehaviour:
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
   - {x: 0.35, y: 0.35, z: 0.35}
-  - {x: 0.35, y: 0.35, z: 0.35}
   colors:
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1, g: 1, b: 1, a: 1}
@@ -622,48 +640,34 @@ MonoBehaviour:
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
-  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
+  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
-  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 1.0000001, g: 1.0000001, b: 1.0000001, a: 1.0000001}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
+  - {r: 0.99999994, g: 0.99999994, b: 0.99999994, a: 0.99999994}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
@@ -726,7 +730,6 @@ MonoBehaviour:
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
   - {r: 1, g: 1, b: 1, a: 1}
-  - {r: 1, g: 1, b: 1, a: 1}
   points: 
   edges: 000000000100000001000000020000000200000003000000030000000400000004000000050000000500000006000000060000000700000007000000080000000800000009000000090000000a0000000a0000000b0000000b0000000c0000000c0000000d0000000d0000000e0000000e0000000f0000000f00000010000000100000001100000011000000120000001200000013000000130000001400000014000000150000001500000016000000160000001700000017000000180000001800000019000000190000001a0000001a0000001b0000001b0000001c0000001c0000001d0000001d0000001e0000001e0000001f0000001f00000020000000200000002100000021000000220000002200000023000000230000002400000024000000250000002500000026000000260000002700000027000000280000002800000029000000290000002a0000002a0000002b0000002b0000002c0000002c0000002d0000002d0000002e0000002e0000002f0000002f00000030000000300000003100000031000000320000003200000033000000330000003400000034000000350000003500000036000000360000003700000037000000380000003800000039000000390000003a0000003a0000003b0000003b0000003c0000003c0000003d0000003d0000003e0000003e0000003f0000003f00000040000000400000004100000041000000420000004200000043000000430000004400000044000000450000004500000046000000460000004700000047000000480000004800000049000000490000004a0000004a0000004b0000004b0000004c0000004c0000004d0000004d0000004e0000004e0000004f0000004f00000050000000500000005100000051000000520000005200000053000000530000005400000054000000550000005500000056000000560000005700000057000000580000005800000059000000590000005a0000005a0000005b0000005b0000005c0000005c0000005d0000005d0000005e0000005e0000005f0000005f00000060000000600000006100000061000000620000006200000063000000630000006400000064000000650000006500000066000000660000006700000067000000680000006800000069000000690000006a0000006a0000006b0000006b0000006c0000006c0000006d0000006d0000006e0000006e0000006f0000006f000000700000007000000071000000
   triangles: 
@@ -745,63 +748,63 @@ MonoBehaviour:
         m_AlignBytes: 16
       restLengths:
         serializedContents:
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-        - 0.80545807
-        - 0.6890564
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-        - 0.6961155
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-        - 0.7203064
-        - 0.70414543
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/WrappingRope.asset.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/WrappingRope.asset.meta
index 3dd9abe0b..a0c762b5a 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/WrappingRope.asset.meta
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/WrappingRope.asset.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 4d31372b30ca34527b534f09a803ab15
+guid: 7e05f85bfaeb24a649317f63f656b6bb
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 11400000
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainRed.mat b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainRed.mat
index c9914abd1..a78cc0ce2 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainRed.mat
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainRed.mat
@@ -15,7 +15,7 @@ Material:
   - _EMISSION
   m_InvalidKeywords: []
   m_LightmapFlags: 1
-  m_EnableInstancingVariants: 0
+  m_EnableInstancingVariants: 1
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
   stringTagMap: {}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainWhite.mat b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainWhite.mat
index e285c8ed1..721b0b5be 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainWhite.mat
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/ChainWhite.mat
@@ -15,7 +15,7 @@ Material:
   - _EMISSION
   m_InvalidKeywords: []
   m_LightmapFlags: 1
-  m_EnableInstancingVariants: 0
+  m_EnableInstancingVariants: 1
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
   stringTagMap: {}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/GreenRope.mat b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/GreenRope.mat
index 564826cab..4d30cc707 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/GreenRope.mat
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/GreenRope.mat
@@ -84,7 +84,7 @@ Material:
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
-    - _Color: {r: 0.17283745, g: 0.8161765, b: 0.12002597, a: 1}
+    - _Color: {r: 0.17942329, g: 0.6037736, b: 0.19514, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _EmissionColorUI: {r: 1, g: 1, b: 1, a: 1}
     - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1}
diff --git a/Assets/Obi/Resources/ObiMaterials/Particle.mat b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat
similarity index 80%
rename from Assets/Obi/Resources/ObiMaterials/Particle.mat
rename to Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat
index 6cda4517e..29da8f0eb 100644
--- a/Assets/Obi/Resources/ObiMaterials/Particle.mat
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat
@@ -7,13 +7,14 @@ Material:
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: Particle
-  m_Shader: {fileID: 4800000, guid: 87908c483837f4df49e97fa1aa0dacda, type: 3}
+  m_Name: Shark
+  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_Parent: {fileID: 0}
   m_ModifiedSerializedProperties: 0
-  m_ValidKeywords: []
+  m_ValidKeywords:
+  - _NORMALMAP
   m_InvalidKeywords: []
-  m_LightmapFlags: 5
+  m_LightmapFlags: 4
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
@@ -24,7 +25,7 @@ Material:
     serializedVersion: 3
     m_TexEnvs:
     - _BumpMap:
-        m_Texture: {fileID: 0}
+        m_Texture: {fileID: 2800000, guid: e4a9139c969c3419a813c9513127f817, type: 3}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _DetailAlbedoMap:
@@ -44,7 +45,7 @@ Material:
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _MainTex:
-        m_Texture: {fileID: 10300, guid: 0000000000000000f000000000000000, type: 0}
+        m_Texture: {fileID: 2800000, guid: 9c47de74aec0642928f43bb91a7346b7, type: 3}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _MetallicGlossMap:
@@ -65,19 +66,20 @@ Material:
     - _Cutoff: 0.5
     - _DetailNormalMapScale: 1
     - _DstBlend: 0
-    - _Glossiness: 0.5
-    - _InvFade: 1
+    - _GlossMapScale: 1
+    - _Glossiness: 0.75
+    - _GlossyReflections: 1
     - _Metallic: 0
     - _Mode: 0
     - _OcclusionStrength: 1
     - _Parallax: 0.02
-    - _RadiusScale: 1
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
     - _SrcBlend: 1
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
     - _Color: {r: 1, g: 1, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
-    - _TintColor: {r: 0.5, g: 0.5, b: 0.5, a: 0.5}
   m_BuildTextureStacks: []
   m_AllowLocking: 1
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat.meta
new file mode 100644
index 000000000..f72c06f54
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/Shark.mat.meta
@@ -0,0 +1,8 @@
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+NativeFormatImporter:
+  externalObjects: {}
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+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat
similarity index 90%
rename from Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat
rename to Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat
index 62f2fec4a..191a3283a 100644
--- a/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat
@@ -7,14 +7,14 @@ Material:
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: InstancedStandard
+  m_Name: TanglePeg
   m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_Parent: {fileID: 0}
   m_ModifiedSerializedProperties: 0
   m_ValidKeywords: []
   m_InvalidKeywords: []
   m_LightmapFlags: 4
-  m_EnableInstancingVariants: 1
+  m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
   stringTagMap: {}
@@ -44,7 +44,7 @@ Material:
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         m_Offset: {x: 0, y: 0}
     - _MainTex:
-        m_Texture: {fileID: 2800000, guid: 8fbd9c5f957b8434883cdfce9d6a3c27, type: 3}
+        m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _MetallicGlossMap:
@@ -66,7 +66,7 @@ Material:
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     - _DstBlend: 0
     - _GlossMapScale: 1
-    - _Glossiness: 0.5
+    - _Glossiness: 0.8
     - _GlossyReflections: 1
     - _Metallic: 0
     - _Mode: 0
@@ -78,7 +78,7 @@ Material:
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
-    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color: {r: 1, g: 0.7734498, b: 0, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
   m_BuildTextureStacks: []
   m_AllowLocking: 1
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat.meta
new file mode 100644
index 000000000..d4d9026a4
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+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Materials/TanglePeg.mat.meta
@@ -0,0 +1,8 @@
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+NativeFormatImporter:
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj b/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj
new file mode 100644
index 000000000..610580231
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj
@@ -0,0 +1,11018 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 14.08.2013 08:29:42
+
+mtllib Shark.mtl
+
+#
+# object great_white_shark
+#
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+f 3732/3428 3734/3407 3725/3427 3511/3312 
+f 3733/3421 3743/3429 3744/3419 3735/3417 
+f 3732/3428 3703/3408 3734/3407 
+f 3744/3419 3728/3416 3735/3417 
+f 3732/3428 3738/3425 3736/3423 3703/3408 
+f 3744/3419 3613/3371 3749/3418 3728/3416 
+f 3749/3418 3607/3290 3739/3411 3728/3416 
+f 3737/3316 3502/3293 3738/3425 3732/3428 
+f 3732/3428 3511/3312 3510/3313 3737/3316 
+f 3737/3316 3510/3313 3740/3298 3504/3296 
+f 3744/3419 3742/3381 3745/3370 3613/3371 
+f 3751/3399 3752/3397 3750/3400 3782/3404 
+f 3730/3424 3601/3368 3743/3429 3733/3421 
+f 3750/3400 3645/3285 3746/3403 3782/3404 
+f 3779/3286 3781/3431 3746/3403 3645/3285 
+f 3743/3429 3602/3378 3742/3381 3744/3419 
+f 3742/3381 3603/3380 3611/3369 3745/3370 
+f 3750/3400 3747/3280 3748/3284 3645/3285 
+f 3612/3289 3607/3290 3749/3418 3613/3371 
+f 3750/3400 3752/3397 3777/3271 3747/3280 
+f 3743/3429 3601/3368 3602/3378 
+f 3701/3394 3769/3398 3752/3397 3751/3399 
+f 3730/3424 3754/3292 3755/3364 3601/3368 
+f 3706/3413 3776/3432 3753/3324 3756/3325 
+f 3721/3383 3720/3339 3581/3336 3583/3337 
+f 3757/3388 3501/3290 3715/3411 3756/3325 
+f 3762/3381 3759/3370 3563/3369 3669/3380 
+f 3523/3336 3525/3339 3657/3383 3758/3337 
+f 3766/3420 3656/3389 3658/3382 
+f 3759/3370 3762/3381 3713/3419 3714/3371 
+f 3766/3420 3773/3401 3771/3402 3656/3389 
+f 3771/3402 3655/3391 3760/3390 3656/3389 
+f 3761/3429 3763/3421 3713/3419 3762/3381 
+f 3573/3378 3562/3368 3761/3429 3762/3381 
+f 3761/3429 3562/3368 3767/3424 3763/3421 
+f 3765/3393 3657/3383 3525/3339 3764/3273 
+f 3561/3364 3727/3292 3767/3424 3562/3368 
+f 3766/3420 3658/3382 3657/3383 3765/3393 
+f 3765/3393 3769/3398 3773/3401 3766/3420 
+f 3777/3271 3764/3273 3527/3272 3747/3280 
+f 3546/3343 3772/3341 3543/3340 3665/3347 
+f 3544/3342 3654/3344 3655/3391 
+f 3783/3345 3781/3308 3772/3341 3546/3343 
+f 3771/3402 3770/3396 3544/3342 3655/3391 
+f 3770/3396 3741/3406 3783/3345 3544/3342 
+f 3771/3402 3773/3401 3778/3395 3770/3396 
+f 3539/3298 3774/3313 3531/3316 3537/3296 
+f 3773/3401 3769/3398 3701/3394 3778/3395 
+f 3775/3428 3531/3316 3774/3313 3776/3312 
+f 3726/3425 3535/3293 3531/3316 3775/3428 
+f 3775/3428 3704/3408 3724/3423 3726/3425 
+f 3765/3393 3752/3397 3769/3398 
+f 3765/3393 3764/3273 3777/3271 3752/3397 
+f 3706/3427 3708/3407 3775/3428 3776/3312 
+f 3775/3428 3708/3407 3704/3408 
+f 3701/3394 3741/3406 3770/3396 3778/3395 
+f 3783/3345 3782/3414 3746/3410 3781/3308 
+f 3783/3345 3741/3406 3782/3414 
+# 281 polygons - 14 triangles
+
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Models/shark.obj.meta
new file mode 100644
index 000000000..d065a02ba
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset
index f8a726184..9dea6b172 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBamboo.asset
@@ -12,7 +12,7 @@ MonoBehaviour:
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+  dynamicFriction: 0.2
   staticFriction: 0
   stickiness: 0
   stickDistance: 0
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset
index c4995c1b7..0411fa0fb 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeBody.asset
@@ -12,9 +12,9 @@ MonoBehaviour:
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+  dynamicFriction: 0.2
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-  stickiness: 0.02
+  stickiness: 0.01
   stickDistance: 0.01
   frictionCombine: 3
   stickinessCombine: 3
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeFloor.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeFloor.asset
index 1853cb1e2..7f15628a6 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeFloor.asset
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/SnakeFloor.asset
@@ -12,7 +12,7 @@ MonoBehaviour:
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+  dynamicFriction: 1.2
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePeg.prefab b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePeg.prefab
new file mode 100644
index 000000000..8a755d9e6
--- /dev/null
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePeg.prefab.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePeg.prefab.meta
new file mode 100644
index 000000000..2b57782d2
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab
new file mode 100644
index 000000000..1c8a8d2e7
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+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab
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+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!114 &8518691974497511176
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+  m_ObjectHideFlags: 0
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+  m_PrefabInstance: {fileID: 0}
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+  m_GameObject: {fileID: 3512526509595786538}
+  m_Enabled: 1
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+  m_Script: {fileID: 11500000, guid: 866212c246a9c4c5797069099ad745aa, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
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+  tintColor: {r: 1, g: 0.8207643, b: 0.18396229, a: 1}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab.meta
new file mode 100644
index 000000000..ca1021a20
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/TanglePegSlot.prefab.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: aa6b142bbb2bb4887bebe33010c84c6c
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab
index b8c789c02..4f3b12f3a 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Prefabs/WrapPeg.prefab
@@ -69,7 +69,7 @@ MeshRenderer:
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: d402dacd6333443e5926c03c59b7b0ad, type: 2}
+  - {fileID: 2100000, guid: 03019be2b7a654429bf322c3ca0c7a0e, type: 2}
   m_StaticBatchInfo:
     firstSubMesh: 0
     subMeshCount: 0
@@ -128,6 +128,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   thickness: 0
+  inverted: 0
   material: {fileID: 0}
   filter: -65535
   m_SourceCollider: {fileID: 3512526509595786580}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs
new file mode 100644
index 000000000..ea7f8e54c
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs
@@ -0,0 +1,33 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class CableCarController : MonoBehaviour
+    {
+        public ObiPinhole pinhole;
+        public float carSpeed = 1;
+
+        // Update is called once per frame
+        void Update()
+        {
+            float speed = 0;
+            if (Input.GetKey(KeyCode.W))
+            {
+                speed = carSpeed;
+            }
+
+            if (Input.GetKey(KeyCode.S))
+            {
+                speed = -carSpeed;
+            }
+            pinhole.motorSpeed = speed;
+
+            if (Input.GetKeyDown(KeyCode.Space))
+            {
+                pinhole.friction = pinhole.friction > 0.5f ? 0 : 1;
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs.meta
new file mode 100644
index 000000000..96a021d0e
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CableCarController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df6783efff96747d7b949f3538d1cee7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
index 8a88a0b37..2bc1b2078 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
@@ -2,27 +2,78 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-public class CharacterControl2D : MonoBehaviour {
+namespace Obi.Samples
+{
+    public class CharacterControl2D : MonoBehaviour
+    {
 
-	public float acceleration = 10;
-	public float maxSpeed = 8;
-	public float jumpPower = 2;
+        public float floorRaycastDistance = 1.2f;
 
-	private Rigidbody unityRigidbody;
-	
-	public void Awake(){
-		unityRigidbody = GetComponent<Rigidbody>();
-	}
+        [Header("Grounded")]
+        public float acceleration = 80;
+        public float maxSpeed = 6;
+        public float damping = 0.005f;
+        public float jumpPower = 10;
 
-	
-	void FixedUpdate () {
+        [Header("Airborne")]
+        public float airAcceleration = 16;
+        public float airMaxSpeed = 12;
+        public float extraGravity = -12;
 
-		unityRigidbody.AddForce(new Vector3(Input.GetAxis("Horizontal")*acceleration,0,0));
-	
-		unityRigidbody.linearVelocity = Vector3.ClampMagnitude(unityRigidbody.linearVelocity,maxSpeed);
-		
-		if (Input.GetButtonDown("Jump")){
-			unityRigidbody.AddForce(Vector3.up * jumpPower,ForceMode.VelocityChange);
-		}
-	}
-}
+        [Header("Auto upright")]
+        public Vector3 centerOfMass = new Vector3(0, -0.25f, 0);
+        public float P = 2;
+        public float D = 0.1f;
+
+        private Rigidbody unityRigidbody;
+        private float axis;
+        private bool grounded;
+        private float error;
+        private float prevError;
+
+        public void Awake()
+        {
+            unityRigidbody = GetComponent<Rigidbody>();
+            unityRigidbody.centerOfMass = centerOfMass;
+        }
+
+        private void Update()
+        {
+            axis = Input.GetAxisRaw("Horizontal");
+            grounded = Physics.Raycast(new Ray(transform.position, -Vector3.up), floorRaycastDistance);
+
+            if (Input.GetButtonDown("Jump") && grounded)
+                unityRigidbody.AddForce(Vector3.up * jumpPower, ForceMode.VelocityChange);
+        }
+
+        private void FixedUpdate()
+        {
+            var velocity = unityRigidbody.linearVelocity;
+
+            prevError = error;
+            error = Vector3.SignedAngle(unityRigidbody.transform.up, Vector3.up, Vector3.forward);
+
+            if (grounded)
+            {
+                float accel = axis * acceleration * Time.deltaTime;
+                if ((velocity.x < maxSpeed && accel > 0) || (velocity.x > -maxSpeed && accel < 0))
+                    velocity.x += accel;
+
+                if (Mathf.Approximately(axis, 0))
+                    velocity.x *= Mathf.Pow(damping, Time.deltaTime);
+
+                unityRigidbody.AddTorque(new Vector3(0, 0, error * P + (error - prevError) / Time.deltaTime * D));
+            }
+            else
+            {
+                float accel = axis * airAcceleration * Time.deltaTime;
+                if ((velocity.x < airMaxSpeed && accel > 0) || (velocity.x > -airMaxSpeed && accel < 0))
+                    velocity.x += accel;
+
+                velocity.y += extraGravity * Time.deltaTime;
+            }
+
+            unityRigidbody.linearVelocity = velocity;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
index 546808725..62f926e8f 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
@@ -1,36 +1,46 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-public class CraneController : MonoBehaviour {
+namespace Obi.Samples
+{
+    public class CraneController : MonoBehaviour
+    {
 
-	ObiRopeCursor cursor;
-	ObiRope rope;
+        ObiRopeCursor cursor;
+        ObiRope rope;
+        public float speed = 1;
 
-	// Use this for initialization
-	void Start () {
-		cursor = GetComponentInChildren<ObiRopeCursor>();
-		rope = cursor.GetComponent<ObiRope>();
-	}
-	
-	// Update is called once per frame
-	void Update () {
-		if (Input.GetKey(KeyCode.W)){
-			if (rope.restLength > 6.5f)
-				cursor.ChangeLength(rope.restLength - 1f * Time.deltaTime);
-		}
+        // Use this for initialization
+        void Start()
+        {
+            cursor = GetComponentInChildren<ObiRopeCursor>();
+            rope = cursor.GetComponent<ObiRope>();
+        }
 
-		if (Input.GetKey(KeyCode.S)){
-			cursor.ChangeLength(rope.restLength + 1f * Time.deltaTime);
-		}
+        // Update is called once per frame
+        void Update()
+        {
+            if (Input.GetKey(KeyCode.W))
+            {
+                if (rope.restLength > 6.5f)
+                    cursor.ChangeLength(-speed * Time.deltaTime);
+            }
 
-		if (Input.GetKey(KeyCode.A)){
-			transform.Rotate(0,Time.deltaTime*15f,0);
-		}
+            if (Input.GetKey(KeyCode.S))
+            {
+                cursor.ChangeLength(speed * Time.deltaTime);
+            }
 
-		if (Input.GetKey(KeyCode.D)){
-			transform.Rotate(0,-Time.deltaTime*15f,0);
-		}
-	}
-}
+            if (Input.GetKey(KeyCode.A))
+            {
+                transform.Rotate(0, Time.deltaTime * 15f, 0);
+            }
+
+            if (Input.GetKey(KeyCode.D))
+            {
+                transform.Rotate(0, -Time.deltaTime * 15f, 0);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
index 7c6a6ba6d..f5257fff3 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
@@ -1,45 +1,53 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[RequireComponent(typeof(ObiRope))]
-public class CursorController : MonoBehaviour
+namespace Obi.Samples
 {
-
-	ObiRopeCursor cursor;
-	ObiRope rope;
-	public float minLength = 0.1f;
-    public float speed = 1;
-
-	// Use this for initialization
-	void Start ()
+    [RequireComponent(typeof(ObiRope))]
+    public class CursorController : MonoBehaviour
     {
-        rope = GetComponent<ObiRope>();
-        cursor = GetComponent<ObiRopeCursor>();
-	}
-	
-	// Update is called once per frame
-	void Update ()
-    {
-		if (Input.GetKey(KeyCode.W) && cursor != null)
+        public float minLength = 0.1f;
+        public float speed = 1;
+
+        private ObiRopeCursor cursor;
+        private ObiRope rope;
+
+        void OnEnable()
         {
-            if (rope.restLength > minLength)
-                cursor.ChangeLength(rope.restLength - speed * Time.deltaTime);
-		}
+            rope = GetComponent<ObiRope>();
+            cursor = GetComponent<ObiRopeCursor>();
+        }
 
-		if (Input.GetKey(KeyCode.S) && cursor != null)
+        void Update()
         {
-            cursor.ChangeLength(rope.restLength + speed * Time.deltaTime);
-		}
+            float change = 0;
 
-		if (Input.GetKey(KeyCode.A)){
-			rope.transform.Translate(Vector3.left * Time.deltaTime,Space.World);
-		}
+            if (Input.GetKey(KeyCode.W) && cursor != null)
+            {
+                change -= speed * Time.deltaTime;
+            }
 
-		if (Input.GetKey(KeyCode.D)){
-			rope.transform.Translate(Vector3.right * Time.deltaTime,Space.World);
-		}
+            if (Input.GetKey(KeyCode.S) && cursor != null)
+            {
+                change += speed * Time.deltaTime;
+            }
 
-	}
+            if (rope.restLength + change < minLength)
+                change = minLength - rope.restLength;
+
+            cursor.ChangeLength(change);
+
+            if (Input.GetKey(KeyCode.A))
+            {
+                rope.transform.Translate(Vector3.left * Time.deltaTime, Space.World);
+            }
+
+            if (Input.GetKey(KeyCode.D))
+            {
+                rope.transform.Translate(Vector3.right * Time.deltaTime, Space.World);
+            }
+
+        }
+    }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
index 4cc82a645..8c2ade265 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
@@ -1,7 +1,7 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
+
 
 /**
  * Sample component that shows how to use Obi Rope to create a grappling hook for a 2.5D game.
@@ -15,199 +15,213 @@ using Obi;
  * If complex interaction is required with the scene, a purely geometry-based approach (ala Worms ninja rope) can
  * be the right choice under certain circumstances.
  */
-public class ExtendableGrapplingHook : MonoBehaviour
+
+namespace Obi.Samples
 {
-
-    public ObiSolver solver;
-    public ObiCollider character;
-
-    public Material material;
-    public ObiRopeSection section;
-
-    [Range(0, 1)]
-    public float hookResolution = 0.5f;
-    public float hookExtendRetractSpeed = 2;
-    public float hookShootSpeed = 30;
-    public int particlePoolSize = 100;
-
-    private ObiRope rope;
-    private ObiRopeBlueprint blueprint;
-    private ObiRopeExtrudedRenderer ropeRenderer;
-
-    private ObiRopeCursor cursor;
-
-    private RaycastHit hookAttachment;
-
-    void Awake()
+    public class ExtendableGrapplingHook : MonoBehaviour
     {
 
-        // Create both the rope and the solver:	
-        rope = gameObject.AddComponent<ObiRope>();
-        ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
-        ropeRenderer.section = section;
-        ropeRenderer.uvScale = new Vector2(1, 4);
-        ropeRenderer.normalizeV = false;
-        ropeRenderer.uvAnchor = 1;
-        rope.GetComponent<MeshRenderer>().material = material;
+        public ObiSolver solver;
+        public ObiCollider character;
 
-        // Setup a blueprint for the rope:
-        blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
-        blueprint.resolution = 0.5f;
-        blueprint.pooledParticles = particlePoolSize;
+        public Material material;
+        public ObiRopeSection section;
 
-        // Tweak rope parameters:
-        rope.maxBending = 0.02f;
+        [Range(0, 1)]
+        public float hookResolution = 0.5f;
+        public float hookExtendRetractSpeed = 2;
+        public float hookShootSpeed = 30;
+        public int particlePoolSize = 100;
 
-        // Add a cursor to be able to change rope length:
-        cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
-        cursor.cursorMu = 0;
-        cursor.direction = true;
-    }
+        private ObiRope rope;
+        private ObiRopeBlueprint blueprint;
+        private ObiRopeExtrudedRenderer ropeRenderer;
 
-    private void OnDestroy()
-    {
-        DestroyImmediate(blueprint);
-    }
+        private ObiRopeCursor cursor;
 
-    /**
-	 * Raycast against the scene to see if we can attach the hook to something.
-	 */
-    private void LaunchHook()
-    {
+        private RaycastHit hookAttachment;
 
-        // Get the mouse position in the scene, in the same XY plane as this object:
-        Vector3 mouse = Input.mousePosition;
-        mouse.z = transform.position.z - Camera.main.transform.position.z;
-        Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
-
-        // Get a ray from the character to the mouse:
-        Ray ray = new Ray(transform.position, mouseInScene - transform.position);
-
-        // Raycast to see what we hit:
-        if (Physics.Raycast(ray, out hookAttachment))
+        void Awake()
         {
-            // We actually hit something, so attach the hook!
-            StartCoroutine(AttachHook());
+
+            // Create both the rope and the solver:	
+            rope = gameObject.AddComponent<ObiRope>();
+            ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+            ropeRenderer.section = section;
+            ropeRenderer.uvScale = new Vector2(1, 4);
+            ropeRenderer.normalizeV = false;
+            ropeRenderer.uvAnchor = 1;
+            ropeRenderer.material = material;
+
+            // Setup a blueprint for the rope:
+            blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+            blueprint.resolution = 0.5f;
+            blueprint.pooledParticles = particlePoolSize;
+
+            // Tweak rope parameters:
+            rope.maxBending = 0.02f;
+
+            // Add a cursor to be able to change rope length:
+            cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
+            cursor.cursorMu = 0;
+            cursor.direction = true;
         }
 
-    }
-
-    private IEnumerator AttachHook()
-    {
-        yield return null;
-
-        // Clear pin constraints:
-        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-        pinConstraints.Clear();
-
-        Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
-
-        // Procedurally generate the rope path (just a short segment, as we will extend it over time):
-        int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
-        blueprint.path.Clear();
-        blueprint.path.AddControlPoint(Vector3.zero, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
-        blueprint.path.AddControlPoint(localHit.normalized * 0.5f, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
-        blueprint.path.FlushEvents();
-
-        // Generate the particle representation of the rope (wait until it has finished):
-        yield return blueprint.Generate();
-        
-        // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
-        rope.ropeBlueprint = blueprint;
-
-        // wait one frame:
-        yield return null;
-
-        rope.GetComponent<MeshRenderer>().enabled = true;
-
-        // set masses to zero, as we're going to override positions while we extend the rope:
-        for (int i = 0; i < rope.activeParticleCount; ++i)
-            solver.invMasses[rope.solverIndices[i]] = 0;
-
-        float currentLength = 0;
-
-        // while the last particle hasn't reached the hit, extend the rope:
-        while (true)
+        private void OnDestroy()
         {
-            // calculate rope origin in solver space:
-            Vector3 origin = solver.transform.InverseTransformPoint(rope.transform.position);
+            DestroyImmediate(blueprint);
+        }
 
-            // update direction and distance to hook point:
-            Vector3 direction = hookAttachment.point - origin;
-            float distance = direction.magnitude;
-            direction.Normalize();
+        /**
+         * Raycast against the scene to see if we can attach the hook to something.
+         */
+        private void LaunchHook()
+        {
 
-            // increase length:
-            currentLength += hookShootSpeed * Time.deltaTime;
+            // Get the mouse position in the scene, in the same XY plane as this object:
+            Vector3 mouse = Input.mousePosition;
+            mouse.z = transform.position.z - Camera.main.transform.position.z;
+            Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
 
-            // if we have reached the desired length, break the loop:
-            if (currentLength >= distance)
+            // Get a ray from the character to the mouse:
+            Ray ray = new Ray(transform.position, mouseInScene - transform.position);
+
+            // Raycast to see what we hit:
+            if (Physics.Raycast(ray, out hookAttachment))
             {
-                cursor.ChangeLength(distance);
-                break;
+                // We actually hit something, so attach the hook!
+                StartCoroutine(AttachHook());
             }
 
-            // change rope length (clamp to distance between rope origin and hook to avoid overshoot)
-            cursor.ChangeLength(Mathf.Min(distance, currentLength));
+        }
 
-            // iterate over all particles in sequential order, placing them in a straight line while
-            // respecting element length:
+        private void LayParticlesInStraightLine(Vector3 origin, Vector3 direction)
+        {
+            // placing all particles in a straight line, respecting rope length
             float length = 0;
             for (int i = 0; i < rope.elements.Count; ++i)
             {
-                solver.positions[rope.elements[i].particle1] = origin + direction * length;
-                solver.positions[rope.elements[i].particle2] = origin + direction * (length + rope.elements[i].restLength);
+                int p1 = rope.elements[i].particle1;
+                int p2 = rope.elements[i].particle2;
+
+                solver.prevPositions[p1] = solver.positions[p1] = origin + direction * length;
                 length += rope.elements[i].restLength;
+                solver.prevPositions[p2] = solver.positions[p2] = origin + direction * length;
             }
+        }
 
-            // wait one frame:
+        private IEnumerator AttachHook()
+        {
             yield return null;
-        }
 
-        // restore masses so that the simulation takes over now that the rope is in place:
-        for (int i = 0; i < rope.activeParticleCount; ++i)
-            solver.invMasses[rope.solverIndices[i]] = 10; // 1/0.1 = 10
+            // Clear pin constraints:
+            var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
+            pinConstraints.Clear();
 
-        // Pin both ends of the rope (this enables two-way interaction between character and rope):
-        var batch = new ObiPinConstraintsBatch();
-        batch.AddConstraint(rope.elements[0].particle1, character, transform.localPosition, Quaternion.identity, 0, 0, float.PositiveInfinity);
-        batch.AddConstraint(rope.elements[rope.elements.Count-1].particle2, hookAttachment.collider.GetComponent<ObiColliderBase>(),
-                                                          hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0, float.PositiveInfinity);
-        batch.activeConstraintCount = 2;
-        pinConstraints.AddBatch(batch);
+            Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
 
-        rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
-    }
+            // Procedurally generate the rope path (just a short segment, as we will extend it over time):
+            int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+            blueprint.path.Clear();
+            blueprint.path.AddControlPoint(Vector3.zero, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
+            blueprint.path.AddControlPoint(localHit.normalized * 0.5f, Vector3.zero, Vector3.zero, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
+            blueprint.path.FlushEvents();
 
-    private void DetachHook()
-    {
-        // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
-        rope.ropeBlueprint = null;
-        rope.GetComponent<MeshRenderer>().enabled = false;
-    }
+            // Generate the particle representation of the rope (wait until it has finished):
+            yield return blueprint.Generate();
 
+            // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
+            rope.ropeBlueprint = blueprint;
+            rope.GetComponent<ObiRopeExtrudedRenderer>().enabled = true;
 
-    void Update()
-    {
+            // wait for the solver to load the rope, after the next physics step:
+            yield return new WaitForFixedUpdate();
+            yield return null;
 
-        if (Input.GetMouseButtonDown(0))
-        {
-            if (!rope.isLoaded)
-                LaunchHook();
-            else
-                DetachHook();
-        }
+            // set masses to zero, as we're going to override positions while we extend the rope:
+            for (int i = 0; i < rope.activeParticleCount; ++i)
+                solver.invMasses[rope.solverIndices[i]] = 0;
 
-        if (rope.isLoaded)
-        {
-            if (Input.GetKey(KeyCode.W))
+            // while the last particle hasn't reached the hit, extend the rope:
+            Vector3 origin;
+            Vector3 direction;
+
+            while (true)
             {
-                cursor.ChangeLength(rope.restLength - hookExtendRetractSpeed * Time.deltaTime);
+                // calculate rope origin in solver space:
+                origin = solver.transform.InverseTransformPoint(rope.transform.position);
+
+                // update direction and distance to hook point:
+                direction = solver.transform.InverseTransformPoint(hookAttachment.point) - origin;
+                float distance = direction.magnitude;
+                direction.Normalize();
+
+                LayParticlesInStraightLine(origin, direction);
+
+                // increase length:
+                float distanceLeft = distance - cursor.ChangeLength(hookShootSpeed * Time.deltaTime);
+
+                // if we have exceeded the desired length, correct it and break the loop:
+                if (distanceLeft < 0)
+                {
+                    cursor.ChangeLength(distanceLeft);
+                    break;
+                }
+
+                // wait for next frame:
+                yield return null;
             }
-            if (Input.GetKey(KeyCode.S))
+
+            // wait for the last length change to take effect, and ensure the rope is straight:
+            yield return new WaitForFixedUpdate();
+            yield return null;
+            LayParticlesInStraightLine(origin, direction);
+
+            // restore masses so that the simulation takes over now that the rope is in place:
+            for (int i = 0; i < rope.activeParticleCount; ++i)
+                solver.invMasses[rope.solverIndices[i]] = 10; // 1/0.1 = 10
+
+            // Pin both ends of the rope (this enables two-way interaction between character and rope):
+            var batch = new ObiPinConstraintsBatch();
+            batch.AddConstraint(rope.elements[0].particle1, character, transform.localPosition, Quaternion.identity, 0, 0);
+            batch.AddConstraint(rope.elements[rope.elements.Count - 1].particle2, hookAttachment.collider.GetComponent<ObiColliderBase>(),
+                                                              hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0);
+            batch.activeConstraintCount = 2;
+            pinConstraints.AddBatch(batch);
+
+            rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
+        }
+
+        private void DetachHook()
+        {
+            // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
+            rope.ropeBlueprint = null;
+            rope.GetComponent<ObiRopeExtrudedRenderer>().enabled = false;
+        }
+
+
+        void Update()
+        {
+
+            if (Input.GetMouseButtonDown(0))
             {
-                cursor.ChangeLength(rope.restLength + hookExtendRetractSpeed * Time.deltaTime);
+                if (!rope.isLoaded)
+                    LaunchHook();
+                else
+                    DetachHook();
+            }
+
+            if (rope.isLoaded)
+            {
+                if (Input.GetKey(KeyCode.W))
+                {
+                    cursor.ChangeLength(-hookExtendRetractSpeed * Time.deltaTime);
+                }
+                if (Input.GetKey(KeyCode.S))
+                {
+                    cursor.ChangeLength(hookExtendRetractSpeed * Time.deltaTime);
+                }
             }
         }
     }
-}
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
index 0587a463f..b3448a132 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
@@ -1,7 +1,6 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
 /**
  * Sample component that shows how to use Obi Rope to create a grappling hook for a 2.5D game.
@@ -15,138 +14,142 @@ using Obi;
  * If complex interaction is required with the scene, a purely geometry-based approach (ala Worms ninja rope) can
  * be the right choice under certain circumstances.
  */
-public class GrapplingHook : MonoBehaviour
+
+namespace Obi.Samples
 {
-
-    public ObiSolver solver;
-    public ObiCollider character;
-    public float hookExtendRetractSpeed = 2;
-    public Material material;
-    public ObiRopeSection section;
-
-    private ObiRope rope;
-    private ObiRopeBlueprint blueprint;
-    private ObiRopeExtrudedRenderer ropeRenderer;
-
-    private ObiRopeCursor cursor;
-
-    private RaycastHit hookAttachment;
-
-    void Awake()
+    public class GrapplingHook : MonoBehaviour
     {
 
-        // Create both the rope and the solver:	
-        rope = gameObject.AddComponent<ObiRope>();
-        ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
-        ropeRenderer.section = section;
-        ropeRenderer.uvScale = new Vector2(1, 4);
-        ropeRenderer.normalizeV = false;
-        ropeRenderer.uvAnchor = 1;
-        rope.GetComponent<MeshRenderer>().material = material;
+        public ObiSolver solver;
+        public ObiCollider character;
+        public float hookExtendRetractSpeed = 2;
+        public Material material;
+        public ObiRopeSection section;
 
-        // Setup a blueprint for the rope:
-        blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
-        blueprint.resolution = 0.5f;
+        private ObiRope rope;
+        private ObiRopeBlueprint blueprint;
+        private ObiRopeExtrudedRenderer ropeRenderer;
 
-        // Tweak rope parameters:
-        rope.maxBending = 0.02f;
+        private ObiRopeCursor cursor;
 
-        // Add a cursor to be able to change rope length:
-        cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
-        cursor.cursorMu = 0;
-        cursor.direction = true;
-    }
+        private RaycastHit hookAttachment;
 
-    private void OnDestroy()
-    {
-        DestroyImmediate(blueprint);
-    }
-
-    /**
-	 * Raycast against the scene to see if we can attach the hook to something.
-	 */
-    private void LaunchHook()
-    {
-
-        // Get the mouse position in the scene, in the same XY plane as this object:
-        Vector3 mouse = Input.mousePosition;
-        mouse.z = transform.position.z - Camera.main.transform.position.z;
-        Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
-
-        // Get a ray from the character to the mouse:
-        Ray ray = new Ray(transform.position, mouseInScene - transform.position);
-
-        // Raycast to see what we hit:
-        if (Physics.Raycast(ray, out hookAttachment))
+        void Awake()
         {
-            // We actually hit something, so attach the hook!
-            StartCoroutine(AttachHook());
+
+            // Create both the rope and the solver:	
+            rope = gameObject.AddComponent<ObiRope>();
+            ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+            ropeRenderer.section = section;
+            ropeRenderer.uvScale = new Vector2(1, 4);
+            ropeRenderer.normalizeV = false;
+            ropeRenderer.uvAnchor = 1;
+            rope.GetComponent<MeshRenderer>().material = material;
+
+            // Setup a blueprint for the rope:
+            blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+            blueprint.resolution = 0.5f;
+
+            // Tweak rope parameters:
+            rope.maxBending = 0.02f;
+
+            // Add a cursor to be able to change rope length:
+            cursor = rope.gameObject.AddComponent<ObiRopeCursor>();
+            cursor.cursorMu = 0;
+            cursor.direction = true;
         }
 
-    }
-
-    private IEnumerator AttachHook()
-    {
-        yield return 0;
-        Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
-
-        int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything,0);
-
-        // Procedurally generate the rope path (a simple straight line):
-        blueprint.path.Clear();
-        blueprint.path.AddControlPoint(Vector3.zero, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
-        blueprint.path.AddControlPoint(localHit, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
-        blueprint.path.FlushEvents();
-
-        // Generate the particle representation of the rope (wait until it has finished):
-        yield return blueprint.Generate();
-        
-        // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
-        rope.ropeBlueprint = blueprint;
-        rope.GetComponent<MeshRenderer>().enabled = true;
-
-        // Pin both ends of the rope (this enables two-way interaction between character and rope):
-        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-        pinConstraints.Clear();
-        var batch = new ObiPinConstraintsBatch();
-        batch.AddConstraint(rope.solverIndices[0], character, transform.localPosition, Quaternion.identity, 0, 0, float.PositiveInfinity);
-        batch.AddConstraint(rope.solverIndices[blueprint.activeParticleCount - 1], hookAttachment.collider.GetComponent<ObiColliderBase>(),
-                                                          hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0, float.PositiveInfinity);
-        batch.activeConstraintCount = 2;
-        pinConstraints.AddBatch(batch);
-
-        rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
-    }
-
-    private void DetachHook()
-    {
-        // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
-        rope.ropeBlueprint = null;
-        rope.GetComponent<MeshRenderer>().enabled = false;
-    }
-
-
-    void Update()
-    {
-
-        if (Input.GetMouseButtonDown(0))
+        private void OnDestroy()
         {
-            if (!rope.isLoaded)
-                LaunchHook();
-            else
-                DetachHook();
+            DestroyImmediate(blueprint);
         }
 
-        if (rope.isLoaded)
+        /**
+         * Raycast against the scene to see if we can attach the hook to something.
+         */
+        private void LaunchHook()
         {
-            if (Input.GetKey(KeyCode.W))
+
+            // Get the mouse position in the scene, in the same XY plane as this object:
+            Vector3 mouse = Input.mousePosition;
+            mouse.z = transform.position.z - Camera.main.transform.position.z;
+            Vector3 mouseInScene = Camera.main.ScreenToWorldPoint(mouse);
+
+            // Get a ray from the character to the mouse:
+            Ray ray = new Ray(transform.position, mouseInScene - transform.position);
+
+            // Raycast to see what we hit:
+            if (Physics.Raycast(ray, out hookAttachment))
             {
-                cursor.ChangeLength(rope.restLength - hookExtendRetractSpeed * Time.deltaTime);
+                // We actually hit something, so attach the hook!
+                StartCoroutine(AttachHook());
             }
-            if (Input.GetKey(KeyCode.S))
+
+        }
+
+        private IEnumerator AttachHook()
+        {
+            yield return 0;
+            Vector3 localHit = rope.transform.InverseTransformPoint(hookAttachment.point);
+
+            int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+
+            // Procedurally generate the rope path (a simple straight line):
+            blueprint.path.Clear();
+            blueprint.path.AddControlPoint(Vector3.zero, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook start");
+            blueprint.path.AddControlPoint(localHit, -localHit.normalized, localHit.normalized, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "Hook end");
+            blueprint.path.FlushEvents();
+
+            // Generate the particle representation of the rope (wait until it has finished):
+            yield return blueprint.Generate();
+
+            // Set the blueprint (this adds particles/constraints to the solver and starts simulating them).
+            rope.ropeBlueprint = blueprint;
+            rope.GetComponent<MeshRenderer>().enabled = true;
+
+            // Pin both ends of the rope (this enables two-way interaction between character and rope):
+            var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
+            pinConstraints.Clear();
+            var batch = new ObiPinConstraintsBatch();
+            batch.AddConstraint(rope.solverIndices[0], character, transform.localPosition, Quaternion.identity, 0, 0);
+            batch.AddConstraint(rope.solverIndices[blueprint.activeParticleCount - 1], hookAttachment.collider.GetComponent<ObiColliderBase>(),
+                                                              hookAttachment.collider.transform.InverseTransformPoint(hookAttachment.point), Quaternion.identity, 0, 0);
+            batch.activeConstraintCount = 2;
+            pinConstraints.AddBatch(batch);
+
+            rope.SetConstraintsDirty(Oni.ConstraintType.Pin);
+        }
+
+        private void DetachHook()
+        {
+            // Set the rope blueprint to null (automatically removes the previous blueprint from the solver, if any).
+            rope.ropeBlueprint = null;
+            rope.GetComponent<MeshRenderer>().enabled = false;
+        }
+
+
+        void Update()
+        {
+
+            if (Input.GetMouseButtonDown(0))
             {
-                cursor.ChangeLength(rope.restLength + hookExtendRetractSpeed * Time.deltaTime);
+                if (!rope.isLoaded)
+                    LaunchHook();
+                else
+                    DetachHook();
+            }
+
+            if (rope.isLoaded)
+            {
+                if (Input.GetKey(KeyCode.W))
+                {
+                    cursor.ChangeLength(rope.restLength - hookExtendRetractSpeed * Time.deltaTime);
+                }
+                if (Input.GetKey(KeyCode.S))
+                {
+                    cursor.ChangeLength(rope.restLength + hookExtendRetractSpeed * Time.deltaTime);
+                }
             }
         }
     }
-}
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs
new file mode 100644
index 000000000..a988cbd94
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs
@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class HighlightCollidingRopes : MonoBehaviour
+    {
+        public void Highlight(ActorActorCollisionDetector.ActorPair pair)
+        {
+            if (pair.actorA.TryGetComponent(out ActorBlinker blinkerA)) blinkerA.Blink(pair.particleA);
+            if (pair.actorB.TryGetComponent(out ActorBlinker blinkerB)) blinkerB.Blink(pair.particleB);
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs.meta
new file mode 100644
index 000000000..1eb72df78
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HighlightCollidingRopes.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 50979842bbc734acdb11f0f01062fe92
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
index 94080fc91..5f5311d80 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
@@ -1,83 +1,84 @@
 using UnityEngine;
-using Obi;
 
-
-[RequireComponent(typeof(ObiRope))]
-public class HosePump : MonoBehaviour {
-
-    [Header("Bulge controls")]
-    public float pumpSpeed = 5;
-    public float bulgeFrequency = 3;
-    public float baseThickness = 0.04f;
-    public float bulgeThickness = 0.06f;
-    public Color bulgeColor = Color.cyan;
-
-    [Header("Flow controls")]
-    public ParticleSystem waterEmitter;
-    public float flowSpeedMin = 0.5f;
-    public float flowSpeedMax = 7;
-    public float minEmitRate = 100;
-    public float maxEmitRate = 1000;
-
-    private ObiRope rope;
-    public ObiPathSmoother smoother;
-    private float time = 0;
-
-    void OnEnable()
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiRope))]
+    public class HosePump : MonoBehaviour
     {
-        rope = GetComponent<ObiRope>();
-        smoother = GetComponent<ObiPathSmoother>();
-        rope.OnBeginStep += Rope_OnBeginStep;
-    }
-    void OnDisable()
-    {
-        rope.OnBeginStep -= Rope_OnBeginStep;
-    }
 
-    private void Rope_OnBeginStep(ObiActor actor, float stepTime)
-    {
-        time += stepTime * pumpSpeed;
+        [Header("Bulge controls")]
+        public float pumpSpeed = 5;
+        public float bulgeFrequency = 3;
+        public float baseThickness = 0.04f;
+        public float bulgeThickness = 0.06f;
+        public Color bulgeColor = Color.cyan;
 
-        float distance = 0;
-        float sine = 0;
+        [Header("Flow controls")]
+        public ParticleSystem waterEmitter;
+        public float flowSpeedMin = 0.5f;
+        public float flowSpeedMax = 7;
+        public float minEmitRate = 100;
+        public float maxEmitRate = 1000;
 
-        // iterate over all particles, changing their radius and color based on a sine wave:
-        // (note this would not support resizable / cuttable ropes, to add support for that use rope.elements instead)
-        for (int i = 0; i < rope.solverIndices.Length; ++i)
+        private ObiRope rope;
+        public ObiPathSmoother smoother;
+        private float time = 0;
+
+        void OnEnable()
         {
-            int solverIndex = rope.solverIndices[i];
+            rope = GetComponent<ObiRope>();
+            smoother = GetComponent<ObiPathSmoother>();
+            rope.OnSimulationStart += Rope_OnBeginStep;
+        }
+        void OnDisable()
+        {
+            rope.OnSimulationStart -= Rope_OnBeginStep;
+        }
 
-            if (i > 0)
+        private void Rope_OnBeginStep(ObiActor actor, float stepTime, float substepTime)
+        {
+            time += stepTime * pumpSpeed;
+
+            float distance = 0;
+            float sine = 0;
+
+            // iterate over all particles, changing their radius and color based on a sine wave:
+            // (note this would not support resizable / cuttable ropes, to add support for that use rope.elements instead)
+            for (int i = 0; i < rope.solverIndices.count; ++i)
             {
-                int previousIndex = rope.solverIndices[i - 1];
-                distance += Vector3.Distance(rope.solver.positions[solverIndex],rope.solver.positions[previousIndex]);
+                int solverIndex = rope.solverIndices[i];
+
+                if (i > 0)
+                {
+                    int previousIndex = rope.solverIndices[i - 1];
+                    distance += Vector3.Distance(rope.solver.positions[solverIndex], rope.solver.positions[previousIndex]);
+                }
+
+                sine = Mathf.Max(0, Mathf.Sin(distance * bulgeFrequency - time));
+
+                rope.solver.principalRadii[solverIndex] = Vector3.one * Mathf.Lerp(baseThickness, bulgeThickness, sine);
+                rope.solver.colors[solverIndex] = Color.Lerp(Color.white, bulgeColor, sine);
             }
 
-            sine = Mathf.Max(0, Mathf.Sin(distance * bulgeFrequency - time));
+            // change particle emission rate/speed based on sine wave at the last particle:
+            if (waterEmitter != null)
+            {
+                var main = waterEmitter.main;
+                main.startSpeed = Mathf.Lerp(flowSpeedMin, flowSpeedMax, sine);
 
-            rope.solver.principalRadii[solverIndex] = Vector3.one * Mathf.Lerp(baseThickness,bulgeThickness, sine);
-            rope.solver.colors[solverIndex] = Color.Lerp(Color.white, bulgeColor, sine);
+                var emission = waterEmitter.emission;
+                emission.rateOverTime = Mathf.Lerp(minEmitRate, maxEmitRate, sine);
+            }
         }
 
-        // change particle emission rate/speed based on sine wave at the last particle:
-        if (waterEmitter != null)
+        public void LateUpdate()
         {
-            var main = waterEmitter.main;
-            main.startSpeed = Mathf.Lerp(flowSpeedMin,flowSpeedMax,sine);
-
-            var emission = waterEmitter.emission;
-            emission.rateOverTime = Mathf.Lerp(minEmitRate, maxEmitRate, sine);
+            if (smoother != null && waterEmitter != null)
+            {
+                ObiPathFrame section = smoother.GetSectionAt(1);
+                waterEmitter.transform.position = rope.solver.transform.TransformPoint(section.position);
+                waterEmitter.transform.rotation = rope.solver.transform.rotation * (Quaternion.LookRotation(section.tangent, section.binormal));
+            }
         }
     }
-
-    public void LateUpdate() 
-    {
-        if (smoother != null && waterEmitter != null)
-        {
-            ObiPathFrame section = smoother.GetSectionAt(1);
-            waterEmitter.transform.position = transform.TransformPoint(section.position);
-            waterEmitter.transform.rotation = transform.rotation * (Quaternion.LookRotation(section.tangent, section.binormal));
-        }
-    }
-}   
-
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs
new file mode 100644
index 000000000..57bd1d835
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs
@@ -0,0 +1,50 @@
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class PinholeRatchet : MonoBehaviour
+    {
+        public ObiPinhole pinhole;
+        public bool direction = false;
+        public float teethSeparation = 0.1f;
+
+        public float distanceToNextTooth { get; private set; }
+
+        void Update()
+        {
+            if (pinhole == null || pinhole.rope == null)
+                return;
+
+            float restLength = (pinhole.rope as ObiRopeBase).restLength;
+            float normalizedTeethDistance = Mathf.Max(0.001f, teethSeparation / restLength);
+            var range = pinhole.range;
+
+            if (direction)
+            {
+                distanceToNextTooth = (range.y - pinhole.position) * restLength;
+                while (distanceToNextTooth > teethSeparation)
+                {
+                    range.y -= normalizedTeethDistance;
+                    distanceToNextTooth -= teethSeparation;
+                }
+            }
+            else
+            {
+                distanceToNextTooth = (pinhole.position - range.x) * restLength;
+                while (distanceToNextTooth > teethSeparation)
+                {
+                    range.x += normalizedTeethDistance;
+                    distanceToNextTooth -= teethSeparation;
+                }
+            }
+
+            pinhole.range = range;
+        }
+
+        public void OnDisable()
+        {
+            if (pinhole != null)
+                pinhole.range = new Vector2(0, 1);
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs.meta
new file mode 100644
index 000000000..ec6fb16e1
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/PinholeRatchet.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de82c5da5889a437bbca59463285c6a3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs
new file mode 100644
index 000000000..59ab5a77d
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class RatchetController : MonoBehaviour
+    {
+        public PinholeRatchet ratchet;
+
+        public Transform ratchetVisualizer;
+        public float minAngle = 0;
+        public float maxAngle = 25;
+
+        void Update()
+        {
+            if (Input.GetKeyDown(KeyCode.Space))
+                ratchet.enabled = !ratchet.enabled;
+
+            float angle = ratchet.enabled ? Mathf.LerpAngle(minAngle, maxAngle, ratchet.distanceToNextTooth / ratchet.teethSeparation) : maxAngle;
+            ratchetVisualizer.rotation = Quaternion.AngleAxis(angle, Vector3.forward);
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs.meta
new file mode 100644
index 000000000..9c4b951ee
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RatchetController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 89f7ec50c6e36440593469d980ba7830
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs
new file mode 100644
index 000000000..867d08d66
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs
@@ -0,0 +1,25 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(LineRenderer))]
+    public class RenderLineBetweenTransforms : MonoBehaviour
+    {
+        public Transform transformA;
+        public Transform transformB;
+        LineRenderer line;
+
+        void Awake()
+        {
+            line = GetComponent<LineRenderer>();
+        }
+
+        void Update()
+        {
+            if (transformA != null && transformB != null)
+                line.SetPositions(new Vector3[] { transformA.position, transformB.position });
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs.meta
new file mode 100644
index 000000000..fe9c79383
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RenderLineBetweenTransforms.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 411d9eba4bb0042bf9302873985bc6e0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
index c747f40ca..bd01b8f3c 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
@@ -1,63 +1,71 @@
 using UnityEngine;
-using Obi;
 
-public class RopeBetweenTwoPoints : MonoBehaviour
+namespace Obi.Samples
 {
-    public Transform start;
-    public Transform end;
-    public ObiSolver solver;
-
-    void Start()
+    public class RopeBetweenTwoPoints : MonoBehaviour
     {
-        // Generate rope synchronously:
-        Generate();
-    }
+        public Transform start;
+        public Transform end;
+        public ObiSolver solver;
 
-    void Generate()
-    {
-        if (start != null && end != null)
+        public bool fixedParticleCount = true;
+        public int numParticles = 5;
+
+        void Start()
         {
-            // Adjust our transform:
-            transform.position = (start.position + end.position) / 2;
-            transform.rotation = Quaternion.FromToRotation(Vector3.right, end.position - start.position);
+            // Generate rope synchronously:
+            Generate();
+        }
 
-            // Calculate control point positions and tangent vector:
-            Vector3 startPositionLS = transform.InverseTransformPoint(start.position);
-            Vector3 endPositionLS = transform.InverseTransformPoint(end.position);
-            Vector3 tangentLS = (endPositionLS - startPositionLS).normalized;
+        void Generate()
+        {
+            if (start != null && end != null)
+            {
+                // Adjust our transform:
+                transform.position = (start.position + end.position) / 2;
+                transform.rotation = Quaternion.FromToRotation(Vector3.right, end.position - start.position);
 
-            // Create the blueprint: 
-            var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+                // Calculate control point positions and tangent vector:
+                Vector3 startPositionLS = transform.InverseTransformPoint(start.position);
+                Vector3 endPositionLS = transform.InverseTransformPoint(end.position);
+                Vector3 tangentLS = (endPositionLS - startPositionLS).normalized;
 
-            // Build the rope path:
-            int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
-            blueprint.path.AddControlPoint(startPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "start");
-            blueprint.path.AddControlPoint(endPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "end");
-            blueprint.path.FlushEvents();
+                // Create the blueprint: 
+                var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
 
-            // Generate particles/constraints:
-            blueprint.GenerateImmediate();
+                // Build the rope path:
+                int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+                blueprint.path.AddControlPoint(startPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "start");
+                blueprint.path.AddControlPoint(endPositionLS, -tangentLS, tangentLS, Vector3.up, 0.1f, 0.1f, 1, filter, Color.white, "end");
+                blueprint.path.FlushEvents();
 
-            // Add rope actor / renderer / attachment components:
-            var rope = gameObject.AddComponent<ObiRope>();
-            var ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
-            var attachment1 = gameObject.AddComponent<ObiParticleAttachment>();
-            var attachment2 = gameObject.AddComponent<ObiParticleAttachment>();
+                if (fixedParticleCount)
+                    blueprint.resolution = numParticles / (blueprint.path.Length / blueprint.thickness);
 
-            // Load the default rope section for rendering:
-            ropeRenderer.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");
+                // Generate particles/constraints:
+                blueprint.GenerateImmediate();
 
-            // Set the blueprint:
-            rope.ropeBlueprint = blueprint;
+                // Add rope actor / renderer / attachment components:
+                var rope = gameObject.AddComponent<ObiRope>();
+                var ropeRenderer = gameObject.AddComponent<ObiRopeExtrudedRenderer>();
+                var attachment1 = gameObject.AddComponent<ObiParticleAttachment>();
+                var attachment2 = gameObject.AddComponent<ObiParticleAttachment>();
 
-            // Attach both ends:
-            attachment1.target = start;
-            attachment2.target = end;
-            attachment1.particleGroup = blueprint.groups[0];
-            attachment2.particleGroup = blueprint.groups[1];
+                // Load the default rope section for rendering:
+                ropeRenderer.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");
 
-            // Parent the actor under a solver to start the simulation:
-            transform.SetParent(solver.transform);
+                // Set the blueprint:
+                rope.ropeBlueprint = blueprint;
+
+                // Attach both ends:
+                attachment1.target = start;
+                attachment2.target = end;
+                attachment1.particleGroup = blueprint.groups[0];
+                attachment2.particleGroup = blueprint.groups[1];
+
+                // Parent the actor under a solver to start the simulation:
+                transform.SetParent(solver.transform);
+            }
         }
     }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
index 3be681236..d3be53849 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
@@ -1,129 +1,130 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-/**
- * Sample component that procedurally generates a net using rigidbodies and ropes.
- */
-public class RopeNet : MonoBehaviour
+namespace Obi.Samples
 {
-    public Material material;
-
-    public Vector2Int resolution = new Vector2Int(5, 5);
-    public Vector2 size = new Vector2(0.5f, 0.5f);
-    public float nodeSize = 0.2f;
-
-    void Awake()
+    /**
+     * Sample component that procedurally generates a net using rigidbodies and ropes.
+     */
+    public class RopeNet : MonoBehaviour
     {
-        // create an object containing both the solver and the updater:
-        GameObject solverObject = new GameObject("solver", typeof(ObiSolver), typeof(ObiFixedUpdater));
-        ObiSolver solver = solverObject.GetComponent<ObiSolver>();
-        ObiFixedUpdater updater = solverObject.GetComponent<ObiFixedUpdater>();
-        updater.substeps = 2;
+        public Material material;
 
-        // adjust solver settings:
-        solver.particleCollisionConstraintParameters.enabled = false;
-        solver.distanceConstraintParameters.iterations = 8;
-        solver.pinConstraintParameters.iterations = 4;
-        solver.parameters.sleepThreshold = 0.001f;
-        solver.PushSolverParameters();
+        public Vector2Int resolution = new Vector2Int(5, 5);
+        public Vector2 size = new Vector2(0.5f, 0.5f);
+        public float nodeSize = 0.2f;
 
-        // add the solver to the updater:
-        updater.solvers.Add(solver);
-
-        // create the net (ropes + rigidbodies)
-        CreateNet(solver);
-    }
-
-    private void CreateNet(ObiSolver solver)
-    {
-        ObiCollider[,] nodes = new ObiCollider[resolution.x + 1, resolution.y + 1];
-
-        for (int x = 0; x <= resolution.x; ++x)
+        void Awake()
         {
-            for (int y = 0; y <= resolution.y; ++y)
-            {
-                GameObject rb = GameObject.CreatePrimitive(PrimitiveType.Cube);
-                rb.AddComponent<Rigidbody>();
-                rb.transform.position = new Vector3(x, y, 0) * size;
-                rb.transform.localScale = new Vector3(nodeSize, nodeSize, nodeSize);
+            // create an object containing both the solver and the updater:
+            GameObject solverObject = new GameObject("solver", typeof(ObiSolver));
+            ObiSolver solver = solverObject.GetComponent<ObiSolver>();
+            solver.substeps = 2;
 
-                nodes[x, y] = rb.AddComponent<ObiCollider>();
-                nodes[x, y].Filter = 1;
-            }
+            // adjust solver settings:
+            solver.particleCollisionConstraintParameters.enabled = false;
+            solver.distanceConstraintParameters.iterations = 8;
+            solver.pinConstraintParameters.iterations = 4;
+            solver.parameters.sleepThreshold = 0.001f;
+            solver.PushSolverParameters();
+
+            // create the net (ropes + rigidbodies)
+            CreateNet(solver);
         }
 
-        nodes[0, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
-        nodes[resolution.x, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
-
-        for (int x = 0; x <= resolution.x; ++x)
+        private void CreateNet(ObiSolver solver)
         {
-            for (int y = 0; y <= resolution.y; ++y)
+            ObiCollider[,] nodes = new ObiCollider[resolution.x + 1, resolution.y + 1];
+
+            for (int x = 0; x <= resolution.x; ++x)
             {
-                Vector3 pos = new Vector3(x, y, 0) * size;
-                if (x < resolution.x)
+                for (int y = 0; y <= resolution.y; ++y)
                 {
-                    Vector3 offset = new Vector3(nodeSize * 0.5f, 0, 0);
-                    var rope = CreateRope(pos + offset, pos + new Vector3(size.x, 0, 0) - offset);
-                    rope.transform.parent = solver.transform;
+                    GameObject rb = GameObject.CreatePrimitive(PrimitiveType.Cube);
+                    rb.transform.position = new Vector3(x, y, 0) * size;
+                    rb.transform.localScale = new Vector3(nodeSize, nodeSize, nodeSize);
 
-                    PinRope(rope, nodes[x, y], nodes[x + 1, y], new Vector3(0.5f, 0, 0), -new Vector3(0.5f, 0, 0));
+                    rb.AddComponent<Rigidbody>();
+                    nodes[x, y] = rb.AddComponent<ObiCollider>();
+                    nodes[x, y].Filter = 1;
                 }
+            }
 
-                if (y < resolution.y)
+            nodes[0, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
+            nodes[resolution.x, resolution.y].GetComponent<Rigidbody>().isKinematic = true;
+
+            for (int x = 0; x <= resolution.x; ++x)
+            {
+                for (int y = 0; y <= resolution.y; ++y)
                 {
-                    Vector3 offset = new Vector3(0, nodeSize * 0.5f, 0);
-                    var rope = CreateRope(pos + offset, pos + new Vector3(0, size.y, 0) - offset);
-                    rope.transform.parent = solver.transform;
+                    Vector3 pos = new Vector3(x, y, 0) * size;
+                    if (x < resolution.x)
+                    {
+                        Vector3 offset = new Vector3(nodeSize * 0.5f, 0, 0);
+                        var rope = CreateRope(pos + offset, pos + new Vector3(size.x, 0, 0) - offset);
+                        rope.transform.parent = solver.transform;
 
-                    PinRope(rope, nodes[x, y], nodes[x, y + 1], new Vector3(0, 0.5f, 0), -new Vector3(0, 0.5f, 0));
+                        PinRope(rope, nodes[x, y], nodes[x + 1, y]);
+                    }
+
+                    if (y < resolution.y)
+                    {
+                        Vector3 offset = new Vector3(0, nodeSize * 0.5f, 0);
+                        var rope = CreateRope(pos + offset, pos + new Vector3(0, size.y, 0) - offset);
+                        rope.transform.parent = solver.transform;
+
+                        PinRope(rope, nodes[x, y], nodes[x, y + 1]);
+                    }
                 }
             }
         }
-    }
 
-    private void PinRope(ObiRope rope, ObiCollider bodyA, ObiCollider bodyB, Vector3 offsetA, Vector3 offsetB)
-    {
-        // Pin both ends of the rope (this enables two-way interaction between character and rope):
-        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-        pinConstraints.Clear();
-        var batch = new ObiPinConstraintsBatch();
-        batch.AddConstraint(rope.solverIndices[0], bodyA, offsetA, Quaternion.identity, 0, 999, float.PositiveInfinity);
-        batch.AddConstraint(rope.solverIndices[rope.activeParticleCount - 1], bodyB, offsetB, Quaternion.identity, 0, 999, float.PositiveInfinity);
-        batch.activeConstraintCount = 2;
-        pinConstraints.AddBatch(batch);
-    }
+        private void PinRope(ObiRope rope, ObiCollider bodyA, ObiCollider bodyB)
+        {
+            var A = rope.gameObject.AddComponent<ObiParticleAttachment>();
+            var B = rope.gameObject.AddComponent<ObiParticleAttachment>();
 
-    // Creates a rope between two points in world space:
-    private ObiRope CreateRope(Vector3 pointA, Vector3 pointB)
-    {
-        // Create a rope
-        var ropeObject = new GameObject("solver", typeof(ObiRope), typeof(ObiRopeLineRenderer));
-        var rope = ropeObject.GetComponent<ObiRope>();
-        var ropeRenderer = ropeObject.GetComponent<ObiRopeLineRenderer>();
-        rope.GetComponent<MeshRenderer>().material = material;
-        rope.GetComponent<ObiPathSmoother>().decimation = 0.1f;
-        ropeRenderer.uvScale = new Vector2(1, 5);
+            A.attachmentType = ObiParticleAttachment.AttachmentType.Dynamic;
+            B.attachmentType = ObiParticleAttachment.AttachmentType.Dynamic;
 
-        // Setup a blueprint for the rope:
-        var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
-        blueprint.resolution = 0.15f;
-        blueprint.thickness = 0.02f;
-        blueprint.pooledParticles = 0;
+            A.target = bodyA.transform;
+            B.target = bodyB.transform;
 
-        // convert both points to the rope's local space:
-        pointA = rope.transform.InverseTransformPoint(pointA);
-        pointB = rope.transform.InverseTransformPoint(pointB);
+            A.particleGroup = rope.ropeBlueprint.groups[0];
+            B.particleGroup = rope.ropeBlueprint.groups[1];
+        }
 
-        // Procedurally generate the rope path (a simple straight line):
-        Vector3 direction = (pointB - pointA) * 0.25f;
-        blueprint.path.Clear();
-        blueprint.path.AddControlPoint(pointA, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "A");
-        blueprint.path.AddControlPoint(pointB, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "B");
-        blueprint.path.FlushEvents();
+        // Creates a rope between two points in world space:
+        private ObiRope CreateRope(Vector3 pointA, Vector3 pointB)
+        {
+            // Create a rope
+            var ropeObject = new GameObject("solver", typeof(ObiRope), typeof(ObiRopeLineRenderer));
+            var rope = ropeObject.GetComponent<ObiRope>();
+            var ropeRenderer = ropeObject.GetComponent<ObiRopeLineRenderer>();
+            rope.GetComponent<ObiRopeLineRenderer>().material = material;
+            rope.GetComponent<ObiPathSmoother>().decimation = 0.1f;
+            ropeRenderer.uvScale = new Vector2(1, 5);
 
-        rope.ropeBlueprint = blueprint;
-        return rope;
+            // Setup a blueprint for the rope:
+            var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+            blueprint.resolution = 0.15f;
+            blueprint.thickness = 0.02f;
+            blueprint.pooledParticles = 0;
+
+            // convert both points to the rope's local space:
+            pointA = rope.transform.InverseTransformPoint(pointA);
+            pointB = rope.transform.InverseTransformPoint(pointB);
+
+            // Procedurally generate the rope path (a simple straight line):
+            Vector3 direction = (pointB - pointA) * 0.25f;
+            blueprint.path.Clear();
+            blueprint.path.AddControlPoint(pointA, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "A");
+            blueprint.path.AddControlPoint(pointB, -direction, direction, Vector3.up, 0.1f, 0.1f, 1, 1, Color.white, "B");
+            blueprint.path.FlushEvents();
+
+            rope.ropeBlueprint = blueprint;
+            return rope;
+        }
     }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
index 80632c448..d6bdd3649 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
@@ -1,127 +1,150 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[RequireComponent(typeof(ObiRope))]
-public class RopeSweepCut : MonoBehaviour
+namespace Obi.Samples
 {
-
-    public Camera cam;
-
-    ObiRope rope;
-    LineRenderer lineRenderer;
-    Vector3 cutStartPosition;
-
-    private void Awake()
+    [RequireComponent(typeof(ObiRope))]
+    public class RopeSweepCut : MonoBehaviour
     {
-        rope = GetComponent<ObiRope>();
 
-        AddMouseLine();
-    }
+        public Camera cam;
 
-    private void OnDestroy()
-    {
-        DeleteMouseLine();
-    }
+        ObiRope rope;
+        LineRenderer lineRenderer;
+        Vector3 cutStartPosition;
+        Vector3 cutEndPosition;
+        bool cut;
 
-    private void AddMouseLine()
-    {
-        GameObject line = new GameObject("Mouse Line");
-        lineRenderer = line.AddComponent<LineRenderer>();
-        lineRenderer.startWidth = 0.005f;
-        lineRenderer.endWidth = 0.005f;
-        lineRenderer.numCapVertices = 2;
-        lineRenderer.sharedMaterial = new Material(Shader.Find("Unlit/Color"));
-        lineRenderer.sharedMaterial.color = Color.cyan;
-        lineRenderer.enabled = false;
-    }
-
-    private void DeleteMouseLine()
-    {
-        if (lineRenderer != null)
-            Destroy(lineRenderer.gameObject);
-    }
-
-    private void LateUpdate()
-    {
-        // do nothing if we don't have a camera to cut from.
-        if (cam == null) return;
-
-        // process user input and cut the rope if necessary.
-        ProcessInput();
-    }
-
-    /**
-     * Very simple mouse-based input. Not ideal for multitouch screens as it only supports one finger, though.
-     */
-    private void ProcessInput()
-    {
-        // When the user clicks the mouse, start a line cut:
-        if (Input.GetMouseButtonDown(0))
+        private void Awake()
         {
-            cutStartPosition = Input.mousePosition;
-            lineRenderer.SetPosition(0, cam.ScreenToWorldPoint(new Vector3(cutStartPosition.x, cutStartPosition.y, 0.5f)));
-            lineRenderer.enabled = true;
+            rope = GetComponent<ObiRope>();
+            AddMouseLine();
         }
 
-        if (lineRenderer.enabled)
-            lineRenderer.SetPosition(1, cam.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, 0.5f)));
-
-        // When the user lifts the mouse, proceed to cut.
-        if (Input.GetMouseButtonUp(0))
+        private void OnDestroy()
         {
-            ScreenSpaceCut(cutStartPosition, Input.mousePosition);
+            DeleteMouseLine();
+        }
+
+        private void OnEnable()
+        {
+            rope.OnSimulationStart += Rope_OnBeginSimulation;
+        }
+
+        private void OnDisable()
+        {
+            rope.OnSimulationStart -= Rope_OnBeginSimulation;
+        }
+
+        private void AddMouseLine()
+        {
+            GameObject line = new GameObject("Mouse Line");
+            lineRenderer = line.AddComponent<LineRenderer>();
+            lineRenderer.startWidth = 0.005f;
+            lineRenderer.endWidth = 0.005f;
+            lineRenderer.numCapVertices = 2;
+            lineRenderer.sharedMaterial = new Material(Shader.Find("Unlit/Color"));
+            lineRenderer.sharedMaterial.color = Color.cyan;
             lineRenderer.enabled = false;
         }
-    }
 
-
-    /**
-     * Cuts the rope using a line segment, expressed in screen-space.
-     */
-    private void ScreenSpaceCut(Vector2 lineStart, Vector2 lineEnd)
-    {
-        // keep track of whether the rope was cut or not.
-        bool cut = false;
-
-        // iterate over all elements and test them for intersection with the line:
-        for (int i = 0; i < rope.elements.Count; ++i)
+        private void DeleteMouseLine()
         {
-            // project the both ends of the element to screen space.
-            Vector3 screenPos1 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle1]);
-            Vector3 screenPos2 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle2]);
+            if (lineRenderer != null)
+                Destroy(lineRenderer.gameObject);
+        }
 
-            // test if there's an intersection:
-            if (SegmentSegmentIntersection(screenPos1, screenPos2, lineStart, lineEnd, out float r, out float s))
+        private void LateUpdate()
+        {
+            // do nothing if we don't have a camera to cut from.
+            if (cam == null) return;
+
+            // process user input and cut the rope if necessary.
+            ProcessInput();
+        }
+
+        private void Rope_OnBeginSimulation(ObiActor actor, float stepTime, float substepTime)
+        {
+            if (cut)
             {
-                cut = true;
-                rope.Tear(rope.elements[i]);
+                ScreenSpaceCut(cutStartPosition, cutEndPosition);
+                cut = false;
             }
         }
 
-        // If the rope was cut at any point, rebuilt constraints:
-        if (cut) rope.RebuildConstraintsFromElements();
+        /**
+         * Very simple mouse-based input. Not ideal for multitouch screens as it only supports one finger, though.
+         */
+        private void ProcessInput()
+        {
+            // When the user clicks the mouse, start a line cut:
+            if (Input.GetMouseButtonDown(0))
+            {
+                cutStartPosition = Input.mousePosition;
+                lineRenderer.SetPosition(0, cam.ScreenToWorldPoint(new Vector3(cutStartPosition.x, cutStartPosition.y, 0.5f)));
+                lineRenderer.enabled = true;
+            }
+
+            if (lineRenderer.enabled)
+                lineRenderer.SetPosition(1, cam.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, 0.5f)));
+
+            // When the user lifts the mouse, proceed to cut.
+            if (Input.GetMouseButtonUp(0))
+            {
+                cutEndPosition = Input.mousePosition;
+                lineRenderer.enabled = false;
+                cut = true;
+            }
+        }
+
+
+        /**
+         * Cuts the rope using a line segment, expressed in screen-space.
+         */
+        private void ScreenSpaceCut(Vector2 lineStart, Vector2 lineEnd)
+        {
+            // keep track of whether the rope was cut or not.
+            bool ropeCut = false;
+
+            // iterate over all elements and test them for intersection with the line:
+            for (int i = 0; i < rope.elements.Count; ++i)
+            {
+                // project the both ends of the element to screen space.
+                Vector3 screenPos1 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle1]);
+                Vector3 screenPos2 = cam.WorldToScreenPoint(rope.solver.positions[rope.elements[i].particle2]);
+
+                // test if there's an intersection:
+                if (SegmentSegmentIntersection(screenPos1, screenPos2, lineStart, lineEnd, out float r, out float s))
+                {
+                    ropeCut = true;
+                    rope.Tear(rope.elements[i]);
+                }
+            }
+
+            // If the rope was cut at any point, rebuilt constraints:
+            if (ropeCut) rope.RebuildConstraintsFromElements();
+        }
+
+        /**
+         * line segment 1 is AB = A+r(B-A)
+         * line segment 2 is CD = C+s(D-C)
+         * if they intesect, then A+r(B-A) = C+s(D-C), solving for r and s gives the formula below.
+         * If both r and s are in the 0,1 range, it meant the segments intersect.
+         */
+        private bool SegmentSegmentIntersection(Vector2 A, Vector2 B, Vector2 C, Vector2 D, out float r, out float s)
+        {
+            float denom = (B.x - A.x) * (D.y - C.y) - (B.y - A.y) * (D.x - C.x);
+            float rNum = (A.y - C.y) * (D.x - C.x) - (A.x - C.x) * (D.y - C.y);
+            float sNum = (A.y - C.y) * (B.x - A.x) - (A.x - C.x) * (B.y - A.y);
+
+            if (Mathf.Approximately(rNum, 0) || Mathf.Approximately(denom, 0))
+            { r = -1; s = -1; return false; }
+
+            r = rNum / denom;
+            s = sNum / denom;
+
+            return (r >= 0 && r <= 1 && s >= 0 && s <= 1);
+        }
     }
-
-    /**
-     * line segment 1 is AB = A+r(B-A)
-     * line segment 2 is CD = C+s(D-C)
-     * if they intesect, then A+r(B-A) = C+s(D-C), solving for r and s gives the formula below.
-     * If both r and s are in the 0,1 range, it meant the segments intersect.
-     */
-    private bool SegmentSegmentIntersection(Vector2 A, Vector2 B, Vector2 C, Vector2 D, out float r, out float s)
-    {
-        float denom = (B.x - A.x) * (D.y - C.y) - (B.y - A.y) * (D.x - C.x);
-        float rNum = (A.y - C.y) * (D.x - C.x) - (A.x - C.x) * (D.y - C.y);
-        float sNum = (A.y - C.y) * (B.x - A.x) - (A.x - C.x) * (B.y - A.y);
-
-        if (Mathf.Approximately(rNum, 0) || Mathf.Approximately(denom, 0))
-        {  r = -1; s = -1; return false; }
-
-        r = rNum / denom;
-        s = sNum / denom;
-
-        return (r >= 0 && r <=1  && s >= 0 && s <= 1);
-    }
-}
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
index 50312f401..5e1aa2799 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
@@ -2,13 +2,16 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-public class RopeTenser : MonoBehaviour
+namespace Obi.Samples
 {
-	public float force = 10;
-
-    // Update is called once per frame
-    void Update()
+    public class RopeTenser : MonoBehaviour
     {
-		GetComponent<Rigidbody>().AddForce(Vector3.down * force);
+        public float force = 10;
+
+        // Update is called once per frame
+        void Update()
+        {
+            GetComponent<Rigidbody>().AddForce(Vector3.down * force);
+        }
     }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
index 121f021ef..23a38d675 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
@@ -1,56 +1,60 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[RequireComponent(typeof(ObiRope))]
-[RequireComponent(typeof(MeshRenderer))]
-public class RopeTensionColorizer : MonoBehaviour
+namespace Obi.Samples
 {
-    public float minTension = 0;
-    public float maxTension = 0.2f;
-    public Color normalColor = Color.green;
-	public Color tensionColor = Color.red;
-
-    public RopeTenser tenser;
-    public float tenserThreshold = -5;
-    public float tenserMax = 0.1f;
-
-    private ObiRope rope;
-    private Material localMaterial;
-
-    void Awake()
+    [RequireComponent(typeof(ObiRope))]
+    public class RopeTensionColorizer : MonoBehaviour
     {
-		rope = GetComponent<ObiRope>();
-        localMaterial = GetComponent<MeshRenderer>().material;
-	}
+        public float minTension = 0;
+        public float maxTension = 0.2f;
+        public Color normalColor = Color.green;
+        public Color tensionColor = Color.red;
 
-    private void OnDestroy()
-    {
-        Destroy(localMaterial);
-    }
+        public RopeTenser tenser;
+        public float tenserThreshold = -5;
+        public float tenserMax = 0.1f;
 
-    void Update()
-    {
-        if (tenser == null)
-            return;
+        private ObiRope rope;
+        private Material localMaterial;
 
-        // Calculate how much past the threshold the tenser is, clamp the excess to 1
-        float tenserFactor = Mathf.Min((tenser.transform.position.y - tenserThreshold) / tenserMax,1);
-
-        // Check if the tenser is above the threshold, if so then check rope tension:
-        if (tenserFactor > 0)
+        void Awake()
         {
-            // Calculate current tension as ratio between current and rest length, then subtract 1 to center it at zero.
-            float tension = rope.CalculateLength() / rope.restLength - 1;
+            rope = GetComponent<ObiRope>();
+            var rend = GetComponent<ObiRopeLineRenderer>();
+            localMaterial = Instantiate(rend.material);
+            rend.material = localMaterial;
 
-            // Use tension to interpolate between colors:
-            float lerpFactor = (tension - minTension) / (maxTension - minTension);
-            localMaterial.color = Color.Lerp(normalColor, tensionColor, lerpFactor * tenserFactor);
         }
-        else
+
+        private void OnDestroy()
         {
-            localMaterial.color = normalColor;
+            Destroy(localMaterial);
+        }
+
+        void Update()
+        {
+            if (tenser == null)
+                return;
+
+            // Calculate how much past the threshold the tenser is, clamp the excess to 1
+            float tenserFactor = Mathf.Min((tenser.transform.position.y - tenserThreshold) / tenserMax, 1);
+
+            // Check if the tenser is above the threshold, if so then check rope tension:
+            if (tenserFactor > 0)
+            {
+                // Calculate current tension as ratio between current and rest length, then subtract 1 to center it at zero.
+                float tension = rope.CalculateLength() / rope.restLength - 1;
+
+                // Use tension to interpolate between colors:
+                float lerpFactor = (tension - minTension) / (maxTension - minTension);
+                localMaterial.color = Color.Lerp(normalColor, tensionColor, lerpFactor * tenserFactor);
+            }
+            else
+            {
+                localMaterial.color = normalColor;
+            }
         }
     }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs
deleted file mode 100644
index 3eb3ba6ca..000000000
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs
+++ /dev/null
@@ -1,118 +0,0 @@
-using System;
-using System.Collections;
-using UnityEngine;
-using Obi;
-
-public class RuntimeRopeGenerator
-{
-	//private ObiRope rope;
-	//private ObiRopeCursor cursor;
-	private ObiSolver solver;
-	private int pinnedParticle = -1;
-
-	/// <summary>
-    /// Creates a straight rope anchored to a transform at the top.
-    /// Transform may or may not move around and may or may not have a rigidbody.
-    /// When you call this the rope will appear in the scene and immediately interact with gravity and objects with ObiColliders.
-    /// Called from anywhere (main thread only)
-    /// </summary>
-	public IEnumerator MakeRope(Transform anchoredTo, Vector3 attachmentOffset, float ropeLength)
-	{
-        // create a new GameObject with the required components: a solver, a rope, and a curve. 
-        // we also throw a cursor in to be able to change its length.
-        /*GameObject ropeObject = new GameObject("rope",typeof(ObiSolver),
-													  typeof(ObiRope),
-													  typeof(ObiCurve), 
-													  typeof (ObiRopeCursor));
-
-		// get references to all components:
-		rope 					= ropeObject.GetComponent<ObiRope>();
-		cursor 					= ropeObject.GetComponent<ObiRopeCursor>();
-		solver 					= ropeObject.GetComponent<ObiSolver>();
-		ObiCurve path = ropeObject.GetComponent<ObiCurve>();
-
-		// set up component references (see ObiRopeHelper.cs)
-		rope.Solver = solver;
-		rope.ropePath = path;	
-		//rope.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");
-
-		// set path control points (duplicate end points, to set curvature as required by CatmullRom splines):
-		path.controlPoints.Clear();
-		path.controlPoints.Add(new ObiCurve.ControlPoint(Vector3.zero,Vector3.up));
-		path.controlPoints.Add(new ObiCurve.ControlPoint(Vector3.zero,Vector3.up));
-		path.controlPoints.Add(new ObiCurve.ControlPoint(Vector3.down*ropeLength,Vector3.up));
-		path.controlPoints.Add(new ObiCurve.ControlPoint(Vector3.down*ropeLength,Vector3.up));
-
-		rope.pooledParticles = 2000;
-
-		// parent the rope to the anchor transform:
-		rope.transform.SetParent(anchoredTo,false);
-		rope.transform.localPosition = attachmentOffset;
-
-		// generate particles/constraints and add them to the solver (see ObiRopeHelper.cs)
-		yield return rope.StartCoroutine(rope.GeneratePhysicRepresentationForMesh());
-		rope.AddToSolver(null);
-
-		// get the last particle in the rope at its rest state.
-		pinnedParticle = rope.UsedParticles-1; 
-
-		// add a tethers batch:
-		ObiTetherConstraintBatch tetherBatch = new ObiTetherConstraintBatch(true,false,0,1);
-		rope.TetherConstraints.AddBatch(tetherBatch);
-		//UpdateTethers();
-
-		// fix first particle in place (see http://obi.virtualmethodstudio.com/tutorials/scriptingparticles.html)
-		rope.Solver.invMasses[rope.particleIndices[0]] = rope.invMasses[0] = 0;*/
-        yield return 0;
-	}
-
-	/// <summary>
-    /// MakeRope and AddPendulum may NOT be called on the same frame. You must wait for the MakeRope coroutine to finish first, as creating a rope is an asynchronous operation.
-    /// Just adds a pendulum to the rope on the un-anchored end.
-    /// </summary>
-	public void AddPendulum(ObiCollider pendulum, Vector3 attachmentOffset)
-	{
-		// simply add a new pin constraint (see http://obi.virtualmethodstudio.com/tutorials/scriptingconstraints.html)
-		/*rope.PinConstraints.RemoveFromSolver(null);
-		ObiPinConstraintBatch batch = (ObiPinConstraintBatch)rope.PinConstraints.GetFirstBatch();
-		batch.AddConstraint(pinnedParticle, pendulum, attachmentOffset,Quaternion.identity, 1);
-		rope.PinConstraints.AddToSolver(null);*/
-	}
-
-	/// <summary>
-    /// RemovePendulum and AddPendulum may be called on the same frame.
-    /// </summary>
-	public void RemovePendulum()
-	{
-		// simply remove all pin constraints (see http://obi.virtualmethodstudio.com/tutorials/scriptingconstraints.html)
-		/*rope.PinConstraints.RemoveFromSolver(null);
-		rope.PinConstraints.GetFirstBatch().Clear();
-		rope.PinConstraints.AddToSolver(null);*/
-	}
-
-	/// <summary>
-	/// Like extending or retracting a winch.
-	/// </summary>
-	public void ChangeRopeLength(float changeAmount)
-	{
-		// the cursor will automatically add/remove/modify constraints and particles as needed to obtain the new length.
-		//cursor.ChangeLength(rope.RestLength + changeAmount);
-		//UpdateTethers();
-	}
-
-	private void UpdateTethers()
-	{
-		/*rope.TetherConstraints.RemoveFromSolver(null);
-		ObiTetherConstraintBatch batch = (ObiTetherConstraintBatch)rope.TetherConstraints.GetFirstBatch();
-		batch.Clear();
-
-		ObiDistanceConstraintBatch dbatch = rope.DistanceConstraints.GetFirstBatch();
-		for (int i = 0; i < dbatch.ConstraintCount; ++i)
-			batch.AddConstraint(0,dbatch.springIndices[i*2+1], rope.InterparticleDistance*i, 1, 1);
-
-		batch.Cook();
-		rope.TetherConstraints.AddToSolver(null);*/
-	}
-}
-
-
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs.meta
deleted file mode 100644
index b38eacc14..000000000
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0854563331ce443fa9b17a143c084806
-labels:
-- ObiRope
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs
deleted file mode 100644
index cdb04778e..000000000
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs
+++ /dev/null
@@ -1,35 +0,0 @@
-using System;
-using System.Collections;
-using UnityEngine;
-using Obi;
-
-public class RuntimeRopeGeneratorUse : MonoBehaviour
-{
-	public ObiCollider pendulum;
-	RuntimeRopeGenerator rg;
-
-	public IEnumerator Start()
-	{
-		rg = new RuntimeRopeGenerator();
-
-		// Create a rope:
-		yield return rg.MakeRope(transform,Vector3.zero,1);
-
-		// Add a pendulum (you should adjust the attachment point depending on your particular pendulum object)
-		rg.AddPendulum(pendulum,Vector3.up*0.5f); 
-	}
-
-	public void Update(){
-	
-		if (Input.GetKey(KeyCode.W)){
-			rg.ChangeRopeLength(- Time.deltaTime);
-		}
-
-		if (Input.GetKey(KeyCode.S)){
-			rg.ChangeRopeLength(  Time.deltaTime);
-		}
-		
-	}
-}
-
-
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs.meta
deleted file mode 100644
index 84a66090a..000000000
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 5e7b946ba720c495a8ee7c1d3e903063
-labels:
-- ObiRope
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
index a3c89e008..a939ce8f0 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
@@ -1,122 +1,126 @@
 using UnityEngine;
-using Obi;
 
-public class SnakeController : MonoBehaviour
+namespace Obi.Samples
 {
-    public Transform headReferenceFrame;
-    public float headSpeed = 20;
-    public float upSpeed = 40;
-    public float slitherSpeed = 10;
-
-    private ObiRope rope;
-    private ObiSolver solver;
-    private float[] traction;
-    private Vector3[] surfaceNormal;
-
-    private void Start()
+    public class SnakeController : MonoBehaviour
     {
-        rope = GetComponent<ObiRope>();
-        solver = rope.solver;
+        public Transform headReferenceFrame;
+        public float headSpeed = 20;
+        public float upSpeed = 40;
+        public float slitherSpeed = 10;
 
-        // initialize traction array:
-        traction = new float[rope.activeParticleCount];
-        surfaceNormal = new Vector3[rope.activeParticleCount];
+        private ObiRope rope;
+        private ObiSolver solver;
+        private float[] traction;
+        private Vector3[] surfaceNormal;
 
-        // subscribe to solver events (to update surface information)
-        solver.OnBeginStep += ResetSurfaceInfo;
-        solver.OnCollision += AnalyzeContacts;
-        solver.OnParticleCollision += AnalyzeContacts;
-    }
-
-
-    private void OnDestroy()
-    {
-        solver.OnBeginStep -= ResetSurfaceInfo;
-        solver.OnCollision -= AnalyzeContacts;
-        solver.OnParticleCollision -= AnalyzeContacts;
-    }
-
-    private void ResetSurfaceInfo(ObiSolver s, float stepTime)
-    {
-        // reset surface info:
-        for (int i = 0; i < traction.Length; ++i)
+        private void Start()
         {
-            traction[i] = 0;
-            surfaceNormal[i] = Vector3.zero;
+            rope = GetComponent<ObiRope>();
+            solver = rope.solver;
+
+            // subscribe to solver events (to update surface information)
+            rope.OnSimulationStart += ResetSurfaceInfo;
+            solver.OnCollision += AnalyzeContacts;
+            solver.OnParticleCollision += AnalyzeContacts;
         }
-    }
 
-    private void AnalyzeContacts(object sender, ObiSolver.ObiCollisionEventArgs e)
-    {
-        // iterate trough all contacts:
-        for (int i = 0; i < e.contacts.Count; ++i)
+
+        private void OnDestroy()
         {
-            var contact = e.contacts.Data[i];
-            if (contact.distance < 0.005f)
+            rope.OnSimulationStart -= ResetSurfaceInfo;
+            solver.OnCollision -= AnalyzeContacts;
+            solver.OnParticleCollision -= AnalyzeContacts;
+        }
+
+        private void ResetSurfaceInfo(ObiActor a, float simulatedTime, float substepTime)
+        {
+
+            if (traction == null)
             {
-                int simplexIndex = solver.simplices[contact.bodyA];
-                var particleInActor = solver.particleToActor[simplexIndex];
+                traction = new float[rope.activeParticleCount];
+                surfaceNormal = new Vector3[rope.activeParticleCount];
+            }
 
-                if (particleInActor.actor == rope)
+            if (Input.GetKey(KeyCode.J))
+            {
+                for (int i = 1; i < rope.activeParticleCount; ++i)
                 {
-                    // using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
-                    traction[particleInActor.indexInActor] = 1;
+                    int solverIndex = rope.solverIndices[i];
+                    int prevSolverIndex = rope.solverIndices[i - 1];
 
-                    // accumulate surface normal:
-                    surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
+                    // direction from current particle to previous one, projected on the contact surface:
+                    Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
+
+                    // move in that direction:
+                    solver.velocities[solverIndex] += dir * traction[i] / solver.invMasses[solverIndex] * slitherSpeed * simulatedTime;
+                }
+            }
+
+            int headIndex = rope.solverIndices[0];
+
+            if (headReferenceFrame != null)
+            {
+                Vector3 direction = Vector3.zero;
+
+                // Determine movement direction:
+                if (Input.GetKey(KeyCode.W))
+                {
+                    direction += headReferenceFrame.forward * headSpeed;
+                }
+                if (Input.GetKey(KeyCode.A))
+                {
+                    direction += -headReferenceFrame.right * headSpeed;
+                }
+                if (Input.GetKey(KeyCode.S))
+                {
+                    direction += -headReferenceFrame.forward * headSpeed;
+                }
+                if (Input.GetKey(KeyCode.D))
+                {
+                    direction += headReferenceFrame.right * headSpeed;
+                }
+
+                // flatten out the direction so that it's parallel to the ground:
+                direction.y = 0;
+
+                solver.velocities[headIndex] += (Vector4)direction * simulatedTime;
+            }
+
+            if (Input.GetKey(KeyCode.Space))
+                solver.velocities[headIndex] += (Vector4)Vector3.up * simulatedTime * upSpeed;
+
+
+            // reset surface info:
+            for (int i = 0; i < traction.Length; ++i)
+            {
+                traction[i] = 0;
+                surfaceNormal[i] = Vector3.zero;
+            }
+
+        }
+
+        private void AnalyzeContacts(object sender, ObiNativeContactList e)
+        {
+            // iterate trough all contacts:
+            for (int i = 0; i < e.count; ++i)
+            {
+                var contact = e[i];
+                if (contact.distance < 0.005f)
+                {
+                    int simplexIndex = solver.simplices[contact.bodyA];
+                    var particleInActor = solver.particleToActor[simplexIndex];
+
+                    if (particleInActor != null && particleInActor.actor == rope && traction != null)
+                    {
+                        // using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
+                        traction[particleInActor.indexInActor] = 1;
+
+                        // accumulate surface normal:
+                        surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
+                    }
                 }
             }
         }
     }
-
-    public void Update()
-    {
-        if (Input.GetKey(KeyCode.J))
-        {
-            for (int i = 1; i < rope.activeParticleCount; ++i)
-            {
-                int solverIndex = rope.solverIndices[i];
-                int prevSolverIndex = rope.solverIndices[i - 1];
-
-                // direction from current particle to previous one, projected on the contact surface:
-                Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
-
-                // move in that direction:
-                solver.velocities[solverIndex] += dir * traction[i] * slitherSpeed * Time.deltaTime;
-            }
-        }
-
-        int headIndex = rope.solverIndices[0];
-
-        if (headReferenceFrame != null)
-        {
-            Vector3 direction = Vector3.zero;
-
-            // Determine movement direction:
-            if (Input.GetKey(KeyCode.W))
-            {
-                direction += headReferenceFrame.forward * headSpeed;
-            }
-            if (Input.GetKey(KeyCode.A))
-            {
-                direction += -headReferenceFrame.right * headSpeed;
-            }
-            if (Input.GetKey(KeyCode.S))
-            {
-                direction += -headReferenceFrame.forward * headSpeed;
-            }
-            if (Input.GetKey(KeyCode.D))
-            {
-                direction += headReferenceFrame.right * headSpeed;
-            }
-
-            // flatten out the direction so that it's parallel to the ground:
-            direction.y = 0;
-
-            solver.velocities[headIndex] += (Vector4)direction * Time.deltaTime;
-        }
-
-        if (Input.GetKey(KeyCode.Space))
-            solver.velocities[headIndex] += (Vector4)Vector3.up * Time.deltaTime * upSpeed;
-    }
-}
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
index ae350d1bd..62469a0f4 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
@@ -1,50 +1,53 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
-using Obi;
 
-[ExecuteInEditMode]
-public class SpiralCurve : MonoBehaviour {
-
-	public float radius = 0.25f;
-	public float radialStep = 0.8f;
-	public float heightStep = 0.04f;
-	public float points = 30;
-
-    public float rotationalMass = 1;
-    public float thickness = 1;
-
-    void Awake ()
+namespace Obi.Samples
+{
+    [ExecuteInEditMode]
+    public class SpiralCurve : MonoBehaviour
     {
-        Generate();
-    }
 
-    public void Generate()
-    {
-        var rod = GetComponent<ObiRopeBase>();
-        if (rod == null) return;
+        public float radius = 0.25f;
+        public float radialStep = 0.8f;
+        public float heightStep = 0.04f;
+        public float points = 30;
 
-        var blueprint = rod.sourceBlueprint as ObiRopeBlueprintBase;
-        if (blueprint == null) return;
+        public float rotationalMass = 1;
+        public float thickness = 1;
 
-        blueprint.path.Clear();
-
-        float ang = 0;
-        float height = 0;
-
-        for (int i = 0; i < points; ++i)
+        void Awake()
         {
-            Vector3 point = new Vector3(Mathf.Cos(ang) * radius, height, Mathf.Sin(ang) * radius);
-
-            // optimal handle length for circle approximation: 4/3 tan(pi/(2n))
-            Vector3 tangent = new Vector3(-point.z, heightStep, point.x).normalized * (4.0f / 3.0f) * Mathf.Tan(radialStep / 4.0f) * radius;
-
-            blueprint.path.AddControlPoint(point, -tangent, tangent, Vector3.up, 1, rotationalMass, thickness, 1, Color.white, "control point " + i);
-            ang += radialStep;
-            height += heightStep;
+            Generate();
         }
 
-        blueprint.path.FlushEvents();
-    }
+        public void Generate()
+        {
+            var rod = GetComponent<ObiRopeBase>();
+            if (rod == null) return;
 
+            var blueprint = rod.sourceBlueprint as ObiRopeBlueprintBase;
+            if (blueprint == null) return;
+
+            blueprint.path.Clear();
+
+            float ang = 0;
+            float height = 0;
+
+            for (int i = 0; i < points; ++i)
+            {
+                Vector3 point = new Vector3(Mathf.Cos(ang) * radius, height, Mathf.Sin(ang) * radius);
+
+                // optimal handle length for circle approximation: 4/3 tan(pi/(2n))
+                Vector3 tangent = new Vector3(-point.z, heightStep, point.x).normalized * (4.0f / 3.0f) * Mathf.Tan(radialStep / 4.0f) * radius;
+
+                blueprint.path.AddControlPoint(point, -tangent, tangent, Vector3.up, 1, rotationalMass, thickness, 1, Color.white, "control point " + i);
+                ang += radialStep;
+                height += heightStep;
+            }
+
+            blueprint.path.FlushEvents();
+        }
+
+    }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs
new file mode 100644
index 000000000..fc85aafaf
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs
@@ -0,0 +1,88 @@
+using System.Collections;
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(Rigidbody))]
+    public class TangledPeg : MonoBehaviour
+    {
+        public TangledPegSlot currentSlot;
+        public Collider floorCollider;
+        public ObiRope attachedRope;
+
+        [Header("Movement")]
+        public float stiffness = 200;
+        public float damping = 20;
+        public float maxAccel = 50;
+        public float minDistance = 0.05f;
+
+
+        public Rigidbody rb { get; private set; }
+        public ObiRigidbody orb { get; private set; }
+
+        void Awake()
+        {
+            rb = GetComponent<Rigidbody>();
+            orb = GetComponent<ObiRigidbody>();
+
+            // Ignore collisions with the floor:
+            Physics.IgnoreCollision(GetComponent<Collider>(), floorCollider);
+
+            // Initialize the peg's current slot, if any:
+            if (currentSlot != null)
+            {
+                currentSlot.currentPeg = this;
+                transform.position = currentSlot.transform.position;
+            }
+        }
+
+        public float MoveTowards(Vector3 position)
+        {
+            Vector3 vector = position - transform.position;
+            float distance = Vector3.Magnitude(vector);
+
+            // simple damped spring: F = -kx - vu
+            Vector3 accel = stiffness * vector - damping * rb.linearVelocity;
+
+            // clamp spring acceleration:
+            accel = Vector3.ClampMagnitude(accel, maxAccel);
+
+            rb.AddForce(accel, ForceMode.Acceleration);
+
+            return distance;
+        }
+
+        public void DockInSlot(TangledPegSlot slot)
+        {
+            StopAllCoroutines();
+            StartCoroutine(MoveTowardsSlot(slot));
+        }
+
+        public void UndockFromCurrentSlot()
+        {
+            if (currentSlot != null)
+            {
+                currentSlot.currentPeg = null;
+                rb.isKinematic = false;
+            }
+        }
+
+        private IEnumerator MoveTowardsSlot(TangledPegSlot slot)
+        {
+            float distance = float.MaxValue;
+            orb.kinematicForParticles = true;
+
+            while (distance > minDistance)
+            {
+                distance = MoveTowards(slot.transform.position);
+                yield return 0;
+            }
+
+            currentSlot = slot;
+            currentSlot.currentPeg = this;
+            transform.position = currentSlot.transform.position;
+            rb.isKinematic = true;
+            orb.kinematicForParticles = false;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta
new file mode 100644
index 000000000..5e3431e2c
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPeg.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: beb10e70cc06a4b019ecf88348a5f7fa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs
new file mode 100644
index 000000000..5febdfd65
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs
@@ -0,0 +1,34 @@
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class TangledPegSlot : MonoBehaviour
+    {
+        public TangledPeg currentPeg;
+        public Color tintColor;
+
+        private Material instance;
+        private Color normalColor;
+
+        public void Awake()
+        {
+            instance = GetComponent<Renderer>().material;
+            normalColor = instance.color;
+        }
+
+        public void Tint()
+        {
+            instance.color = tintColor;
+        }
+
+        public void ResetColor()
+        {
+            instance.color = normalColor;
+        }
+
+        public void OnDestroy()
+        {
+            Destroy(instance);
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta
new file mode 100644
index 000000000..b4c1bbdf3
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledPegSlot.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 866212c246a9c4c5797069099ad745aa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs
new file mode 100644
index 000000000..8a0c5345b
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs
@@ -0,0 +1,138 @@
+using UnityEngine;
+using UnityEngine.Events;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class TangledRopesGameController : MonoBehaviour
+    {
+        public TangledPegSlot[] pegSlots;
+        public float pegHoverHeight = 1;
+        public float maxPegDistanceFromSlot = 1.5f;
+        public int framesWithoutContactsToWin = 30;
+        public UnityEvent onFinish = new UnityEvent();
+
+        private TangledPeg selectedPeg;
+        private Plane floor = new Plane(Vector3.up, 0);
+        private int framesSinceLastContact = 0;
+
+        void OnEnable()
+        {
+            GetComponent<ObiSolver>().OnParticleCollision += Solver_OnParticleCollision;
+        }
+
+        private void OnDisable()
+        {
+            GetComponent<ObiSolver>().OnParticleCollision -= Solver_OnParticleCollision;
+        }
+
+        private TangledPegSlot FindCandidateSlot(TangledPeg peg)
+        {
+            // Go over all slots, find the closest one to the peg that's closer than
+            // maxPegDistanceFromSlot:
+
+            TangledPegSlot closest = null;
+            float closestDistance = float.MaxValue;
+
+            foreach (TangledPegSlot slot in pegSlots)
+            {
+                // reset slot color, to make sure it looks normal if it's not a candidate for our peg.
+                slot.ResetColor();
+
+                // ignore occupied slots:
+                if (slot.currentPeg != null)
+                    continue;
+
+                Vector3 slotOnFloor = floor.ClosestPointOnPlane(slot.transform.position);
+                Vector3 pegOnFloor = floor.ClosestPointOnPlane(peg.transform.position);
+
+                float distance = Vector3.Distance(slotOnFloor, pegOnFloor);
+                if (distance < closestDistance && distance < maxPegDistanceFromSlot)
+                {
+                    closest = slot;
+                    closestDistance = distance;
+                }
+            }
+
+            return closest;
+        }
+
+        private void Update()
+        {
+            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+
+            // User clicks, cast a ray towards the floor, see if it hits any peg.
+            if (Input.GetMouseButtonDown(0))
+            {
+                if (Physics.Raycast(ray, out RaycastHit hit))
+                {
+                    // if the ray hit a peg, store it as the selected peg and lift it off from its current slot.
+                    if (hit.transform.TryGetComponent(out TangledPeg peg) && peg.currentSlot != null)
+                    {
+                        selectedPeg = peg;
+                        selectedPeg.UndockFromCurrentSlot();
+                    }
+                }
+            }
+
+            if (selectedPeg != null)
+            {
+                // Make selected peg follow the mouse cursor:
+                if (floor.Raycast(ray, out float enter))
+                    selectedPeg.MoveTowards(ray.GetPoint(enter) + Vector3.up * pegHoverHeight);
+
+                // Try to find a suitable slot to drop the peg:
+                TangledPegSlot closest = FindCandidateSlot(selectedPeg);
+
+                // If we found a candidate slot, tint it to give the player some visual feedback:
+                if (closest != null)
+                    closest.Tint();
+
+                // Drop selected peg:
+                if (Input.GetMouseButtonUp(0))
+                {
+                    // If we could find a free slot nearby, connect to it:
+                    if (closest != null)
+                    {
+                        selectedPeg.currentSlot = null;
+                        selectedPeg.DockInSlot(closest);
+                        closest.ResetColor();
+                    }
+                    else  // If we couldn't find one or if it's too far, return to current slot.
+                    {
+                        selectedPeg.DockInSlot(selectedPeg.currentSlot);
+                    }
+
+                    selectedPeg = null;
+                }
+            }
+
+            // If all ropes have been contact-free for a certain amount of frames, trigger finish event.
+            if (framesSinceLastContact >= framesWithoutContactsToWin && onFinish != null)
+                onFinish.Invoke();
+
+        }
+
+        private void Solver_OnParticleCollision(ObiSolver s, ObiNativeContactList e)
+        {
+            // Count contacts between different ropes (that is, exclude self-contacts):
+            int contactsBetweenRopes = 0;
+
+            for (int i = 0; i < e.count; ++i)
+            {
+                var ropeA = s.particleToActor[s.simplices[e[i].bodyA]].actor;
+                var ropeB = s.particleToActor[s.simplices[e[i].bodyB]].actor;
+
+                if (ropeA != ropeB)
+                    contactsBetweenRopes++;
+            }
+
+            // If there's no contacts, bump the amount of frames we've been contact-free.
+            // Otherwise reset the amount of frames to zero.
+            if (contactsBetweenRopes == 0)
+                framesSinceLastContact++;
+            else
+                framesSinceLastContact = 0;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta
new file mode 100644
index 000000000..3a556d54a
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/TangledRopesGameController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c1cdc16773c1f4ebe94e32c3ae0005bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs
new file mode 100644
index 000000000..6da29b457
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs
@@ -0,0 +1,114 @@
+
+using UnityEngine;
+
+namespace Obi.Samples
+{
+    public class VineClimbController : MonoBehaviour
+    {
+        public ObiSolver solver;
+        public float climbSpeed = 1.5f;
+
+        ObiPinhole pinhole;
+        bool pressedSpace = false;
+
+        void Start()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
+
+        public void Update()
+        {
+            if (pinhole != null)
+            {
+                float speed = 0;
+                if (Input.GetKey(KeyCode.W))
+                    speed = climbSpeed;
+                if (Input.GetKey(KeyCode.S))
+                    speed = -climbSpeed;
+
+                pinhole.motorSpeed = speed;
+            }
+
+            if (Input.GetKeyDown(KeyCode.Space))
+            {
+                pressedSpace = true;
+                DetachFromVine();
+            }
+        }
+
+        private void Solver_OnCollision(ObiSolver solver, ObiNativeContactList contacts)
+        {
+            if (pressedSpace)
+            {
+                int bestParticle = -1;
+                float closestDistance = float.MaxValue;
+                Vector3 closestOffset = Vector3.zero;
+                foreach (var c in contacts)
+                {
+                    if (c.distance < 0.001f)
+                    {
+                        ObiCollider collider = ObiColliderWorld.GetInstance().colliderHandles[c.bodyB].owner as ObiCollider;
+                        if (collider.sourceCollider.isTrigger)
+                        {
+                            int particle = solver.simplices[c.bodyA];
+                            var worldPosition = solver.transform.TransformPoint(solver.positions[particle]);
+                            Vector3 offset = worldPosition - collider.transform.position;
+                            float distance = Vector3.Magnitude(offset);
+
+                            if (distance < closestDistance)
+                            {
+                                closestDistance = distance;
+                                closestOffset = offset;
+                                bestParticle = particle;
+                            }
+                        }
+                    }
+                }
+
+                if (bestParticle >= 0)
+                {
+                    var actor = solver.particleToActor[bestParticle].actor;
+                    AttachToVine(actor as ObiRope, bestParticle, closestOffset);
+                }
+
+                pressedSpace = false;
+            }
+        }
+
+        private float GetParticleMu(ObiRope rope, int solverParticleIndex)
+        {
+            for (int i = 0; i < rope.elements.Count; ++i)
+            {
+                if (rope.elements[i].particle1 == solverParticleIndex)
+                    return i / (float)rope.elements.Count;
+                if (rope.elements[i].particle2 == solverParticleIndex)
+                    return (i + 1) / (float)rope.elements.Count;
+            }
+            return 1;
+        }
+
+        // Update is called once per frame
+        void AttachToVine(ObiRope rope, int particle, Vector3 offset)
+        {
+            if (pinhole == null && rope != null)
+            {
+                transform.position += offset;
+                pinhole = rope.gameObject.AddComponent<ObiPinhole>();
+                pinhole.position = GetParticleMu(rope, particle);
+                pinhole.motorForce = Mathf.Infinity;
+                pinhole.friction = 1;
+                pinhole.target = this.transform;
+            }
+        }
+
+        void DetachFromVine()
+        {
+            if (pinhole != null)
+            {
+                GameObject.Destroy(pinhole);
+                pinhole = null;
+                pressedSpace = false;
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs.meta
new file mode 100644
index 000000000..12b4f345b
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/VineClimbController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 50c674b3f8f0045249ac099130c6a6b2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
index 3f51fcca5..aa3da3fc2 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
@@ -2,71 +2,73 @@
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.Events;
-using Obi;
 
-[RequireComponent(typeof(ObiSolver))]
-public class WrapRopeGameController : MonoBehaviour
+namespace Obi.Samples
 {
+    [RequireComponent(typeof(ObiSolver))]
+    public class WrapRopeGameController : MonoBehaviour
+    {
 
-	ObiSolver solver;
+        ObiSolver solver;
 
-	public Wrappable[] wrappables;
-	public UnityEvent onFinish = new UnityEvent();
+        public Wrappable[] wrappables;
+        public UnityEvent onFinish = new UnityEvent();
 
-	private void Awake()
-	{
-		solver = GetComponent<ObiSolver>();
-	}
+        private void Awake()
+        {
+            solver = GetComponent<ObiSolver>();
+        }
 
-	// Start is called before the first frame update
-	void OnEnable()
-	{
-		solver.OnCollision += Solver_OnCollision;
-	}
+        // Start is called before the first frame update
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
 
-	private void OnDisable()
-	{
-		solver.OnCollision -= Solver_OnCollision;
-	}
+        private void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
 
-	private void Update()
-	{
-		bool allWrapped = true;
+        private void Update()
+        {
+            bool allWrapped = true;
 
-        // Test our win condition: all pegs must be wrapped.
-		foreach (var wrappable in wrappables)
-		{
-			if (!wrappable.IsWrapped())
-			{
-				allWrapped = false;
-				break;
-			}
-		}
+            // Test our win condition: all pegs must be wrapped.
+            foreach (var wrappable in wrappables)
+            {
+                if (!wrappable.IsWrapped())
+                {
+                    allWrapped = false;
+                    break;
+                }
+            }
 
-		if (allWrapped)
-			onFinish.Invoke();
-	}
+            if (allWrapped)
+                onFinish.Invoke();
+        }
 
-	private void Solver_OnCollision(ObiSolver s, ObiSolver.ObiCollisionEventArgs e)
-	{
-		// reset to unwrapped state:
-		foreach (var wrappable in wrappables)
-			wrappable.Reset();
+        private void Solver_OnCollision(ObiSolver s, ObiNativeContactList e)
+        {
+            // reset to unwrapped state:
+            foreach (var wrappable in wrappables)
+                wrappable.Reset();
 
-		var world = ObiColliderWorld.GetInstance();
-		foreach (Oni.Contact contact in e.contacts)
-		{
-			// look for actual contacts only:
-			if (contact.distance < 0.025f)
-			{
-				var col = world.colliderHandles[contact.bodyB].owner;
-				if (col != null)
-				{
-					var wrappable = col.GetComponent<Wrappable>();
-                    if (wrappable != null)
-						wrappable.SetWrapped();
-				}
-			}
-		}
-	}
-}
+            var world = ObiColliderWorld.GetInstance();
+            foreach (Oni.Contact contact in e)
+            {
+                // look for actual contacts only:
+                if (contact.distance < 0.025f)
+                {
+                    var col = world.colliderHandles[contact.bodyB].owner;
+                    if (col != null)
+                    {
+                        var wrappable = col.GetComponent<Wrappable>();
+                        if (wrappable != null)
+                            wrappable.SetWrapped();
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
index 306142cfd..bd2e656c8 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
@@ -2,41 +2,44 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-[RequireComponent(typeof(Rigidbody))]
-public class WrapRopePlayerController : MonoBehaviour
+namespace Obi.Samples
 {
-    public float acceleration = 50;
-    Rigidbody rb;
-
-    void Awake()
+    [RequireComponent(typeof(Rigidbody))]
+    public class WrapRopePlayerController : MonoBehaviour
     {
-        rb = GetComponent<Rigidbody>();
+        public float acceleration = 50;
+        Rigidbody rb;
+
+        void Awake()
+        {
+            rb = GetComponent<Rigidbody>();
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+            Vector3 direction = Vector3.zero;
+
+            // Determine movement direction:
+            if (Input.GetKey(KeyCode.W))
+            {
+                direction += Vector3.up * acceleration;
+            }
+            if (Input.GetKey(KeyCode.A))
+            {
+                direction += Vector3.left * acceleration;
+            }
+            if (Input.GetKey(KeyCode.S))
+            {
+                direction += Vector3.down * acceleration;
+            }
+            if (Input.GetKey(KeyCode.D))
+            {
+                direction += Vector3.right * acceleration;
+            }
+
+            rb.AddForce(direction.normalized * acceleration, ForceMode.Acceleration);
+        }
+
     }
-
-    // Update is called once per frame
-    void Update()
-    {
-        Vector3 direction = Vector3.zero;
-
-        // Determine movement direction:
-        if (Input.GetKey(KeyCode.W))
-        {
-            direction += Vector3.up * acceleration;
-        }
-        if (Input.GetKey(KeyCode.A))
-        {
-            direction += Vector3.left * acceleration;
-        }
-        if (Input.GetKey(KeyCode.S))
-        {
-            direction += Vector3.down * acceleration;
-        }
-        if (Input.GetKey(KeyCode.D))
-        {
-            direction += Vector3.right * acceleration;
-        }
-
-        rb.AddForce(direction.normalized * acceleration, ForceMode.Acceleration);
-    }
-
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
index 4ed95690d..d5e7337e0 100644
--- a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
@@ -2,40 +2,43 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-public class Wrappable : MonoBehaviour
+namespace Obi.Samples
 {
+    public class Wrappable : MonoBehaviour
+    {
 
-	private bool wrapped = false;
-	public Color normalColor = new Color(0.2f,0.2f,0.8f);
-	public Color wrappedColor = new Color(0.9f, 0.9f, 0.2f);
+        private bool wrapped = false;
+        public Color normalColor = new Color(0.2f, 0.2f, 0.8f);
+        public Color wrappedColor = new Color(0.9f, 0.9f, 0.2f);
 
-	Material localMaterial;
+        Material localMaterial;
 
-    public void Awake()
-	{
-		localMaterial = GetComponent<MeshRenderer>().material;
-	}
+        public void Awake()
+        {
+            localMaterial = GetComponent<MeshRenderer>().material;
+        }
 
-    public void OnDestroy()
-	{
-		Destroy(localMaterial);
-	}
+        public void OnDestroy()
+        {
+            Destroy(localMaterial);
+        }
 
-	public void Reset()
-	{
-		wrapped = false;
-		localMaterial.color = normalColor;
-	}
+        public void Reset()
+        {
+            wrapped = false;
+            localMaterial.color = normalColor;
+        }
 
-    public void SetWrapped()
-	{
-		wrapped = true;
-		localMaterial.color = wrappedColor;
-	}
+        public void SetWrapped()
+        {
+            wrapped = true;
+            localMaterial.color = wrappedColor;
+        }
 
-	public bool IsWrapped()
-	{
-		return wrapped;
-	}
+        public bool IsWrapped()
+        {
+            return wrapped;
+        }
 
+    }
 }
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/greatwhiteshark.png b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/greatwhiteshark.png
new file mode 100644
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diff --git a/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity b/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity
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-    restLength: 0.65579367
+    restLength: 0.65537786
     constraintForce: 0
     tearResistance: 1
   - particle1: 102
     particle2: 103
-    restLength: 0.74301386
+    restLength: 0.74254274
     constraintForce: 0
     tearResistance: 1
   - particle1: 103
     particle2: 104
-    restLength: 0.73103285
+    restLength: 0.7305646
     constraintForce: 0
     tearResistance: 1
   - particle1: 104
     particle2: 105
-    restLength: 0.69625187
+    restLength: 0.6958027
     constraintForce: 0
     tearResistance: 1
   - particle1: 105
     particle2: 106
-    restLength: 0.6603303
+    restLength: 0.65991473
     constraintForce: 0
     tearResistance: 1
   - particle1: 106
     particle2: 107
-    restLength: 0.6914048
+    restLength: 0.69097257
     constraintForce: 0
     tearResistance: 1
   - particle1: 107
     particle2: 108
-    restLength: 0.7583585
+    restLength: 0.75786567
     constraintForce: 0
     tearResistance: 1
   - particle1: 108
     particle2: 109
-    restLength: 0.68906343
+    restLength: 0.68862224
     constraintForce: 0
     tearResistance: 1
   - particle1: 109
     particle2: 110
-    restLength: 0.61720514
+    restLength: 0.6168027
     constraintForce: 0
     tearResistance: 1
   - particle1: 110
     particle2: 111
-    restLength: 0.80545086
+    restLength: 0.8049487
     constraintForce: 0
     tearResistance: 1
   - particle1: 111
     particle2: 112
-    restLength: 0.6274201
+    restLength: 0.6270089
     constraintForce: 0
     tearResistance: 1
   - particle1: 112
     particle2: 113
-    restLength: 0.657958
+    restLength: 0.6575437
     constraintForce: 0
     tearResistance: 1
-  m_RopeBlueprint: {fileID: 11400000, guid: 4d31372b30ca34527b534f09a803ab15, type: 2}
+  _aerodynamicsEnabled: 1
+  _drag: 0.05
+  _lift: 0.02
+  m_RopeBlueprint: {fileID: 11400000, guid: 7e05f85bfaeb24a649317f63f656b6bb, type: 2}
   tearingEnabled: 0
   tearResistanceMultiplier: 1000
   tearRate: 1
@@ -2626,11 +2414,12 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_Actor: {fileID: 1780856020}
   m_Target: {fileID: 862377252}
-  m_ParticleGroup: {fileID: 870036912147276740, guid: 4d31372b30ca34527b534f09a803ab15, type: 2}
+  m_ParticleGroup: {fileID: 870036912147276740, guid: 7e05f85bfaeb24a649317f63f656b6bb, type: 2}
   m_AttachmentType: 1
   m_ConstrainOrientation: 0
+  m_Projection: 0
   m_Compliance: 0
-  m_BreakThreshold: Infinity
+  breakThreshold: Infinity
 --- !u!114 &1780856022
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2645,11 +2434,12 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_Actor: {fileID: 1780856020}
   m_Target: {fileID: 599321989}
-  m_ParticleGroup: {fileID: -5578146735436999353, guid: 4d31372b30ca34527b534f09a803ab15, type: 2}
+  m_ParticleGroup: {fileID: -5578146735436999353, guid: 7e05f85bfaeb24a649317f63f656b6bb, type: 2}
   m_AttachmentType: 1
   m_ConstrainOrientation: 0
+  m_Projection: 0
   m_Compliance: 0
-  m_BreakThreshold: Infinity
+  breakThreshold: Infinity
 --- !u!114 &1780856023
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2679,7 +2469,6 @@ GameObject:
   m_Component:
   - component: {fileID: 1882120510}
   - component: {fileID: 1882120509}
-  - component: {fileID: 1882120508}
   - component: {fileID: 1882120511}
   m_Layer: 0
   m_Name: Obi Solver
@@ -2688,21 +2477,6 @@ GameObject:
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
   m_IsActive: 1
---- !u!114 &1882120508
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1882120507}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 1d9704d540ac448439a425526f6b2986, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  solvers:
-  - {fileID: 1882120509}
-  substeps: 6
 --- !u!114 &1882120509
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2717,23 +2491,57 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   simulateWhenInvisible: 1
   m_Backend: 1
+  substeps: 12
+  maxStepsPerFrame: 1
+  synchronization: 0
   parameters:
     mode: 1
     interpolation: 0
     gravity: {x: 0, y: 0, z: 0}
+    ambientWind: {x: 0, y: 0, z: 0}
+    foamGravityScale: 1
     damping: 0.1
     maxAnisotropy: 3
     sleepThreshold: 0.0001
+    maxVelocity: 50
+    maxAngularVelocity: 10
     collisionMargin: 0.05
     maxDepenetration: 50
-    continuousCollisionDetection: 1
+    colliderCCD: 1
+    particleCCD: 0
     shockPropagation: 0
     surfaceCollisionIterations: 16
     surfaceCollisionTolerance: 0.001
+    diffusionMask: {x: 1, y: 1, z: 1, w: 1}
+  m_MaxSurfaceChunks: 32768
+  maxQueryResults: 8192
+  maxFoamParticles: 8192
+  maxParticleNeighbors: 128
+  maxParticleContacts: 4
+  useLimits: 0
+  killOffLimitsParticles: 0
+  boundaryLimits:
+    m_Center: {x: 0, y: 0, z: 0}
+    m_Extent: {x: 5, y: 5, z: 5}
   gravity: {x: 0, y: -9.81, z: 0}
   gravitySpace: 1
+  ambientWind: {x: 0, y: 0, z: 0}
+  windSpace: 1
+  foamSubsteps: 1
+  foamMinNeighbors: 3
+  foamCollisions: 0
+  maxFoamVelocityStretch: 0.3
+  foamRadiusScale: 1
+  foamFade: {x: 0.05, y: 0.8}
+  foamAccelAgingRange: {x: 0.5, y: 0.8}
+  foamAccelAging: 4
+  foamVolumeDensity: 0.1
+  foamAmbientDensity: 0.02
+  foamScatterColor: {r: 0.8, g: 0.75, b: 0.7, a: 1}
+  foamAmbientColor: {r: 0.4, g: 0.5, b: 0.6, a: 1}
   worldLinearInertiaScale: 0
   worldAngularInertiaScale: 0
+  synchronousSpatialQueries: 0
   distanceConstraintParameters:
     evaluationOrder: 0
     iterations: 4
@@ -2789,6 +2597,11 @@ MonoBehaviour:
     iterations: 2
     SORFactor: 1
     enabled: 1
+  pinholeConstraintParameters:
+    evaluationOrder: 1
+    iterations: 1
+    SORFactor: 1
+    enabled: 1
   stitchConstraintParameters:
     evaluationOrder: 1
     iterations: 2
@@ -2865,6 +2678,52 @@ MonoBehaviour:
           m_StringArgument: 
           m_BoolArgument: 1
         m_CallState: 2
+--- !u!1 &1903223953
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1903223955}
+  - component: {fileID: 1903223954}
+  m_Layer: 0
+  m_Name: BurstCollisionWorld
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &1903223954
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1903223953}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: f1a161c4294214a4fbcb7e9e94800494, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  cellSpans:
+    m_AlignBytes: 16
+--- !u!4 &1903223955
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1903223953}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1919818295
 GameObject:
   m_ObjectHideFlags: 0
@@ -2973,4 +2832,4 @@ SceneRoots:
   - {fileID: 1882120510}
   - {fileID: 599321989}
   - {fileID: 876719296}
-  - {fileID: 1686434327}
+  - {fileID: 1903223955}
diff --git a/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
index 59bb0dd8a..691131ff6 100644
--- a/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
+++ b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
@@ -11,8 +11,13 @@ namespace Obi
         bool usesOrientedParticles { get; }
 
         int GetParticleRuntimeIndex(int index); // returns solver or blueprint index, depending on implementation.
+
         Vector3 GetParticlePosition(int index);
         Quaternion GetParticleOrientation(int index);
+
+        Vector3 GetParticleRestPosition(int index);
+        Quaternion GetParticleRestOrientation(int index);
+
         void GetParticleAnisotropy(int index, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3);
         float GetParticleMaxRadius(int index);
         Color GetParticleColor(int index);
diff --git a/Assets/Obi/Scripts/Common/Actors/ObiActor.cs b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
index 38e59f1a7..35f1a344a 100644
--- a/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
+++ b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
@@ -26,9 +26,36 @@ namespace Obi
             }
         }
 
-        public delegate void ActorCallback(ObiActor actor);                     
-        public delegate void ActorStepCallback(ObiActor actor,float stepTime);
-        public delegate void ActorBlueprintCallback(ObiActor actor,ObiActorBlueprint blueprint);
+        private struct BufferedForces
+        {
+            public bool dirty;
+
+            public Vector4 force;
+            public Vector4 acceleration;
+            public Vector4 impulse;
+            public Vector4 velChange;
+
+            public Vector4 angularForce;
+            public Vector4 angularAcceleration;
+            public Vector4 angularImpulse;
+            public Vector4 angularVelChange;
+
+            public void Clear()
+            {
+                force = Vector4.zero;
+                acceleration = Vector4.zero;
+                impulse = Vector4.zero;
+                velChange = Vector4.zero;
+                angularForce = Vector4.zero;
+                angularAcceleration = Vector4.zero;
+                angularImpulse = Vector4.zero;
+                angularVelChange = Vector4.zero;
+            }
+        }
+
+        public delegate void ActorCallback(ObiActor actor);
+        public delegate void ActorStepCallback(ObiActor actor, float simulatedTime, float substepTime);
+        public delegate void ActorBlueprintCallback(ObiActor actor, ObiActorBlueprint blueprint);
 
         /// <summary>
         /// Called when the actor blueprint has been loaded into the solver.
@@ -41,60 +68,72 @@ namespace Obi
         public event ActorBlueprintCallback OnBlueprintUnloaded;
 
         /// <summary>
-        /// Called at the start of the solver's FixedUpdate (for Fixed and LateFixed updaters) or the solver's Update (for Late updaters)
+        /// Called when the blueprint currently in use has been re-generated. This will always be preceded by a call to
+        /// OnBlueprintUnloaded and OnBlueprintLoaded.
         /// </summary>
-        public event ActorCallback OnPrepareFrame;
+        public event ActorBlueprintCallback OnBlueprintRegenerated;
 
         /// <summary>
-        /// Called at the beginning of a time step, before dirty constraints and active particles have been updated.
+        /// Called before simulation starts.
         /// </summary>
-        public event ActorStepCallback OnPrepareStep;
+        public event ActorStepCallback OnSimulationStart;
 
         /// <summary>
-        /// Called at the beginning of a time step, after dirty constraints and active particles have been updated.
+        /// Called after CPU->GPU data transfers, before collision detection starts.
         /// </summary>
-        public event ActorStepCallback OnBeginStep;
+        public event ActorStepCallback OnCollisionDetectionStart;
 
         /// <summary>
-        /// Called at the beginning of each substep.
+        /// Called before performing substepping.
         /// </summary>
-        public event ActorStepCallback OnSubstep;
+        public event ActorStepCallback OnSubstepsStart;
 
         /// <summary>
-        /// Called at the end of a timestep, after external forces have been reset and collision callbacks called.
+        /// Called after simulation ends.
         /// </summary>
-        public event ActorStepCallback OnEndStep;
+        public event ActorStepCallback OnSimulationEnd;
 
         /// <summary>
-        /// Called at the end of each frame.
+        /// You can use this callback to issue GPU->CPU readbacks.
         /// </summary>
-        public event ActorCallback OnInterpolate;                       
+        public event ActorCallback OnRequestReadback;
 
-        [HideInInspector] protected int m_ActiveParticleCount = 0;
+        /// <summary>
+        /// Called at the end of each frame, after interpolation but before rendering.
+        /// </summary>
+        public event ActorStepCallback OnInterpolate;
+
+        [HideInInspector] protected ObiNativeIntList m_ActiveParticleCount;
 
         /// <summary>
         /// Index of each one of the actor's particles in the solver.
         /// </summary>
-        [HideInInspector] public int[] solverIndices;
+        [HideInInspector] public ObiNativeIntList solverIndices;
 
         /// <summary>
         /// For each of the actor's constraint types, offset of every batch in the solver.
         /// </summary>
         [HideInInspector] public List<int>[] solverBatchOffsets;
 
+        public int deformableEdgesOffset { protected set; get; } /**< index of the first deformable edge in the solver that belongs to this rope.*/
+
         protected ObiSolver m_Solver;
         protected bool m_Loaded = false;
+        public int groupID = 0;
 
-        private ObiActorBlueprint state;
+        private ObiActorBlueprint m_State;
         private ObiActorBlueprint m_BlueprintInstance;
         private ObiPinConstraintsData m_PinConstraints;
-        [SerializeField][HideInInspector] protected ObiCollisionMaterial m_CollisionMaterial;
-        [SerializeField][HideInInspector] protected bool m_SurfaceCollisions = false;
+        private ObiPinholeConstraintsData m_PinholeConstraints;
+        private BufferedForces bufferedForces = new BufferedForces();
+        [SerializeField] [HideInInspector] protected ObiCollisionMaterial m_CollisionMaterial;
+        [SerializeField] [HideInInspector] protected bool m_SurfaceCollisions = false;
+        [SerializeField] [HideInInspector] [Min(ObiUtils.epsilon)] protected float m_MassScale = 1;
 
         /// <summary>
         /// The solver in charge of simulating this actor.
         /// </summary>
-        /// This is the first ObiSlver component found up the actor's hierarchy.
+        /// This is the first ObiSolver component found up the actor's hierarchy.
         public ObiSolver solver
         {
             get { return m_Solver; }
@@ -106,7 +145,7 @@ namespace Obi
         /// </summary>
         public bool isLoaded
         {
-            get { return m_Loaded; }
+            get { return m_Solver != null && m_Loaded; }
         }
 
         /// <summary>
@@ -143,11 +182,29 @@ namespace Obi
                 {
                     m_SurfaceCollisions = value;
                     if (m_Solver != null)
-                        m_Solver.dirtySimplices = true;
+                    {
+                        m_Solver.dirtySimplices |= simplexTypes;
+                    }
                 }
             }
         }
 
+        /// <summary>
+        /// Scale applied to this actor's particle masses.
+        /// </summary>
+        public float massScale
+        {
+            get
+            {
+                return m_MassScale;
+            }
+            set
+            {
+                if (Mathf.Abs(m_MassScale - value) > ObiUtils.epsilon)
+                    SetMassScale(value);
+            }
+        }
+
         /// <summary>
         /// Amount of particles allocated by this actor.
         /// </summary>
@@ -167,7 +224,20 @@ namespace Obi
         {
             get
             {
-               return m_ActiveParticleCount;
+                return m_ActiveParticleCount != null ? m_ActiveParticleCount[0]:0;
+            }
+        }
+
+        /// <summary>
+        /// Buffer of size 1 that contains the amount of active particles in use by this actor.
+        /// Useful to modify the amount of active particles from a compute shader.
+        /// </summary>
+        /// This will always be equal to or smaller than <see cref="particleCount"/>.
+        public ObiNativeIntList activeParticleCountBuffer
+        {
+            get
+            {
+                return m_ActiveParticleCount;
             }
         }
 
@@ -196,13 +266,12 @@ namespace Obi
             }
         }
 
-        /// <summary>
-        /// If true, it means external forces aren't applied to the particles directly. 
-        /// </summary>
-        /// For instance, cloth uses aerodynamic constraints to do so, and fluid uses drag.
-        public virtual bool usesCustomExternalForces
+        public Oni.SimplexType simplexTypes
         {
-            get { return false; }
+            get
+            {
+                return (sourceBlueprint != null) ? sourceBlueprint.simplexTypes : Oni.SimplexType.Point;
+            }
         }
 
         /// <summary>
@@ -265,7 +334,7 @@ namespace Obi
         /// This is mostly used when the actor needs to change some blueprint data at runtime,
         /// and you don't want to change the blueprint asset as this would affect all other actors using it. Tearable cloth and ropes
         /// make use of this.
-        public ObiActorBlueprint blueprint 
+        public ObiActorBlueprint blueprint
         {
             get
             {
@@ -278,6 +347,9 @@ namespace Obi
 
         protected virtual void Awake()
         {
+            m_ActiveParticleCount = new ObiNativeIntList();
+            m_ActiveParticleCount.Add(0);
+
 #if UNITY_EDITOR
 
             // Check if this script's GameObject is in a PrefabStage
@@ -293,8 +365,7 @@ namespace Obi
                 if (GetComponentInParent<ObiSolver>() == null)
                 {
                     // Add our own environment root and move it to the PrefabStage scene
-                    var newParent = new GameObject("ObiSolver (Environment)", typeof(ObiSolver), typeof(ObiLateFixedUpdater));
-                    newParent.GetComponent<ObiLateFixedUpdater>().solvers.Add(newParent.GetComponent<ObiSolver>());
+                    var newParent = new GameObject("ObiSolver (Environment)", typeof(ObiSolver));
                     UnityEngine.SceneManagement.SceneManager.MoveGameObjectToScene(newParent, gameObject.scene);
                     transform.root.parent = newParent.transform;
                 }
@@ -304,6 +375,9 @@ namespace Obi
 
         protected virtual void OnDestroy()
         {
+            m_ActiveParticleCount.Dispose();
+            m_ActiveParticleCount = null;
+
             if (m_BlueprintInstance != null)
                 DestroyImmediate(m_BlueprintInstance);
         }
@@ -315,6 +389,7 @@ namespace Obi
                 solverBatchOffsets[i] = new List<int>();
 
             m_PinConstraints = new ObiPinConstraintsData();
+            m_PinholeConstraints = new ObiPinholeConstraintsData();
 
             // when an actor is enabled, grabs the first solver up its hierarchy,
             // initializes it (if not initialized) and gets added to it.
@@ -330,6 +405,7 @@ namespace Obi
 
         protected virtual void OnValidate()
         {
+            UpdateCollisionMaterials();
         }
 
         private void OnTransformParentChanged()
@@ -345,10 +421,10 @@ namespace Obi
         {
             if (m_Solver != null)
             {
-                if (!m_Solver.AddActor(this))
-                    m_Solver = null;
-                else if (sourceBlueprint != null)
+                if (sourceBlueprint != null)
                     sourceBlueprint.OnBlueprintGenerate += OnBlueprintRegenerate;
+
+                m_Solver.AddActor(this);
             }
         }
 
@@ -359,14 +435,15 @@ namespace Obi
         {
             if (m_Solver != null)
             {
-                m_Solver.RemoveActor(this);
                 if (sourceBlueprint != null)
                     sourceBlueprint.OnBlueprintGenerate -= OnBlueprintRegenerate;
+
+                m_Solver.RemoveActor(this);
             }
         }
 
         /// <summary>
-        /// Forcibly changed the solver in charge of this actor
+        /// Forcibly changes the solver in charge of this actor
         /// </summary>
         /// <param name="newSolver"> The solver we want to put in charge of this actor.</param>  
         /// First it removes the actor from its current solver, then changes the actor's current solver and then readds it to this new solver.
@@ -383,23 +460,75 @@ namespace Obi
             }
         }
 
+        /// <summary>
+        /// Sets the mass of all particles in the actor to their blueprint values, multiplied by a scale factor.
+        /// </summary>
+        /// <param name="scale"> new mass scale.
+        protected void SetMassScale(float scale)
+        {
+            if (Application.isPlaying && isLoaded && particleCount > 0)
+            {
+                scale = Mathf.Max(ObiUtils.epsilon, scale);
+
+                for (int i = 0; i < particleCount; ++i)
+                {
+                    int solverIndex = solverIndices[i];
+
+                    if (m_Solver.invMasses[solverIndex] > 0)
+                        m_Solver.invMasses[solverIndex] = sharedBlueprint.invMasses[i] / scale;
+
+                    if (m_Solver.invRotationalMasses[solverIndex] > 0 && sharedBlueprint.invRotationalMasses != null && i < sharedBlueprint.invRotationalMasses.Length)
+                       m_Solver.invRotationalMasses[solverIndex] = sharedBlueprint.invRotationalMasses[i] / scale;
+                }
+
+                UpdateParticleProperties();
+            }
+        }
+
         protected virtual void OnBlueprintRegenerate(ObiActorBlueprint blueprint)
         {
-            // Reload:
+            // Reload by removing the current blueprint from the solver,
+            // destroying the current blueprint instance if any,
+            // then adding the shared blueprint again.
+
             RemoveFromSolver();
+
+            if (m_BlueprintInstance != null)
+               DestroyImmediate(m_BlueprintInstance);
+
             AddToSolver();
+            
+            OnBlueprintRegenerated?.Invoke(this, blueprint);
         }
 
         protected void UpdateCollisionMaterials()
         {
-            if (m_Solver != null && solverIndices != null)
+            if (isLoaded)
             {
                 int index = m_CollisionMaterial != null ? m_CollisionMaterial.handle.index : -1;
-                for (int i = 0; i < solverIndices.Length; i++)
-                    solver.collisionMaterials[solverIndices[i]] = index;
+                for (int i = 0; i < solverIndices.count; i++)
+                {
+                    if (solverIndices[i] < solver.collisionMaterials.count)
+                        solver.collisionMaterials[solverIndices[i]] = index;
+                }
             }
         }
 
+        public virtual void ProvideDeformableTriangles(ObiNativeIntList deformableTriangles, ObiNativeVector2List deformableUVs)
+        {
+
+        }
+
+        public virtual void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+
+        }
+
+        public virtual int GetDeformableEdgeCount()
+        {
+            return 0;
+        }
+
         /// <summary>
         /// Copies all data (position, velocity, phase, etc) from one particle to another one. 
         /// </summary>
@@ -412,8 +541,8 @@ namespace Obi
         public virtual bool CopyParticle(int actorSourceIndex, int actorDestIndex)
         {
             if (!isLoaded ||
-                actorSourceIndex < 0 || actorSourceIndex >= solverIndices.Length ||
-                actorDestIndex < 0 || actorDestIndex >= solverIndices.Length)
+                actorSourceIndex < 0 || actorSourceIndex >= solverIndices.count ||
+                actorDestIndex < 0 || actorDestIndex >= solverIndices.count)
                 return false;
 
             int sourceIndex = solverIndices[actorSourceIndex];
@@ -421,13 +550,15 @@ namespace Obi
 
             // Copy solver data:
             m_Solver.prevPositions[destIndex] = m_Solver.prevPositions[sourceIndex];
-            m_Solver.renderablePositions[destIndex] = m_Solver.renderablePositions[sourceIndex];
-            m_Solver.startPositions[destIndex] = m_Solver.positions[destIndex] = m_Solver.positions[sourceIndex];
-            m_Solver.startOrientations[destIndex] = m_Solver.orientations[destIndex] = m_Solver.orientations[sourceIndex];
             m_Solver.restPositions[destIndex] = m_Solver.restPositions[sourceIndex];
+            m_Solver.endPositions[destIndex] = m_Solver.startPositions[destIndex] = m_Solver.positions[destIndex] = m_Solver.positions[sourceIndex];
+
+            m_Solver.prevOrientations[destIndex] = m_Solver.prevOrientations[sourceIndex];
             m_Solver.restOrientations[destIndex] = m_Solver.restOrientations[sourceIndex];
+            m_Solver.endOrientations[destIndex] = m_Solver.startOrientations[destIndex] = m_Solver.orientations[destIndex] = m_Solver.orientations[sourceIndex];
+
             m_Solver.velocities[destIndex] = m_Solver.velocities[sourceIndex];
-            m_Solver.angularVelocities[destIndex] = m_Solver.velocities[sourceIndex];
+            m_Solver.angularVelocities[destIndex] = m_Solver.angularVelocities[sourceIndex];
             m_Solver.invMasses[destIndex] = m_Solver.invMasses[sourceIndex];
             m_Solver.invRotationalMasses[destIndex] = m_Solver.invRotationalMasses[sourceIndex];
             m_Solver.principalRadii[destIndex] = m_Solver.principalRadii[sourceIndex];
@@ -445,7 +576,7 @@ namespace Obi
         /// <param name="position"> Position to teleport the particle to, expressed in solver space.</param>
         public void TeleportParticle(int actorIndex, Vector3 position)
         {
-            if (!isLoaded || actorIndex < 0 || actorIndex >= solverIndices.Length)
+            if (!isLoaded || actorIndex < 0 || actorIndex >= solverIndices.count)
                 return;
 
             int solverIndex = solverIndices[actorIndex];
@@ -453,9 +584,8 @@ namespace Obi
             Vector4 delta = (Vector4)position - m_Solver.positions[solverIndex];
             m_Solver.positions[solverIndex] += delta;
             m_Solver.prevPositions[solverIndex] += delta;
-            m_Solver.renderablePositions[solverIndex] += delta;
+            m_Solver.endPositions[solverIndex] += delta;
             m_Solver.startPositions[solverIndex] += delta;
-
         }
 
         /// <summary>
@@ -463,10 +593,10 @@ namespace Obi
         /// </summary>
         /// <param name="position"> World space position to teleport the actor to.</param>
         /// <param name="rotation"> World space rotation to teleport the actor to.</param>
-        public virtual void Teleport(Vector3 position, Quaternion rotation)
+        public virtual Matrix4x4 Teleport(Vector3 position, Quaternion rotation)
         {
             if (!isLoaded)
-                return;
+                return Matrix4x4.identity;
 
             // Subtract current transform position/rotation, then add new world space position/rotation.
             // Lastly, set the transform to the new position/rotation.
@@ -479,18 +609,18 @@ namespace Obi
 
             Quaternion rotOffset = offset.rotation;
 
-            for (int i = 0; i < solverIndices.Length; i++)
+            for (int i = 0; i < solverIndices.count; i++)
             {
                 int solverIndex = solverIndices[i];
 
-                m_Solver.positions[solverIndex] = 
-                m_Solver.prevPositions[solverIndex] = 
-                m_Solver.renderablePositions[solverIndex] = 
+                m_Solver.positions[solverIndex] =
+                m_Solver.prevPositions[solverIndex] =
+                m_Solver.endPositions[solverIndex] =
                 m_Solver.startPositions[solverIndex] = offset.MultiplyPoint3x4(m_Solver.positions[solverIndex]);
 
                 m_Solver.orientations[solverIndex] =
                 m_Solver.prevOrientations[solverIndex] =
-                m_Solver.renderableOrientations[solverIndex] =
+                m_Solver.endOrientations[solverIndex] =
                 m_Solver.startOrientations[solverIndex] = rotOffset * m_Solver.orientations[solverIndex];
 
                 m_Solver.velocities[solverIndex] = Vector4.zero;
@@ -500,33 +630,37 @@ namespace Obi
             transform.position = position;
             transform.rotation = rotation;
 
+            return offset;
         }
 
         protected virtual void SwapWithFirstInactiveParticle(int actorIndex)
         {
             // update solver indices:
-            m_Solver.particleToActor[solverIndices[actorIndex]].indexInActor = m_ActiveParticleCount;
-            m_Solver.particleToActor[solverIndices[m_ActiveParticleCount]].indexInActor = actorIndex;
-
-            solverIndices.Swap(actorIndex, m_ActiveParticleCount);
+            m_Solver.particleToActor[solverIndices[actorIndex]].indexInActor = activeParticleCount;
+            m_Solver.particleToActor[solverIndices[activeParticleCount]].indexInActor = actorIndex;
+            solverIndices.Swap(actorIndex, activeParticleCount);
         }
 
         /// <summary>
         /// Activates one particle.
         /// </summary>
-        /// <param name="actorIndex"> Index in the actor arrays of the particle we will activate.</param>
         /// <returns>
-        /// True if the particle was inactive. False if the particle was already active.
+        /// True if a particle could be activated. False if there are no particles to activate.
         /// </returns> 
         /// This operation preserves the relative order of all particles.
-        public bool ActivateParticle(int actorIndex)
+        public virtual bool ActivateParticle()
         {
-            if (IsParticleActive(actorIndex))
+            if (activeParticleCount >= particleCount)
                 return false;
 
-            SwapWithFirstInactiveParticle(actorIndex);
-            m_ActiveParticleCount++;
+            // set active particle radius W to 1.
+            var radii = m_Solver.principalRadii[solverIndices[activeParticleCount]];
+            radii.w = 1;
+            m_Solver.principalRadii[solverIndices[activeParticleCount]] = radii;
+
+            m_ActiveParticleCount[0]++;
             m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices |= simplexTypes;
 
             return true;
         }
@@ -540,14 +674,21 @@ namespace Obi
         /// </returns> 
         /// This operation does not preserve the relative order of other particles, because the last active particle will
         /// swap positions with the particle being deactivated.
-        public bool DeactivateParticle(int actorIndex)
+        public virtual bool DeactivateParticle(int actorIndex)
         {
             if (!IsParticleActive(actorIndex))
                 return false;
 
-            m_ActiveParticleCount--;
+            m_ActiveParticleCount[0]--;
+
+            // set inactive particle W to zero, this allows renderers to ignore it.
+            var radii = m_Solver.principalRadii[solverIndices[actorIndex]];
+            radii.w = 0;
+            m_Solver.principalRadii[solverIndices[actorIndex]] = radii;
+
             SwapWithFirstInactiveParticle(actorIndex);
             m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices |= simplexTypes;
 
             return true;
         }
@@ -559,9 +700,9 @@ namespace Obi
         /// <returns>
         /// True if the particle is active. False if the particle is inactive.
         /// </returns> 
-        public bool IsParticleActive(int actorIndex)
+        public virtual bool IsParticleActive(int actorIndex)
         {
-            return actorIndex < m_ActiveParticleCount;
+            return actorIndex < activeParticleCount;
         }
 
         /// <summary>
@@ -581,6 +722,27 @@ namespace Obi
             }
         }
 
+        /// <summary>
+        /// Updates particle phases in the solver at runtime, including or removing the self-collision flag.
+        /// </summary>
+        public virtual void SetDirectionalCollisions(bool dfCollisions)
+        {
+            if (m_Solver != null && Application.isPlaying && isLoaded)
+            {
+                for (int i = 0; i < particleCount; i++)
+                {
+                    var norm = m_Solver.normals[solverIndices[i]];
+
+                    if (dfCollisions)
+                        norm.w = sharedBlueprint.restNormals[i].w;
+                    else
+                        norm.w = 0;
+
+                    m_Solver.normals[solverIndices[i]] = norm;
+                }
+            }
+        }
+
         /// <summary>
         /// Updates particle phases in the solver at runtime, including or removing the one-sided flag.
         /// </summary>
@@ -604,7 +766,7 @@ namespace Obi
         public void SetSimplicesDirty()
         {
             if (m_Solver != null)
-                m_Solver.dirtySimplices = true;
+                m_Solver.dirtySimplices |= simplexTypes;
         }
 
         /// <summary>
@@ -617,7 +779,16 @@ namespace Obi
         public void SetConstraintsDirty(Oni.ConstraintType constraintType)
         {
             if (m_Solver != null)
-                m_Solver.dirtyConstraints |= (1 << (int)constraintType);
+                m_Solver.dirtyConstraints |= 1 << (int)constraintType;
+        }
+
+        /// <summary>
+        /// Marks rendering dirty.
+        /// </summary>
+        public void SetRenderingDirty(Oni.RenderingSystemType rendererType)
+        {
+            if (m_Solver != null)
+                m_Solver.dirtyRendering |= (int)rendererType;
         }
 
         /// <summary>  
@@ -633,6 +804,8 @@ namespace Obi
             // pin constraints are a special case, because they're not stored in a blueprint. They are created at runtime at stored in the actor itself.
             if (type == Oni.ConstraintType.Pin)
                 return m_PinConstraints;
+            if (type == Oni.ConstraintType.Pinhole)
+                return m_PinholeConstraints;
 
             if (sharedBlueprint != null)
                 return sharedBlueprint.GetConstraintsByType(type);
@@ -697,9 +870,34 @@ namespace Obi
             return Quaternion.identity;
         }
 
-        /**
-         *  
-         */
+
+        /// <summary>  
+        /// Given a solver particle index, returns the rest position of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The position of a given particle in world space.
+        /// </returns>
+        public Vector3 GetParticleRestPosition(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.restPositions[solverIndex];
+            return Vector3.zero;
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the rest orientation of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The orientation of a given particle in world space.
+        /// </returns>
+        public Quaternion GetParticleRestOrientation(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.restOrientations[solverIndex];
+            return Quaternion.identity;
+        }
 
         /// <summary>  
         /// Given a solver particle index, returns the anisotropic frame of that particle in world space.
@@ -712,19 +910,17 @@ namespace Obi
         {
             if (isLoaded && usesAnisotropicParticles)
             {
-                int baseIndex = solverIndex * 3;
+                b1 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.right);
+                b2 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.up);
+                b3 = m_Solver.transform.TransformDirection(m_Solver.renderableOrientations[solverIndex] * Vector3.forward);
 
-                b1 = m_Solver.transform.TransformDirection(m_Solver.anisotropies[baseIndex]);
-                b2 = m_Solver.transform.TransformDirection(m_Solver.anisotropies[baseIndex + 1]);
-                b3 = m_Solver.transform.TransformDirection(m_Solver.anisotropies[baseIndex + 2]);
-
-                b1[3] = m_Solver.maxScale * m_Solver.anisotropies[baseIndex][3];
-                b2[3] = m_Solver.maxScale * m_Solver.anisotropies[baseIndex + 1][3];
-                b3[3] = m_Solver.maxScale * m_Solver.anisotropies[baseIndex + 2][3];
+                b1[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][0];
+                b2[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][1];
+                b3[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][2];
             }
             else
             {
-                b1[3] = b2[3] = b3[3] = m_Solver.maxScale * m_Solver.principalRadii[solverIndex][0];
+                b1[3] = b2[3] = b3[3] = m_Solver.maxScale * m_Solver.renderableRadii[solverIndex][0];
             }
         }
 
@@ -805,6 +1001,8 @@ namespace Obi
                     m_Solver.invMasses[solverIndex] = invMass;
                     m_Solver.invRotationalMasses[solverIndex] = invMass;
                 }
+
+                UpdateParticleProperties();
             }
         }
 
@@ -848,54 +1046,23 @@ namespace Obi
         /// <param name="forceMode"> Type of "force" applied.</param>
         public void AddForce(Vector3 force, ForceMode forceMode)
         {
+            if (force.sqrMagnitude > Mathf.Epsilon)
+                bufferedForces.dirty = true;
 
-            Vector3 com;
-            float mass = GetMass(out com);
-
-            if (!float.IsInfinity(mass))
+            switch (forceMode)
             {
-
-                Vector4 bodyForce = force;
-
-                switch (forceMode)
-                {
-                    case ForceMode.Force:
-                        {
-
-                            bodyForce /= mass;
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                                m_Solver.externalForces[solverIndices[i]] += bodyForce / m_Solver.invMasses[solverIndices[i]];
-
-                        }
-                        break;
-                    case ForceMode.Acceleration:
-                        {
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                                m_Solver.externalForces[solverIndices[i]] += bodyForce / m_Solver.invMasses[solverIndices[i]];
-
-                        }
-                        break;
-                    case ForceMode.Impulse:
-                        {
-
-                            bodyForce /= mass;
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                                m_Solver.externalForces[solverIndices[i]] += bodyForce / m_Solver.invMasses[solverIndices[i]] / Time.fixedDeltaTime;
-
-                        }
-                        break;
-                    case ForceMode.VelocityChange:
-                        {
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                                m_Solver.externalForces[solverIndices[i]] += bodyForce / m_Solver.invMasses[solverIndices[i]] / Time.fixedDeltaTime;
-
-                        }
-                        break;
-                }
+                case ForceMode.Force:
+                    bufferedForces.force += (Vector4)force;
+                    break;
+                case ForceMode.Acceleration:
+                    bufferedForces.acceleration += (Vector4)force;
+                    break;
+                case ForceMode.Impulse:
+                    bufferedForces.impulse += (Vector4)force;
+                    break;
+                case ForceMode.VelocityChange:
+                    bufferedForces.velChange += (Vector4)force;
+                    break;
             }
         }
 
@@ -906,97 +1073,55 @@ namespace Obi
         /// <param name="forceMode"> Type of "torque" applied.</param>
         public void AddTorque(Vector3 force, ForceMode forceMode)
         {
+            if (force.sqrMagnitude > Mathf.Epsilon)
+                bufferedForces.dirty = true;
 
-            Vector3 com;
-            float mass = GetMass(out com);
-
-            if (!float.IsInfinity(mass))
+            switch (forceMode)
             {
-
-                Vector3 bodyForce = force;
-
-                switch (forceMode)
-                {
-                    case ForceMode.Force:
-                        {
-
-                            bodyForce /= mass;
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                            {
-
-                                Vector3 v = Vector3.Cross(bodyForce / m_Solver.invMasses[solverIndices[i]], (Vector3)m_Solver.positions[solverIndices[i]] - com);
-                                m_Solver.externalForces[solverIndices[i]] += new Vector4(v.x, v.y, v.z, 0);
-                            }
-
-                        }
-                        break;
-                    case ForceMode.Acceleration:
-                        {
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                            {
-
-                                Vector3 v = Vector3.Cross(bodyForce / m_Solver.invMasses[solverIndices[i]], (Vector3)m_Solver.positions[solverIndices[i]] - com);
-                                m_Solver.externalForces[solverIndices[i]] += new Vector4(v.x, v.y, v.z, 0);
-                            }
-
-                        }
-                        break;
-                    case ForceMode.Impulse:
-                        {
-
-                            bodyForce /= mass;
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                            {
-
-                                Vector3 v = Vector3.Cross(bodyForce / m_Solver.invMasses[solverIndices[i]] / Time.fixedDeltaTime, (Vector3)m_Solver.positions[solverIndices[i]] - com);
-                                m_Solver.externalForces[solverIndices[i]] += new Vector4(v.x, v.y, v.z, 0);
-                            }
-
-                        }
-                        break;
-                    case ForceMode.VelocityChange:
-                        {
-
-                            for (int i = 0; i < solverIndices.Length; ++i)
-                            {
-
-                                Vector3 v = Vector3.Cross(bodyForce / m_Solver.invMasses[solverIndices[i]] / Time.fixedDeltaTime, (Vector3)m_Solver.positions[solverIndices[i]] - com);
-                                m_Solver.externalForces[solverIndices[i]] += new Vector4(v.x, v.y, v.z, 0);
-                            }
-
-                        }
-                        break;
-                }
+                case ForceMode.Force:
+                        bufferedForces.angularForce += (Vector4)force;
+                    break;
+                case ForceMode.Acceleration:
+                        bufferedForces.angularAcceleration += (Vector4)force;
+                    break;
+                case ForceMode.Impulse:
+                        bufferedForces.angularImpulse += (Vector4)force;
+                    break;
+                case ForceMode.VelocityChange:
+                        bufferedForces.angularVelChange += (Vector4)force;
+                    break;
             }
         }
 
         #region Blueprints
 
-        private void LoadBlueprintParticles(ObiActorBlueprint bp, int groupID)
+        private void LoadBlueprintParticles(ObiActorBlueprint bp)
         {
 
             Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
             Quaternion l2sRotation = l2sTransform.rotation;
 
-            for (int i = 0; i < solverIndices.Length; i++)
+            for (int i = 0; i < solverIndices.count; i++)
             {
                 int k = solverIndices[i];
 
                 if (bp.positions != null && i < bp.positions.Length)
                 {
-                    m_Solver.startPositions[k] = m_Solver.prevPositions[k] = m_Solver.positions[k] = l2sTransform.MultiplyPoint3x4(bp.positions[i]);
+                    m_Solver.endPositions[k] = m_Solver.startPositions[k] = m_Solver.prevPositions[k] = m_Solver.positions[k] = l2sTransform.MultiplyPoint3x4(bp.positions[i]);
                     m_Solver.renderablePositions[k] = l2sTransform.MultiplyPoint3x4(bp.positions[i]);
                 }
 
                 if (bp.orientations != null && i < bp.orientations.Length)
                 {
-                    m_Solver.startOrientations[k] = m_Solver.prevOrientations[k] = m_Solver.orientations[k] = l2sRotation * bp.orientations[i];
+                    m_Solver.endOrientations[k] = m_Solver.startOrientations[k] = m_Solver.prevOrientations[k] = m_Solver.orientations[k] = l2sRotation * bp.orientations[i];
                     m_Solver.renderableOrientations[k] = l2sRotation * bp.orientations[i];
                 }
 
+                // for softbodies, xyz values store SDF normal in particle's local space: needs to be transformed using particle orientation during simulation.
+                // w value stores sparse SDF if < 0.
+                if (bp.restNormals != null && i < bp.restNormals.Length)
+                    m_Solver.normals[k] = bp.restNormals[i]; 
+
                 if (bp.restPositions != null && i < bp.restPositions.Length)
                     m_Solver.restPositions[k] = bp.restPositions[i];
 
@@ -1010,13 +1135,22 @@ namespace Obi
                     m_Solver.angularVelocities[k] = l2sTransform.MultiplyVector(bp.angularVelocities[i]);
 
                 if (bp.invMasses != null && i < bp.invMasses.Length)
-                    m_Solver.invMasses[k] = bp.invMasses[i];
+                    m_Solver.invMasses[k] = bp.invMasses[i] / m_MassScale;
 
                 if (bp.invRotationalMasses != null && i < bp.invRotationalMasses.Length)
-                    m_Solver.invRotationalMasses[k] = bp.invRotationalMasses[i];
+                    m_Solver.invRotationalMasses[k] = bp.invRotationalMasses[i] / m_MassScale;
 
                 if (bp.principalRadii != null && i < bp.principalRadii.Length)
-                    m_Solver.principalRadii[k] = bp.principalRadii[i];
+                {
+                    Vector4 radii = bp.principalRadii[i];
+                    radii.w = i < sourceBlueprint.activeParticleCount ? 1 : 0;
+                    m_Solver.principalRadii[k] = radii;
+                }
+                else
+                {
+                    // need inactive emitter particles to zero as their flag.
+                    m_Solver.principalRadii[k] = Vector4.zero; 
+                }
 
                 if (bp.filters != null && i < bp.filters.Length)
                     m_Solver.filters[k] = bp.filters[i];
@@ -1027,9 +1161,12 @@ namespace Obi
                 m_Solver.phases[k] = ObiUtils.MakePhase(groupID, 0);
             }
 
-            m_ActiveParticleCount = sourceBlueprint.activeParticleCount;
+            m_ActiveParticleCount[0] = sourceBlueprint.activeParticleCount;
             m_Solver.dirtyActiveParticles = true;
-            m_Solver.dirtySimplices = true;
+            m_Solver.dirtyDeformableTriangles = true;
+            m_Solver.dirtyDeformableEdges = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+            m_Solver.dirtyConstraints |= ~0;
 
             // Push collision materials:
             UpdateCollisionMaterials();
@@ -1039,9 +1176,12 @@ namespace Obi
         private void UnloadBlueprintParticles()
         {
             // Update active particles. 
-            m_ActiveParticleCount = 0;
+            m_ActiveParticleCount[0] = 0;
             m_Solver.dirtyActiveParticles = true;
-            m_Solver.dirtySimplices = true;
+            m_Solver.dirtyDeformableTriangles = true;
+            m_Solver.dirtyDeformableEdges = true;
+            m_Solver.dirtySimplices |= simplexTypes;
+            m_Solver.dirtyConstraints |= ~0;
         }
 
         /// <summary>  
@@ -1061,12 +1201,12 @@ namespace Obi
                 {
                     int solverIndex = solverIndices[i];
 
-                    solver.renderablePositions[solverIndex] = solver.positions[solverIndex] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
+                    solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
                     solver.velocities[solverIndex] = l2sTransform.MultiplyVector(sourceBlueprint.velocities[i]);
 
                     if (usesOrientedParticles)
                     {
-                        solver.renderableOrientations[solverIndex] = solver.orientations[solverIndex] = l2sRotation * sourceBlueprint.orientations[i];
+                        solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = l2sRotation * sourceBlueprint.orientations[i];
                         solver.angularVelocities[solverIndex] = l2sTransform.MultiplyVector(sourceBlueprint.angularVelocities[i]);
                     }
                 }
@@ -1084,36 +1224,39 @@ namespace Obi
         /// <param name="bp"> The blueprint that we want to fill with current particle data.</param>
         /// Note that this will not resize the blueprint's data arrays, and that it does not perform range checking. For this reason,
         /// you must supply a blueprint large enough to store all particles' data.
-        public void SaveStateToBlueprint(ObiActorBlueprint bp)
+        public bool SaveStateToBlueprint(ObiActorBlueprint bp)
         {
-            if (bp == null)
-                return;
+            if (bp == null || !m_Loaded)
+                return false;
 
             Matrix4x4 l2sTransform = actorLocalToSolverMatrix.inverse;
             Quaternion l2sRotation = l2sTransform.rotation;
 
-            for (int i = 0; i < solverIndices.Length; i++)
+            // blueprint might have been regenerated, and reduced its size:
+            for (int i = 0; i < solverIndices.count; i++)
             {
                 int k = solverIndices[i];
 
-                if (m_Solver.positions != null && k < m_Solver.positions.count)
+                if (bp.positions != null && m_Solver.positions != null && k < m_Solver.positions.count && i < bp.positions.Length)
                     bp.positions[i] = l2sTransform.MultiplyPoint3x4(m_Solver.positions[k]);
 
-                if (m_Solver.velocities != null && k < m_Solver.velocities.count)
+                if (bp.velocities != null && m_Solver.velocities != null && k < m_Solver.velocities.count && i < bp.velocities.Length)
                     bp.velocities[i] = l2sTransform.MultiplyVector(m_Solver.velocities[k]);
             }
+
+            return true;
         }
 
         protected void StoreState()
         {
-            DestroyImmediate(state);
-            state = Instantiate<ObiActorBlueprint>(sourceBlueprint);
-            SaveStateToBlueprint(state);
+            DestroyImmediate(m_State);
+            m_State = Instantiate(sourceBlueprint);
+            SaveStateToBlueprint(m_State);
         }
 
         public void ClearState()
         {
-            DestroyImmediate(state);
+            DestroyImmediate(m_State);
         }
 
         #endregion
@@ -1121,104 +1264,119 @@ namespace Obi
         #region Solver callbacks
 
         /// <summary>  
-        /// Loads this actor's blueprint into a given solver. Automatically called by <see cref="ObiSolver"/>.
+        /// Loads this actor's blueprint into the current solver. Automatically called by <see cref="ObiSolver"/>.
         /// </summary> 
-        public virtual void LoadBlueprint(ObiSolver solver)
+        internal virtual void LoadBlueprint()
         {
             var bp = sharedBlueprint;
 
             // in case we have temporary state, load that instead of the original blueprint.
             if (Application.isPlaying)
             {
-                bp = state != null ? state : sourceBlueprint;
+                bp = m_State != null ? m_State : sourceBlueprint;
             }
 
             m_Loaded = true;
 
-            LoadBlueprintParticles(bp, solver.actors.Count);
-            solver.dirtyConstraints |= ~0;
+            LoadBlueprintParticles(bp);
 
-            if (OnBlueprintLoaded != null)
-                OnBlueprintLoaded(this, null);
+            OnBlueprintLoaded?.Invoke(this, bp);
         }
 
         /// <summary>  
         /// Unloads this actor's blueprint from a given solver. Automatically called by <see cref="ObiSolver"/>.
         /// </summary> 
-        public virtual void UnloadBlueprint(ObiSolver solver)
+        internal virtual void UnloadBlueprint()
         {
             // instantiate blueprint and store current state in the instance:
             if (Application.isPlaying)
-            {
                 StoreState();
-            }
 
             m_Loaded = false;
 
             // unload the blueprint.
-            solver.dirtyConstraints |= ~0;
             UnloadBlueprintParticles();
 
-            if (OnBlueprintUnloaded != null)
-                OnBlueprintUnloaded(this, null);
+            OnBlueprintUnloaded?.Invoke(this, sharedBlueprint);
         }
 
-        public virtual void PrepareFrame()
+        public virtual void SimulationStart(float timeToSimulate, float substepTime)
         {
-            if (OnPrepareFrame != null)
-                OnPrepareFrame(this);
+            OnSimulationStart?.Invoke(this, timeToSimulate, substepTime);
+
+            // Apply any buffered forces/torques:
+            if (bufferedForces.dirty)
+            {
+                float mass = GetMass(out Vector3 com);
+
+                if (!float.IsInfinity(mass))
+                {
+                    Vector4 accum;
+                    foreach (var p in solverIndices)
+                    {
+                        accum = bufferedForces.force / m_Solver.invMasses[p] / mass;
+                        accum += bufferedForces.acceleration / m_Solver.invMasses[p];
+                        accum += bufferedForces.impulse / m_Solver.invMasses[p] / mass / timeToSimulate;
+                        accum += bufferedForces.velChange / m_Solver.invMasses[p] / timeToSimulate;
+                        m_Solver.externalForces[p] += accum;
+
+                        accum = bufferedForces.angularForce / m_Solver.invMasses[p] / mass;
+                        accum += bufferedForces.angularAcceleration / m_Solver.invMasses[p];
+                        accum += bufferedForces.angularImpulse / m_Solver.invMasses[p] / mass / timeToSimulate;
+                        accum += bufferedForces.angularVelChange / m_Solver.invMasses[p] / timeToSimulate;
+                        m_Solver.externalForces[p] += (Vector4)Vector3.Cross(accum, (Vector3)m_Solver.positions[p] - com);
+                    }
+                }
+
+                bufferedForces.Clear();
+            }
         }
 
-        public virtual void PrepareStep(float stepTime)
+        public virtual void CollisionDetectionStart(float simulatedTime, float substepTime)
         {
-            if (OnPrepareStep != null)
-                OnPrepareStep(this, stepTime);
+            OnCollisionDetectionStart?.Invoke(this, simulatedTime, substepTime);
         }
 
-        public virtual void BeginStep(float stepTime)
+        public virtual void SubstepsStart(float simulatedTime, float substepTime)
         {
-            if (OnBeginStep != null)
-                OnBeginStep(this,stepTime); 
+            OnSubstepsStart?.Invoke(this, simulatedTime, substepTime);
         }
 
-        public virtual void Substep(float substepTime)
+        public virtual void SimulationEnd(float simulatedTime, float substepTime)
         {
-            if (OnSubstep != null)
-                OnSubstep(this,substepTime);
+            OnSimulationEnd?.Invoke(this, simulatedTime, substepTime);
         }
 
-        public virtual void EndStep(float substepTime)
+        public virtual void RequestReadback()
         {
-            if (OnEndStep != null)
-                OnEndStep(this,substepTime);
+            OnRequestReadback?.Invoke(this);
         }
 
-        public virtual void Interpolate() 
+        public virtual void Interpolate(float simulatedTime, float substepTime)
         {
-            // Update particle renderable positions/orientations in the solver:
+            // Update particle positions/orientations in the solver:
             if (!Application.isPlaying && isLoaded)
             {
                 Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
                 Quaternion l2sRotation = l2sTransform.rotation;
 
-                for (int i = 0; i < solverIndices.Length; i++)
+                for (int i = 0; i < solverIndices.count; i++)
                 {
                     int k = solverIndices[i];
 
-                    if (sourceBlueprint.positions != null && i < sourceBlueprint.positions.Length)
+                    if (sourceBlueprint.positions != null && i < sourceBlueprint.positions.Length) 
                     {
-                        m_Solver.renderablePositions[k] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
+                        m_Solver.renderablePositions[k] = m_Solver.positions[k] = m_Solver.startPositions[k] = m_Solver.endPositions[k] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
                     }
 
                     if (sourceBlueprint.orientations != null && i < sourceBlueprint.orientations.Length)
                     {
-                        m_Solver.renderableOrientations[k] = l2sRotation * sourceBlueprint.orientations[i];
+                        m_Solver.renderableOrientations[k] = m_Solver.orientations[k] = m_Solver.startOrientations[k] = m_Solver.endOrientations[k] = l2sRotation * sourceBlueprint.orientations[i];
                     }
                 }
             }
 
-            if (OnInterpolate != null)
-                OnInterpolate(this);
+            OnInterpolate?.Invoke(this, simulatedTime, substepTime);
         }
 
         public virtual void OnSolverVisibilityChanged(bool visible)
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
index 0c4b373cb..6a94fc9db 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
@@ -10,7 +10,7 @@ namespace Obi
 {
     public class BurstBackend : IObiBackend
     {
-#region Solver
+        #region Solver
         public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
         {
             return new BurstSolverImpl(solver);
@@ -20,8 +20,7 @@ namespace Obi
             if (solver != null)
                 solver.Destroy();
         }
-#endregion
-
+        #endregion
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
index d25a5ba29..baaa099ab 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
@@ -39,7 +39,9 @@ namespace Obi
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
         {
-            return new float4((math.mul(rotation, math.inverse(prevRotation)).value * 2.0f / dt).xyz, 0);
+            quaternion deltaq = math.mul(rotation, math.inverse(prevRotation));
+            float sign = deltaq.value.w >= 0 ? 1 : -1;
+            return new float4(sign * deltaq.value.xyz * 2.0f / dt, 0);
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
index 189ccdd8b..df3caa35c 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
@@ -5,22 +5,16 @@ namespace Obi
 {
     public class BurstJobHandle : IObiJobHandle
     {
-        private JobHandle handle = new JobHandle();
-
-        public BurstJobHandle SetHandle(JobHandle newHandle)
-        {
-            handle = newHandle;
-            return this;
-        }
+        public JobHandle jobHandle { get; set; } = new JobHandle();
 
         public void Complete()
         {
-            handle.Complete();
+            jobHandle.Complete();
         }
 
         public void Release()
         {
-            handle = new JobHandle();
+            jobHandle = new JobHandle();
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
index e333ae55d..e683dce37 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
@@ -1,16 +1,17 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using Unity.Collections;
-using Unity.Jobs;
-using Unity.Mathematics;
-using Unity.Burst;
-using System.Runtime.CompilerServices;
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Runtime.CompilerServices;
 using Unity.Collections.LowLevel.Unsafe;
+using System.Threading;
 
-namespace Obi
-{
+namespace Obi
+{
     public static class BurstMath
     {
 
@@ -19,23 +20,83 @@ namespace Obi
         public const float one = 1;
         public static readonly float golden = (math.sqrt(5.0f) + 1) / 2.0f;
 
-        // multiplies a column vector by a row vector.
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float3x3 multrnsp(float4 column, float4 row)
+        public static unsafe void AddRange<T, U>(this NativeList<T> dst, U[] array) where T : unmanaged where U : unmanaged
         {
-            return new float3x3(column[0] * row[0], column[0] * row[1], column[0] * row[2],
-                                column[1] * row[0], column[1] * row[1], column[1] * row[2],
-                                column[2] * row[0], column[2] * row[1], column[2] * row[2]);
+            var tsize = sizeof(T);
+            var usize = sizeof(U);
+
+            if (tsize == usize)
+            {
+                int dstIndex = dst.Length;
+                dst.ResizeUninitialized(dst.Length + array.Length);
+
+                fixed (U* srcPtr = array)
+                {
+                    var dstPtr = (T*)dst.GetUnsafePtr() + dstIndex;
+                    UnsafeUtility.MemCpy(dstPtr, srcPtr, usize * array.Length);
+                }
+            }
+        }
+
+        public static unsafe void AddReplicate<T, U>(this NativeList<T> dst, U value, int length) where T : unmanaged where U : unmanaged
+        {
+            var tsize = sizeof(T);
+            var usize = sizeof(U);
+
+            if (tsize == usize)
+            {
+                int dstIndex = dst.Length;
+                dst.ResizeUninitialized(dst.Length + length);
+
+                var dstPtr = (T*)dst.GetUnsafePtr() + dstIndex;
+                var srcPtr = UnsafeUtility.AddressOf(ref value);
+                UnsafeUtility.MemCpyReplicate(dstPtr, srcPtr, tsize, length);
+            }
+        }
+
+        public static float AtomicAdd(ref float location, float value)
+        {
+            float newCurrentValue = location;
+            while (true)
+            {
+                float currentValue = newCurrentValue;
+                float newValue = currentValue + value;
+                newCurrentValue = Interlocked.CompareExchange(ref location, newValue, currentValue);
+                if (newCurrentValue.Equals(currentValue))
+                    return newValue;
+            }
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public unsafe static void AtomicAdd(NativeArray<float4> array, int p, float4 data)
+        {
+            float4* arr = (float4*)array.GetUnsafePtr();
+            AtomicAdd(ref arr[p].x, data.x);
+            AtomicAdd(ref arr[p].y, data.y);
+            AtomicAdd(ref arr[p].z, data.z);
+            AtomicAdd(ref arr[p].w, data.w);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public unsafe static void AtomicAdd(NativeArray<float> array, int p, float data)
+        {
+            float* arr = (float*)array.GetUnsafePtr();
+            AtomicAdd(ref arr[p], data);
         }
 
         // multiplies a column vector by a row vector.
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float4x4 multrnsp4(float4 column, float4 row)
+        public static float3x3 multrnsp(in float4 column, in float4 row)
         {
-            return new float4x4(column[0] * row[0], column[0] * row[1], column[0] * row[2], 0,
-                                column[1] * row[0], column[1] * row[1], column[1] * row[2], 0,
-                                column[2] * row[0], column[2] * row[1], column[2] * row[2], 0,
-                                0, 0, 0, 1);
+            return new float3x3(column.xyz * row[0], column.xyz * row[1], column.xyz * row[2]);
+        }
+
+        // multiplies a column vector by a row vector.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 multrnsp4(in float4 column, float4 row)
+        {
+            row[3] = 0;
+            return new float4x4(column * row[0], column * row[1], column * row[2], float4.zero);
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -47,6 +108,33 @@ namespace Obi
             return math.dot(onto, vector) * onto / len;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float3 project(this float3 vector, float3 onto)
+        {
+            float len = math.lengthsq(onto);
+            if (len < epsilon)
+                return float3.zero;
+            return math.dot(onto, vector) * onto / len;
+        }
+
+        /*[MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetInvParticleInertiaTensor(float4 principalRadii, float invRotationalMass)
+        {
+            float4 sqrRadii = principalRadii * principalRadii;
+            return new float4(5 * invRotationalMass / math.max(new float3(sqrRadii[1] + sqrRadii[2],
+                                                                          sqrRadii[0] + sqrRadii[2],
+                                                                          sqrRadii[0] + sqrRadii[1]), epsilon), 0);
+        }*/
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleInertiaTensor(float4 principalRadii, float invRotationalMass)
+        {
+            float4 sqrRadii = principalRadii * principalRadii;
+            return 0.2f / (invRotationalMass + epsilon) * new float4(sqrRadii[1] + sqrRadii[2],
+                                                                     sqrRadii[0] + sqrRadii[2],
+                                                                     sqrRadii[0] + sqrRadii[1], 0);
+        }
+
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float4x4 TransformInertiaTensor(float4 tensor, quaternion rotation)
         {
@@ -83,30 +171,41 @@ namespace Obi
                                                          NativeArray<BurstRigidbody> rigidbodies,
                                                          NativeArray<float4> linearDeltas,
                                                          NativeArray<float4> angularDeltas,
-                                                         BurstAffineTransform solverToWorld) 
+                                                         BurstInertialFrame solverToWorld) 
         {
             float4 linear  = rigidbodies[rigidbodyIndex].velocity + linearDeltas[rigidbodyIndex];
             float4 angular = rigidbodies[rigidbodyIndex].angularVelocity + angularDeltas[rigidbodyIndex];
-            float4 r = solverToWorld.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+            float4 r = solverToWorld.frame.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
 
-            // Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
-            // point to world space, and convert the resulting velocity back to solver space.
-            return solverToWorld.InverseTransformVector(linear + new float4(math.cross(angular.xyz, r.xyz), 0));
+            // calculate rigidbody velocity:
+            float4 wsRigidbodyVelocity = linear + new float4(math.cross(angular.xyz, r.xyz), 0);
+
+            // calculate solver velocity:
+            float4 wsSolverVelocity = solverToWorld.velocity + new float4(math.cross(solverToWorld.angularVelocity.xyz, point.xyz), 0);
+
+            // convert the resulting velocity back to solver space:
+            return solverToWorld.frame.InverseTransformVector(wsRigidbodyVelocity - wsSolverVelocity);
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
                                                          float4 point,
                                                          NativeArray<BurstRigidbody> rigidbodies,
-                                                         BurstAffineTransform solverToWorld)
+                                                         BurstInertialFrame solverToWorld)
         {
             float4 linear = rigidbodies[rigidbodyIndex].velocity;
             float4 angular = rigidbodies[rigidbodyIndex].angularVelocity;
-            float4 r = solverToWorld.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+            float4 r = solverToWorld.frame.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
+
+            // calculate rigidbody velocity:
+            float4 wsRigidbodyVelocity = linear + new float4(math.cross(angular.xyz, r.xyz), 0);
+
+            // calculate solver velocity:
+            float4 wsSolverVelocity = solverToWorld.velocity + new float4(math.cross(solverToWorld.angularVelocity.xyz, point.xyz), 0);
 
             // Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
             // point to world space, and convert the resulting velocity back to solver space.
-            return solverToWorld.InverseTransformVector(linear + new float4(math.cross(angular.xyz, r.xyz), 0));
+            return solverToWorld.frame.InverseTransformVector(wsRigidbodyVelocity - wsSolverVelocity);
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -120,8 +219,12 @@ namespace Obi
         {
             float4 impulseWS = solverToWorld.TransformVector(impulse);
             float4 r = solverToWorld.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
-            linearDeltas[rigidbodyIndex]  += rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
-            angularDeltas[rigidbodyIndex] += math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(r.xyz, impulseWS.xyz), 0));
+
+            float4 linearDelta = rigidbodies[rigidbodyIndex].inverseMass * impulseWS;
+            float4 angularDelta = math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(r.xyz, impulseWS.xyz), 0));
+
+            AtomicAdd(linearDeltas, rigidbodyIndex, linearDelta);
+            AtomicAdd(angularDeltas, rigidbodyIndex, angularDelta);
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -137,7 +240,7 @@ namespace Obi
 
             // convert quaternion delta to angular acceleration:
             quaternion newRotation = math.normalize(new quaternion(rotationWS.value + deltaWS.value));
-            angularDeltas[rigidbodyIndex] += BurstIntegration.DifferentiateAngular(newRotation, rotationWS, dt);
+            AtomicAdd(angularDeltas, rigidbodyIndex, BurstIntegration.DifferentiateAngular(newRotation, rotationWS, dt));
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -147,6 +250,15 @@ namespace Obi
             if (dot < 0) normal -= 2 * dot * forward;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void OneSidedNormal2(float4 xij, ref float4 nij)
+        {
+            float dot = math.dot(xij.xyz, nij.xyz);
+            if (dot < 0)
+                nij = xij - 2 * dot * nij;
+            else nij = xij;
+        }
+
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float EllipsoidRadius(float4 normSolverDirection, quaternion orientation, float3 radii)
         {
@@ -157,15 +269,20 @@ namespace Obi
 
         public static quaternion ExtractRotation(float4x4 matrix, quaternion rotation, int iterations)
         {
-            float4x4 R;
+            return ExtractRotation((float3x3)matrix, rotation, iterations);
+        }
+
+        public static quaternion ExtractRotation(float3x3 matrix, quaternion rotation, int iterations)
+        {
+            float3x3 R;
             for (int i = 0; i < iterations; ++i)
             {
-                R = rotation.toMatrix();
-                float3 omega = (math.cross(R.c0.xyz, matrix.c0.xyz) + math.cross(R.c1.xyz, matrix.c1.xyz) + math.cross(R.c2.xyz, matrix.c2.xyz)) /
-                               (math.abs(math.dot(R.c0.xyz, matrix.c0.xyz) + math.dot(R.c1.xyz, matrix.c1.xyz) + math.dot(R.c2.xyz, matrix.c2.xyz)) + BurstMath.epsilon);
+                R = rotation.toMatrix3();
+                float3 omega = (math.cross(R.c0, matrix.c0) + math.cross(R.c1, matrix.c1) + math.cross(R.c2, matrix.c2)) /
+                               (math.abs(math.dot(R.c0, matrix.c0) + math.dot(R.c1, matrix.c1) + math.dot(R.c2, matrix.c2)) + epsilon);
 
                 float w = math.length(omega);
-                if (w < BurstMath.epsilon)
+                if (w < epsilon)
                     break;
 
                 rotation = math.normalize(math.mul(quaternion.AxisAngle((1.0f / w) * omega, w), rotation));
@@ -203,6 +320,25 @@ namespace Obi
                                 0, 0, 0, 1);
         }
 
+        public static float3x3 toMatrix3(this quaternion q)
+        {
+            float xx = q.value.x * q.value.x;
+            float xy = q.value.x * q.value.y;
+            float xz = q.value.x * q.value.z;
+            float xw = q.value.x * q.value.w;
+
+            float yy = q.value.y * q.value.y;
+            float yz = q.value.y * q.value.z;
+            float yw = q.value.y * q.value.w;
+
+            float zz = q.value.z * q.value.z;
+            float zw = q.value.z * q.value.w;
+
+            return new float3x3(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw),
+                                2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw),
+                                2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy));
+        }
+
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float4x4 asDiagonal(this float4 v)
         {
@@ -212,6 +348,11 @@ namespace Obi
                                 0, 0, 0, v.w);
         }
 
+        /**
         * Modulo operator that also follows intuition for negative arguments. That is , -1 mod 3 = 2, not -1.
         */
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float3 nfmod(float3 a, float3 b)
        {
            return a - b * math.floor(a / b);
        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float nfmod(float a, float b)
        {
            return a - b * math.floor(a / b);
        }
+
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float4 diagonal(this float4x4 value)
         {
@@ -262,8 +403,8 @@ namespace Obi
             V.c0 = V0;
             V.c1 = V1;
             V.c2 = V2;
-        }
-
+        }
+
         static float3 unitOrthogonal(this float3 input)
         {
             // Find a vector to cross() the input with.
@@ -278,9 +419,9 @@ namespace Obi
                 float invnm = 1 / math.length(input.yz);
                 return new float3(0, -input.z * invnm, input.y * invnm);
             }
-        }
-
-        // D is symmetric, S is an eigen value
+        }
+
+        // D is symmetric, S is an eigen value
         static float3 EigenVector(float3x3 D, float S)
         {
             // Compute a cofactor matrix of D - sI.
@@ -317,7 +458,8 @@ namespace Obi
             {
                 V[0] = 1; return V;
             }
-            else if (index == 0)
+
+            if (index == 0)
             {
                 V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
             }
@@ -330,8 +472,8 @@ namespace Obi
                 V = c2p;
             }
             return math.normalize(V);
-        }
-
+        }
+
         static float3 EigenValues(float3x3 D)
         {
             float one_third = 1 / 3.0f;
@@ -390,8 +532,8 @@ namespace Obi
             }
 
             return new float3(e2, e1, e0);
-        }
-
+        }
+
         public struct CachedTri
         {
             public float4 vertex;
@@ -412,8 +554,8 @@ namespace Obi
                 data[2] = math.dot(edge1, edge1);
                 data[3] = data[0] * data[2] - data[1] * data[1];
             }
-        }
-
+        }
+
         public static float4 NearestPointOnTri(in CachedTri tri,
                                                float4 p,
                                                out float4 bary)
@@ -576,7 +718,21 @@ namespace Obi
             float4 ap = p - a;
             float4 ab = b - a;
 
-            mu = math.dot(ap, ab) / math.dot(ab, ab);
+            mu = math.dot(ap, ab) / (math.dot(ab, ab) + epsilon);
+
+            if (clampToSegment)
+                mu = math.saturate(mu);
+
+            return a + ab * mu;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float3 NearestPointOnEdge(float3 a, float3 b, float3 p, out float mu, bool clampToSegment = true)
+        {
+            float3 ap = p - a;
+            float3 ab = b - a;
+
+            mu = math.dot(ap, ab) / (math.dot(ab, ab) + epsilon);
 
             if (clampToSegment)
                 mu = math.saturate(mu);
@@ -679,6 +835,178 @@ namespace Obi
             return center;
         }
 
+        // https://fgiesen.wordpress.com/2009/12/13/decoding-morton-codes/
+
+        // "Insert" a 0 bit after each of the 16 low bits of x
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Part1By1(uint x)
+        {
+            x &= 0x0000ffff;                  // x = ---- ---- ---- ---- fedc ba98 7654 3210
+            x = (x ^ (x << 8)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+            x = (x ^ (x << 4)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+            x = (x ^ (x << 2)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+            x = (x ^ (x << 1)) & 0x55555555; // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+            return x;
+        }
+
+
+        // "Insert" two 0 bits after each of the 10 low bits of x
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Part1By2(uint x)
+        {
+            x &= 0x000003ff;                  // x = ---- ---- ---- ---- ---- --98 7654 3210
+            x = (x ^ (x << 16)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+            x = (x ^ (x << 8)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+            x = (x ^ (x << 4)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+            x = (x ^ (x << 2)) & 0x09249249; // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+            return x;
+        }
+
+        // Inverse of Part1By1 - "delete" all odd-indexed bits
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Compact1By1(uint x)
+        {
+            x &= 0x55555555;                  // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+            x = (x ^ (x >> 1)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+            x = (x ^ (x >> 2)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+            x = (x ^ (x >> 4)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+            x = (x ^ (x >> 8)) & 0x0000ffff; // x = ---- ---- ---- ---- fedc ba98 7654 3210
+            return x;
+        }
+
+        // Inverse of Part1By2 - "delete" all bits not at positions divisible by 3
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint Compact1By2(uint x)
+        {
+            x &= 0x09249249;                  // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+            x = (x ^ (x >> 2)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+            x = (x ^ (x >> 4)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+            x = (x ^ (x >> 8)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+            x = (x ^ (x >> 16)) & 0x000003ff; // x = ---- ---- ---- ---- ---- --98 7654 3210
+            return x;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint EncodeMorton2(uint2 coords)
+        {
+            return (Part1By1(coords.y) << 1) + Part1By1(coords.x);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint EncodeMorton3(uint3 coords)
+        {
+            return (Part1By2(coords.z) << 2) + (Part1By2(coords.y) << 1) + Part1By2(coords.x);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint3 DecodeMorton2(uint code)
+        {
+            return new uint3(Compact1By1(code >> 0), Compact1By1(code >> 1), 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint3 DecodeMorton3(uint code)
+        {
+            return new uint3(Compact1By2(code >> 0), Compact1By2(code >> 1), Compact1By2(code >> 2));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 UnpackFloatRGBA(float v)
+        {
+            uint rgba = math.asuint(v);
+            float r = ((rgba & 0xff000000) >> 24) / 255f;
+            float g = ((rgba & 0x00ff0000) >> 16) / 255f;
+            float b = ((rgba & 0x0000ff00) >> 8) / 255f;
+            float a = (rgba & 0x000000ff) / 255f;
+            return new float4(r, g, b, a);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float PackFloatRGBA(float4 enc)
+        {
+            uint rgba = ((uint)(enc.x * 255f) << 24) +
+                        ((uint)(enc.y * 255f) << 16) +
+                        ((uint)(enc.z * 255f) << 8) +
+                        (uint)(enc.w * 255f);
+            return math.asfloat(rgba);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float2 UnpackFloatRG(float v)
+        {
+            uint rgba = math.asuint(v);
+            float r = ((rgba & 0xffff0000) >> 16) / 65535f;
+            float g = (rgba & 0x0000ffff) / 65535f;
+            return new float2(r, g);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float PackFloatRG(float2 enc)
+        {
+            uint rgba = ((uint)(enc.x * 65535f) << 16) +
+                        (uint)(enc.y * 65535f);
+            return math.asfloat(rgba);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        static float2 OctWrap(float2 v)
+        {
+            return (1.0f - math.abs(v.yx)) * new float2(v.x >= 0.0f ? 1.0f : -1.0f, v.y >= 0.0f ? 1.0f : -1.0f);
+        }
+
+        // use octahedral encoding to reduce to 2 coords, then pack them as two 16 bit values in a 32 bit float.
+        public static float OctEncode(float3 n)
+        {
+            n /= math.abs(n.x) + math.abs(n.y) + math.abs(n.z);
+            n.xy = n.z >= 0.0 ? n.xy : OctWrap(n.xy);
+            n.xy = n.xy * 0.5f + 0.5f;
+
+            uint nx = (uint)(n.x * 0xffff);
+            uint ny = (uint)(n.y * 0xffff);
+            return math.asfloat((nx << 16) | (ny & 0xffff));
+        }
+
+        public static float3 OctDecode(float k)
+        {
+            uint d = math.asuint(k);
+            float2 f = new float2((d >> 16) / 65535f, (d & 0xffff) / 65535f) * 2f - 1f;
+
+            float3 n = new float3(f.x, f.y, 1.0f - math.abs(f.x) - math.abs(f.y));
+            float t = math.saturate(-n.z);
+            n.x += n.x >= 0.0f ? -t : t;
+            n.y += n.y >= 0.0f ? -t : t;
+            return math.normalize(n);
+        }
+
+        public static float Remap01(float value, float min_, float max_)
+        {
+            return (math.min(value, max_) - math.min(value, min_)) / (max_ - min_);
+        }
+
+        public static float3 Sort(this float3 f)
+        {
+            float aux;
+            if (f.x > f.y)
+            {
+                aux = f.x;
+                f.x = f.y;
+                f.y = aux;
+            }
+            if (f.x > f.z)
+            {
+                aux = f.x;
+                f.x = f.z;
+                f.z = aux;
+            }
+            if (f.y > f.z)
+            {
+                aux = f.y;
+                f.y = f.z;
+                f.z = aux;
+            }
+            return new float3(f.z,f.y,f.x);
+        }
+
         public static unsafe void RemoveRangeBurst<T>(this NativeList<T> list, int index, int count)
             where T : unmanaged
         {
@@ -701,6 +1029,57 @@ namespace Obi
                 list.RemoveAtSwapBack(list.Length - 1);
             }
         }
-    }
-}
+
+        //https://www.shadertoy.com/view/4djSRW
+        public static float3 Hash33(float3 p3)
+        {
+            p3 = math.frac(p3 * new float3(.1031f, .1030f, .0973f));
+            p3 += math.dot(p3, p3.yxz + 33.33f);
+            return math.frac((p3.xxy + p3.yxx) * p3.zyx);
+        }
+
+        public static float Hash13(float3 p3)
+        {
+            p3 = math.frac(p3 * .1031f);
+            p3 += math.dot(p3, p3.zyx + 31.32f);
+            return math.frac((p3.x + p3.y) * p3.z);
+        }
+
+        public static float2 Hash21(float p)
+        {
+            float3 p3 = math.frac(new float3(p) * new float3(.1031f, .1030f, .0973f));
+            p3 += math.dot(p3, p3.yzx + 33.33f);
+            return math.frac((p3.xx + p3.yz) * p3.zy);
+        }
+
+        public static float3 Hash31(float p)
+        {
+            float3 p3 = math.frac(new float3(p) * new float3(.1031f, .1030f, .0973f));
+            p3 += math.dot(p3, p3.yzx + 33.33f);
+            return math.frac((p3.xxy + p3.yzz) * p3.zyx);
+        }
+
+        public static void RandomInCylinder(float seed, float4 pos, float4 dir, float length, float radius, out float4 position, out float3 velocity)
+        {
+            float3 rand = Hash31(seed);
+
+            float3 b1 = dir.xyz;
+            float3 b2 = math.normalizesafe(math.cross(b1, new float3(1, 0, 0)));
+            float3 b3 = math.cross(b2, b1);
+
+            float theta = rand.y * 2 * math.PI;
+            float2 disc = radius * math.sqrt(rand.x) * new float2(math.cos(theta), math.sin(theta));
+
+            velocity = b2 * disc.x + b3 * disc.y;
+            position = new float4(pos.xyz + b1 * length * rand.z + velocity, 0);
+        }
+
+        public static void RandomInBox(float seed, float4 center, float4 size, out float4 position, out float3 velocity)
+        {
+            float3 rand = Hash31(seed);
+            velocity = (rand - new float3(0.5f, 0.5f, 0.5f)) * size.xyz;
+            position = new float4(center.xyz + velocity, 0);
+        }
+    }
+}
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
index e5e2cf7d7..44adb2feb 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
@@ -1,14 +1,15 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstBox : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstBox : BurstLocalOptimization.IDistanceFunction
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public float dt;
 
         public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
         {
@@ -18,7 +19,7 @@ namespace Obi
             // clamp the point to the surface of the box:
             point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             // get minimum distance for each axis:
@@ -55,39 +56,100 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
         {
-            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
-            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Box + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Box];
+            if (pairCount == 0) return inputDeps;
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstBox>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                        ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+            var job = new GenerateBoxContactsJob
+            {
+                contactPairs = contactPairs,
 
-            co.pointB = colliderPoint.point;
-            co.normal = colliderPoint.normal;
-            co.pointA = simplexBary;
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
 
-            contacts.Enqueue(co);
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Box]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
         }
-
     }
 
+    [BurstCompile]
+    struct GenerateBoxContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstBox shape = new BurstBox { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            contactsQueue.Enqueue(new BurstContact
+            {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
+        }
+    }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
index e23c0b11b..c66e8df36 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
@@ -1,21 +1,22 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public float dt;
 
         public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
         {
             float4 center = shape.center * colliderToSolver.scale;
             point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             int direction = (int)shape.size.z;
@@ -36,38 +37,100 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
         {
-            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
-            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Capsule + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Capsule];
+            if (pairCount == 0) return inputDeps;
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstCapsule>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                              ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+            var job = new GenerateCapsuleContactsJob
+            {
+                contactPairs = contactPairs,
 
-            co.pointB = colliderPoint.point;
-            co.normal = colliderPoint.normal;
-            co.pointA = simplexBary;
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
 
-            contacts.Enqueue(co);
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Capsule]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
         }
     }
 
+    [BurstCompile]
+    struct GenerateCapsuleContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstCapsule shape = new BurstCapsule { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+
+            contactsQueue.Enqueue(new BurstContact
+            {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
+        }
+    }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
index af31c7a9d..88c580a4e 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
@@ -14,12 +14,28 @@ namespace Obi
 
         public ColliderShape.ShapeType type;
         public float contactOffset;
-        public int dataIndex;
+        public int dataIndex;       // index of the associated collider data in the collision world.
         public int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
         public int materialIndex;   // index of the associated material in the collision world.
+        public int forceZoneIndex;  // index of the associated force zone in the collision world.
         public int filter;
-        public int flags;           // for now, only used for trigger (1) or regular collider (0).
-        public int is2D;            // whether the collider is 2D (1) or 3D (0).
+        public int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0),
+                                    // third bit determines whether shape is inverted or not.
+
+        public bool is2D
+        {
+            get => (flags & 1) != 0;
+            set => flags |= value ? 1 : 0;
+        }
+        public bool isTrigger
+        {
+            get => (flags & 1 << 1) != 0 || forceZoneIndex >= 0;
+            set => flags |= value ? 1 << 1 : 0;
+        }
+        public float sign
+        {
+            get => (flags & 1 << 2) != 0 ? -1 : 1;
+        }
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
index 97736248e..3f0823cc6 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
@@ -4,6 +4,8 @@ using Unity.Collections;
 using Unity.Jobs;
 using Unity.Mathematics;
 using Unity.Burst;
+using System.Threading;
+using Unity.Collections.LowLevel.Unsafe;
 
 namespace Obi
 {
@@ -18,24 +20,32 @@ namespace Obi
             public int entity;
         }
 
-        private int refCount = 0;
-        private int colliderCount = 0;
+        public int referenceCount { get; private set; } = 0;
+        public int colliderCount { get; private set; } = 0;
 
         private NativeMultilevelGrid<int> grid;
         private NativeQueue<MovingCollider> movingColliders;
+
+        private NativeArray<int> colliderTypeCounts;
+        private NativeQueue<Oni.ContactPair> contactPairQueue;
+        public NativeList<Oni.ContactPair> contactPairs;
+        public NativeArray<int> contactOffsetsPerType;
+
         public NativeQueue<BurstContact> colliderContactQueue;
 
         public ObiNativeCellSpanList cellSpans;
 
-        public int referenceCount { get { return refCount; } }
-
         public void Awake()
         {
-
             this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
             this.movingColliders = new NativeQueue<MovingCollider>(Allocator.Persistent);
             this.colliderContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
 
+            this.contactPairQueue = new NativeQueue<Oni.ContactPair>(Allocator.Persistent);
+            this.colliderTypeCounts = new NativeArray<int>(Oni.ColliderShapeTypeCount, Allocator.Persistent);
+            this.contactOffsetsPerType = new NativeArray<int>(Oni.ColliderShapeTypeCount + 1, Allocator.Persistent);
+            this.contactPairs = new NativeList<Oni.ContactPair>(Allocator.Persistent);
+
             this.cellSpans = new ObiNativeCellSpanList();
 
             ObiColliderWorld.GetInstance().RegisterImplementation(this);
@@ -47,23 +57,30 @@ namespace Obi
 
             grid.Dispose();
             movingColliders.Dispose();
+
+            colliderTypeCounts.Dispose();
+            contactPairQueue.Dispose();
+            contactPairs.Dispose();
+            contactOffsetsPerType.Dispose();
+
             colliderContactQueue.Dispose();
+
             cellSpans.Dispose();
         }
 
         public void IncreaseReferenceCount()
         {
-            refCount++;
+            referenceCount++;
         }
         public void DecreaseReferenceCount()
         {
-            if (--refCount <= 0 && gameObject != null)
+            if (--referenceCount <= 0 && gameObject != null)
                 DestroyImmediate(gameObject);  
         }
 
-        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count)
+        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
         {
-            colliderCount = count;
+            colliderCount = shapes.count;
 
             // insert new empty cellspans at the end if needed:
             while (colliderCount > cellSpans.count)
@@ -74,6 +91,10 @@ namespace Obi
         {
         }
 
+        public void SetForceZones(ObiNativeForceZoneList rigidbody)
+        {
+        }
+
         public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
         {
 
@@ -162,7 +183,7 @@ namespace Obi
                                                           new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
 
                 // if the collider is 2D, project it to the z = 0 cells.
-                if (shapes[i].is2D != 0)
+                if (shapes[i].is2D)
                 {
                     newSpan.min[2] = 0;
                     newSpan.max[2] = 0;
@@ -173,7 +194,7 @@ namespace Obi
                 if (i >= colliderCount || cellIndices[i] != newSpan)
                 {
                     // Add the collider to the list of moving colliders:
-                    movingColliders.Enqueue(new MovingCollider()
+                    movingColliders.Enqueue(new MovingCollider
                     {
                         oldSpan = cellIndices[i],
                         newSpan = newSpan,
@@ -230,6 +251,7 @@ namespace Obi
             [ReadOnly] public NativeArray<float> invMasses;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<int> filters;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
 
             // simplex arrays:
             [ReadOnly] public NativeArray<int> simplices;
@@ -243,47 +265,27 @@ namespace Obi
             [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
             [ReadOnly] public NativeArray<BurstAabb> bounds;
 
-            // distance field data:
-            [ReadOnly] public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
-            [ReadOnly] public NativeArray<BurstDFNode> distanceFieldNodes;
-
-            // triangle mesh data:
-            [ReadOnly] public NativeArray<TriangleMeshHeader> triangleMeshHeaders;
-            [ReadOnly] public NativeArray<BIHNode> bihNodes;
-            [ReadOnly] public NativeArray<Triangle> triangles;
-            [ReadOnly] public NativeArray<float3> vertices;
-
-            // edge mesh data:
-            [ReadOnly] public NativeArray<EdgeMeshHeader> edgeMeshHeaders;
-            [ReadOnly] public NativeArray<BIHNode> edgeBihNodes;
-            [ReadOnly] public NativeArray<Edge> edges;
-            [ReadOnly] public NativeArray<float2> edgeVertices;
-
-            // height field data:
-            [ReadOnly] public NativeArray<HeightFieldHeader> heightFieldHeaders;
-            [ReadOnly] public NativeArray<float> heightFieldSamples;
-
-            // output contacts queue:
             [WriteOnly]
             [NativeDisableParallelForRestriction]
-            public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+            public NativeQueue<Oni.ContactPair>.ParallelWriter contactPairQueue;
+
+            [NativeDisableParallelForRestriction]
+            public NativeArray<int> colliderTypeCounts;
 
             // auxiliar data:
             [ReadOnly] public BurstAffineTransform solverToWorld;
-            [ReadOnly] public BurstAffineTransform worldToSolver;
             [ReadOnly] public float deltaTime;
             [ReadOnly] public Oni.SolverParameters parameters;
 
             public void Execute(int i)
             {
                 int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
-                BurstAabb simplexBoundsSS = simplexBounds[i];
 
                 // get all colliders overlapped by the cell bounds, in all grid levels:
-                BurstAabb simplexBoundsWS = simplexBoundsSS.Transformed(solverToWorld);
+                BurstAabb simplexBoundsWS = simplexBounds[i].Transformed(solverToWorld);
                 NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
 
-                // max size of the particle bounds in cells:
+                // max size of the simplex bounds in cells:
                 int3 maxSize = new int3(10);
                 bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
 
@@ -360,139 +362,203 @@ namespace Obi
 
                             if (shouldCollide && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
                             {
-                                // generate contacts for the collider:
-                                BurstAffineTransform colliderToSolver = worldToSolver * transforms[c];
-                                GenerateContacts(in shape, in colliderToSolver, c, rb, i, simplexStart, simplexSize, simplexBoundsSS);
+                                // increment the amount of contacts for this shape type:
+                                Interlocked.Increment(ref ((int*)colliderTypeCounts.GetUnsafePtr())[(int)shape.type]);
+
+                                // enqueue a new contact pair:
+                                contactPairQueue.Enqueue(new Oni.ContactPair{
+                                    bodyA = i,
+                                    bodyB = c
+                                });
                             }
                         }
                     }
                 }
             }
-
-            private void GenerateContacts(in BurstColliderShape shape,
-                                          in BurstAffineTransform colliderToSolver,
-                                          int colliderIndex,
-                                          int rigidbodyIndex,
-                                          int simplexIndex,
-                                          int simplexStart,
-                                          int simplexSize,
-                                          in BurstAabb simplexBoundsSS)
-            {
-                float4x4 solverToCollider;
-                BurstAabb simplexBoundsCS;
-
-                switch (shape.type)
-                {
-                    case ColliderShape.ShapeType.Sphere:
-                        BurstSphere sphereShape = new BurstSphere() { colliderToSolver = colliderToSolver, shape = shape, dt = deltaTime };
-                        sphereShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
-                                             simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-                        break;
-                    case ColliderShape.ShapeType.Box:
-                        BurstBox boxShape = new BurstBox() { colliderToSolver = colliderToSolver, shape = shape, dt = deltaTime };
-                        boxShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
-                                          simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-                        break;
-                    case ColliderShape.ShapeType.Capsule:
-                        BurstCapsule capsuleShape = new BurstCapsule(){colliderToSolver = colliderToSolver,shape = shape, dt = deltaTime };
-                        capsuleShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
-                                              simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-                        break;
-                    case ColliderShape.ShapeType.SignedDistanceField:
-
-                        if (shape.dataIndex < 0) return;
-
-                        BurstDistanceField distanceFieldShape = new BurstDistanceField()
-                        {
-                            colliderToSolver = colliderToSolver,
-                            solverToWorld = solverToWorld,
-                            shape = shape,
-                            distanceFieldHeaders = distanceFieldHeaders,
-                            dfNodes = distanceFieldNodes,
-                            dt = deltaTime,
-                            collisionMargin = parameters.collisionMargin
-                        };
-
-                        distanceFieldShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
-                                                    simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-
-                        break;
-                    case ColliderShape.ShapeType.Heightmap:
-
-                        if (shape.dataIndex < 0) return;
-
-                        // invert a full matrix here to accurately represent collider bounds scale.
-                        solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
-                        simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
-
-                        BurstHeightField heightmapShape = new BurstHeightField()
-                        {
-                            colliderToSolver = colliderToSolver,
-                            solverToWorld = solverToWorld,
-                            shape = shape,
-                            header = heightFieldHeaders[shape.dataIndex],
-                            heightFieldSamples = heightFieldSamples,
-                            collisionMargin = parameters.collisionMargin,
-                            dt = deltaTime
-                        };
-
-                        heightmapShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
-                                                    simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-
-                        break;
-                    case ColliderShape.ShapeType.TriangleMesh:
-
-                        if (shape.dataIndex < 0) return;
-
-                        // invert a full matrix here to accurately represent collider bounds scale.
-                        solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
-                        simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
-
-                        BurstTriangleMesh triangleMeshShape = new BurstTriangleMesh()
-                        {
-                            colliderToSolver = colliderToSolver,
-                            solverToWorld = solverToWorld,
-                            shape = shape,
-                            header = triangleMeshHeaders[shape.dataIndex],
-                            bihNodes = bihNodes,
-                            triangles = triangles,
-                            vertices = vertices,
-                            collisionMargin = parameters.collisionMargin,
-                            dt = deltaTime
-                        };
-
-                        triangleMeshShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
-                                                    simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-
-                        break;
-                    case ColliderShape.ShapeType.EdgeMesh:
-
-                        if (shape.dataIndex < 0) return;
-
-                        // invert a full matrix here to accurately represent collider bounds scale.
-                        solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
-                        simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
-
-                        BurstEdgeMesh edgeMeshShape = new BurstEdgeMesh()
-                        {
-                            colliderToSolver = colliderToSolver,
-                            shape = shape,
-                            header = edgeMeshHeaders[shape.dataIndex],
-                            edgeBihNodes = edgeBihNodes,
-                            edges = edges,
-                            vertices = edgeVertices,
-                            dt = deltaTime
-                        };
-
-                        edgeMeshShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
-                                                    simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
-
-                        break;
-                }
-            }
-
         }
 
+        [BurstCompile]
+        struct PrefixSumJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> array;
+            public NativeArray<int> sum;
+
+            public void Execute()
+            {
+                sum[0] = 0;
+                for (int i = 1; i < sum.Length; ++i)
+                    sum[i] = sum[i - 1] + array[i-1];
+            }
+        }
+
+        [BurstCompile]
+        struct SortContactPairsByShape : IJob
+        {
+            public NativeQueue<Oni.ContactPair> contactPairQueue;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<int> start; // prefix sum
+            public NativeArray<int> count;
+
+            public NativeList<Oni.ContactPair> contactPairs;
+
+            public void Execute()
+            {
+                contactPairs.ResizeUninitialized(contactPairQueue.Count);
+
+                while (!contactPairQueue.IsEmpty())
+                {
+                    var pair = contactPairQueue.Dequeue();
+                    int shapeType = (int)shapes[pair.bodyB].type;
+
+                    // write the pair directly at its position in the sorted array:
+                    contactPairs[start[shapeType] + (--count[shapeType])] = pair;
+                }
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct ApplyForceZonesJob : IJobParallelFor
+        {
+            // particle arrays:
+            [NativeDisableParallelForRestriction] public NativeArray<float4> externalForces;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> wind;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> colors;
+            [NativeDisableParallelForRestriction] public NativeArray<float> life;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            // collider arrays:
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<ForceZone> forceZones;
+
+            // contacts
+            [ReadOnly] public NativeArray<BurstContact> contacts;
+
+            // auxiliar data:
+            [ReadOnly] public BurstAffineTransform worldToSolver;
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                var contact = contacts[i];
+                int forceZoneIndex = shapes[contact.bodyB].forceZoneIndex;
+
+                if (forceZoneIndex >= 0)
+                {
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+
+                        float distance = -math.dot(positions[particleIndex] - contact.pointB, contact.normal);
+                        if (distance < 0) continue;
+
+                        float4 axis = (worldToSolver * transforms[contact.bodyB]).TransformDirection(new float4(0, 0, 1, 0));
+
+                        // calculate falloff region based on min/max distances:
+                        float falloff = 1;
+                        float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
+                        if (math.abs(range) > BurstMath.epsilon)
+                            falloff = math.pow(math.saturate((distance - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
+
+                        float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
+                        float dampIntensity  = forceZones[forceZoneIndex].damping * falloff;
+
+                        // tint particles:
+                        float mix = math.pow(1 - math.saturate(forceZones[forceZoneIndex].color.a * falloff), deltaTime);
+                        colors[particleIndex] = math.lerp((Vector4)forceZones[forceZoneIndex].color, colors[particleIndex], mix);
+
+                        // calculate force direction, depending on the type of the force field:
+                        float4 result = float4.zero;
+                        switch (forceZones[forceZoneIndex].type)
+                        {
+                            case ForceZone.ZoneType.Radial:
+                                    result = contact.normal * forceIntensity;
+                                break;
+                            case ForceZone.ZoneType.Vortex:
+                                    result = new float4(math.cross(axis.xyz * forceIntensity, contact.normal.xyz).xyz, 0);
+                                break;
+                            case ForceZone.ZoneType.Directional:
+                                    result = axis * forceIntensity;
+                                break;
+                            default:
+                                BurstMath.AtomicAdd(life, particleIndex, -forceIntensity * deltaTime);
+                                continue;
+                        }
+
+                        // apply damping:
+                        switch (forceZones[forceZoneIndex].dampingDir)
+                        {
+                            case ForceZone.DampingDirection.ForceDirection:
+                                {
+                                    float4 forceDir = math.normalizesafe(result);
+                                    result -= forceDir * math.dot(velocities[particleIndex], forceDir) * dampIntensity;
+                                }
+                                break;
+                            case ForceZone.DampingDirection.SurfaceDirection:
+                                result -= contact.normal * math.dot(velocities[particleIndex], contact.normal) * dampIntensity;
+                                break;
+                            default:
+                                result -= velocities[particleIndex] * dampIntensity;
+                                break;
+                        }
+
+                        if (invMasses[particleIndex] > 0)
+                        {
+                            switch (forceZones[forceZoneIndex].mode)
+                            {
+                                case ForceZone.ForceMode.Acceleration:
+                                    BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize / invMasses[particleIndex]);
+                                    break;
+                                case ForceZone.ForceMode.Force:
+                                    BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize);
+                                    break;
+                                case ForceZone.ForceMode.Wind:
+                                    BurstMath.AtomicAdd(wind, particleIndex, result / simplexSize);
+                                    break;
+                            }
+                        }
+                        
+                    }
+                }
+            }
+        }
+
+        public JobHandle ApplyForceZones(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var applyForceFieldsJob = new ApplyForceZonesJob
+            {
+                contacts = solver.abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+
+                positions = solver.positions,
+                velocities = solver.velocities,
+                externalForces = solver.externalForces,
+                wind = solver.wind,
+                invMasses = solver.invMasses,
+                life = solver.life,
+                colors = solver.colors,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                forceZones = world.forceZones.AsNativeArray<ForceZone>(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+            };
+
+            return applyForceFieldsJob.Schedule(solver.abstraction.colliderContacts.count, 64, inputDeps);
+        }
 
         public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
         {
@@ -509,6 +575,7 @@ namespace Obi
                 invMasses = solver.invMasses,
                 radii = solver.principalRadii,
                 filters = solver.filters,
+                particleMaterialIndices = solver.collisionMaterials,
 
                 simplices = solver.simplices,
                 simplexCounts = solver.simplexCounts,
@@ -520,33 +587,46 @@ namespace Obi
                 collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
                 bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
 
-                distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray<DistanceFieldHeader>(),
-                distanceFieldNodes = world.distanceFieldContainer.dfNodes.AsNativeArray<BurstDFNode>(),
+                contactPairQueue = contactPairQueue.AsParallelWriter(),
+                colliderTypeCounts = colliderTypeCounts,
 
-                triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray<TriangleMeshHeader>(),
-                bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
-                triangles = world.triangleMeshContainer.triangles.AsNativeArray<Triangle>(),
-                vertices = world.triangleMeshContainer.vertices.AsNativeArray<float3>(),
-
-                edgeMeshHeaders = world.edgeMeshContainer.headers.AsNativeArray<EdgeMeshHeader>(),
-                edgeBihNodes = world.edgeMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
-                edges = world.edgeMeshContainer.edges.AsNativeArray<Edge>(),
-                edgeVertices = world.edgeMeshContainer.vertices.AsNativeArray<float2>(),
-
-                heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray<HeightFieldHeader>(),
-                heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray<float>(),
-
-                contactsQueue = colliderContactQueue.AsParallelWriter(),
                 solverToWorld = solver.solverToWorld,
-                worldToSolver = solver.worldToSolver,
                 deltaTime = deltaTime,
                 parameters = solver.abstraction.parameters
             };
 
-            return generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
+            inputDeps = generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
 
+            var prefixSumJob = new PrefixSumJob
+            {
+                array = colliderTypeCounts,
+                sum = contactOffsetsPerType
+            };
+            inputDeps = prefixSumJob.Schedule(inputDeps);
+
+            var sortPairsJob = new SortContactPairsByShape
+            {
+                contactPairQueue = contactPairQueue,
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                start = contactOffsetsPerType,
+                count = colliderTypeCounts,
+                contactPairs = contactPairs
+            };
+            inputDeps = sortPairsJob.Schedule(inputDeps);
+
+            inputDeps.Complete();
+
+            inputDeps = BurstSphere.GenerateContacts(world,solver,contactPairs,colliderContactQueue,contactOffsetsPerType,deltaTime,inputDeps);
+            inputDeps = BurstBox.GenerateContacts(world,solver,contactPairs,colliderContactQueue, contactOffsetsPerType,deltaTime,inputDeps);
+            inputDeps = BurstCapsule.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstDistanceField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstTriangleMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstHeightField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+            inputDeps = BurstEdgeMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
+
+            return inputDeps;
         }
 
     }
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
index 613303262..1ebf5c041 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
@@ -1,17 +1,15 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstDistanceField : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstDistanceField : BurstLocalOptimization.IDistanceFunction
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public BurstAffineTransform solverToWorld;
-
-        public float dt;
-        public float collisionMargin;
 
         public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
         public NativeArray<BurstDFNode> dfNodes;
@@ -20,47 +18,143 @@ namespace Obi
         {
             point = colliderToSolver.InverseTransformPoint(point);
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             var header = distanceFieldHeaders[shape.dataIndex];
-            float4 sample = DFTraverse(point, 0, in header, in dfNodes);
+            float4 sample = DFTraverse(point, in header);
             float4 normal = new float4(math.normalize(sample.xyz), 0);
 
             projectedPoint.point = colliderToSolver.TransformPoint(point - normal * (sample[3] - shape.contactOffset));
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        private float4 DFTraverse(float4 particlePosition, in DistanceFieldHeader header)
         {
-            if (shape.dataIndex < 0) return;
+            var stack = new NativeArray<int>(12, Allocator.Temp);
+            int stackTop = 0;
+
+            stack[stackTop++] = 0;
+
+            while (stackTop > 0)
+            {
+                int nodeIndex = stack[--stackTop];
+                var node = dfNodes[header.firstNode + nodeIndex];
+
+                // if the child node exists, recurse down the df octree:
+                if (node.firstChild >= 0)
+                    stack[stackTop++] = node.firstChild + node.GetOctant(particlePosition);
+                else
+                    return node.SampleWithGradient(particlePosition);
+            }
+            return float4.zero;
+        }
+
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
+        {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField + 1] - contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateDistanceFieldContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray<DistanceFieldHeader>(),
+                distanceFieldNodes = world.distanceFieldContainer.dfNodes.AsNativeArray<BurstDFNode>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.SignedDistanceField]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateDistanceFieldContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // distance field data:
+        [ReadOnly] public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
+        [ReadOnly] public NativeArray<BurstDFNode> distanceFieldNodes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+            if (shapes[colliderIndex].dataIndex < 0) return;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstDistanceField dfShape = new BurstDistanceField()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shapes[colliderIndex],
+                distanceFieldHeaders = distanceFieldHeaders,
+                dfNodes = distanceFieldNodes
+            };
+
 
-            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
-
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstDistanceField>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                ref simplexBary, out float4 simplexPoint, optimizationIterations, optimizationTolerance);
-
-            co.pointB = colliderPoint.point;
-            co.normal = colliderPoint.normal;
-            co.pointA = simplexBary;
+            var colliderPoint = BurstLocalOptimization.Optimize(ref dfShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 simplexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
             float4 velocity = float4.zero;
             float simplexRadius = 0;
@@ -76,31 +170,18 @@ namespace Obi
                 rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
 
             float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
-            float vel = math.dot(velocity     - rbVelocity,          colliderPoint.normal);
+            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
 
-            if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
-                contacts.Enqueue(co);
+            //if (vel * deltaTime + dAB <= simplexRadius + shapes[colliderIndex].contactOffset + parameters.collisionMargin)
+                contactsQueue.Enqueue(new BurstContact
+                {
+                    bodyA = simplexIndex,
+                    bodyB = colliderIndex,
+                    pointA = simplexBary,
+                    pointB = colliderPoint.point,
+                    normal = colliderPoint.normal * dfShape.shape.sign
+                });
         }
-
-        private static float4 DFTraverse(float4 particlePosition,
-                                         int nodeIndex,
-                                         in DistanceFieldHeader header,
-                                         in NativeArray<BurstDFNode> dfNodes)
-        {
-            var node = dfNodes[header.firstNode + nodeIndex];
-
-            // if the child node exists, recurse down the df octree:
-            if (node.firstChild >= 0)
-            {
-                int octant = node.GetOctant(particlePosition);
-                return DFTraverse(particlePosition, node.firstChild + octant, in header, in dfNodes);
-            }
-            else
-            {
-                return node.SampleWithGradient(particlePosition);
-            }
-        }
-
     }
 
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
index 026d6fd5a..754887774 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
@@ -1,16 +1,17 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstEdgeMesh : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstEdgeMesh : BurstLocalOptimization.IDistanceFunction
     {
 
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
         public int dataOffset;
-        public float dt;
 
         public EdgeMeshHeader header;
         public NativeArray<BIHNode> edgeBihNodes;
@@ -21,12 +22,12 @@ namespace Obi
         {
             point = colliderToSolver.InverseTransformPointUnscaled(point);
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             Edge t = edges[header.firstEdge + dataOffset];
-            float4 v1 = (new float4(vertices[header.firstVertex + t.i1], 0) + shape.center) * colliderToSolver.scale;
-            float4 v2 = (new float4(vertices[header.firstVertex + t.i2], 0) + shape.center) * colliderToSolver.scale;
+            float4 v1 = (new float4(vertices[header.firstVertex + t.i1], 0, 0) + shape.center) * colliderToSolver.scale;
+            float4 v2 = (new float4(vertices[header.firstVertex + t.i2], 0, 0) + shape.center) * colliderToSolver.scale;
 
             float4 nearestPoint = BurstMath.NearestPointOnEdge(v1, v2, point, out float mu);
             float4 normal = math.normalizesafe(point - nearestPoint);
@@ -35,90 +36,175 @@ namespace Obi
             projectedPoint.point = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
         }
 
-
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
         {
-            if (shape.dataIndex < 0) return;
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.EdgeMesh + 1] - contactOffsetsPerType[(int)Oni.ShapeType.EdgeMesh];
+            if (pairCount == 0) return inputDeps;
 
-            BIHTraverse(colliderIndex, simplexIndex, simplexStart, simplexSize,
-                        positions, orientations, radii, simplices, in simplexBounds, 0, contacts, optimizationIterations, optimizationTolerance);
+            var job = new GenerateEdgeMeshContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                edgeMeshHeaders = world.edgeMeshContainer.headers.AsNativeArray<EdgeMeshHeader>(),
+                edgeBihNodes = world.edgeMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
+                edges = world.edgeMeshContainer.edges.AsNativeArray<Edge>(),
+                edgeVertices = world.edgeMeshContainer.vertices.AsNativeArray<float2>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.solverToWorld,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
         }
+    }
 
-        private void BIHTraverse(int colliderIndex,
-                                 int simplexIndex,
-                                 int simplexStart,
-                                 int simplexSize,
-                                 NativeArray<float4> positions,
-                                 NativeArray<quaternion> orientations,
-                                 NativeArray<float4> radii,
-                                 NativeArray<int> simplices,
-                                 in BurstAabb simplexBounds,
-                                 int nodeIndex,
-                                 NativeQueue<BurstContact>.ParallelWriter contacts,
-                                 int optimizationIterations,
-                                 float optimizationTolerance)
+    [BurstCompile]
+    struct GenerateEdgeMeshContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // edge mesh data:
+        [ReadOnly] public NativeArray<EdgeMeshHeader> edgeMeshHeaders;
+        [ReadOnly] public NativeArray<BIHNode> edgeBihNodes;
+        [ReadOnly] public NativeArray<Edge> edges;
+        [ReadOnly] public NativeArray<float2> edgeVertices;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
         {
-            var node = edgeBihNodes[header.firstNode + nodeIndex];
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
 
-            if (node.firstChild >= 0)
-            {
-                // visit min node:
-                if (simplexBounds.min[node.axis] <= node.min + shape.center[node.axis])
-                    BIHTraverse(colliderIndex, simplexIndex, simplexStart, simplexSize,
-                                positions, orientations, radii, simplices, in simplexBounds,
-                                node.firstChild, contacts, optimizationIterations, optimizationTolerance);
+            if (shape.dataIndex < 0)
+                return;
 
-                // visit max node:
-                if (simplexBounds.max[node.axis] >= node.max + shape.center[node.axis])
-                    BIHTraverse(colliderIndex, simplexIndex, simplexStart, simplexSize,
-                                positions, orientations, radii, simplices, in simplexBounds,
-                                node.firstChild + 1, contacts, optimizationIterations, optimizationTolerance);
-            }
-            else
+            var header = edgeMeshHeaders[shape.dataIndex];
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            float4 marginCS = new float4((shape.contactOffset + parameters.collisionMargin) / colliderToSolver.scale.xyz, 0);
+
+            BurstEdgeMesh edgeMeshShape = new BurstEdgeMesh()
             {
-                // check for contact against all triangles:
-                for (dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+                colliderToSolver = colliderToSolver,
+                shape = shape,
+                header = header,
+                edgeBihNodes = edgeBihNodes,
+                edges = edges,
+                vertices = edgeVertices
+            };
+
+            NativeQueue<int> queue = new NativeQueue<int>(Allocator.Temp);
+
+            queue.Enqueue(0);
+
+            while (!queue.IsEmpty())
+            {
+                int nodeIndex = queue.Dequeue();
+                var node = edgeBihNodes[header.firstNode + nodeIndex];
+
+                // leaf node:
+                if (node.firstChild < 0)
                 {
-                    Edge t = edges[header.firstEdge + dataOffset];
-                    float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0) + shape.center;
-                    float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0) + shape.center;
-                    BurstAabb edgeBounds = new BurstAabb(v1, v2, shape.contactOffset + 0.01f);
-
-                    if (edgeBounds.IntersectsAabb(simplexBounds, shape.is2D != 0))
+                    // check for contact against all triangles:
+                    for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
                     {
-                        var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
-                        float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+                        Edge t = edges[header.firstEdge + dataOffset];
+                        float4 v1 = new float4(edgeVertices[header.firstVertex + t.i1], 0, 0) + shape.center;
+                        float4 v2 = new float4(edgeVertices[header.firstVertex + t.i2], 0, 0) + shape.center;
+                        BurstAabb edgeBounds = new BurstAabb(v1, v2, marginCS);
 
-                        var colliderPoint = BurstLocalOptimization.Optimize<BurstEdgeMesh>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                            ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+                        if (edgeBounds.IntersectsAabb(simplexBoundsCS, shape.is2D))
+                        {
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
 
-                        co.pointB = colliderPoint.point;
-                        co.normal = colliderPoint.normal;
-                        co.pointA = simplexBary;
+                            edgeMeshShape.dataOffset = dataOffset;
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref edgeMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out float4 convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
-                        contacts.Enqueue(co);
+                            contactsQueue.Enqueue(new BurstContact(){
+                                bodyA = simplexIndex,
+                                bodyB = colliderIndex,
+                                pointA = simplexBary,
+                                pointB = colliderPoint.point,
+                                normal = colliderPoint.normal * edgeMeshShape.shape.sign
+                            });
+                        }
                     }
                 }
+                else // check min and/or max children:
+                {
+                    // visit min node:
+                    if (simplexBoundsCS.min[node.axis] <= node.min)
+                        queue.Enqueue(node.firstChild);
+
+                    // visit max node:
+                    if (simplexBoundsCS.max[node.axis] >= node.max)
+                        queue.Enqueue(node.firstChild + 1);
+                }
             }
         }
-
     }
 
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
index 31f46c182..321510321 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
@@ -1,17 +1,15 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstHeightField : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstHeightField : BurstLocalOptimization.IDistanceFunction
     {
-
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public BurstAffineTransform solverToWorld;
-        public float dt;
-        public float collisionMargin;
 
         public BurstMath.CachedTri tri;
         public float4 triNormal;
@@ -23,7 +21,7 @@ namespace Obi
         {
             point = colliderToSolver.InverseTransformPoint(point);
 
-            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
+            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out _);
             float4 normal = math.normalizesafe(point - nearestPoint);
 
             // flip the contact normal if it points below ground: (doesn't work with holes)
@@ -33,30 +31,123 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                              NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
         {
-            if (shape.dataIndex < 0) return;
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Heightmap];
+            if (pairCount == 0) return inputDeps;
 
-            triNormal = float4.zero;
+            var job = new GenerateHeightFieldContactsJob
+            {
+                contactPairs = contactPairs,
 
-            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray<HeightFieldHeader>(),
+                heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray<float>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Heightmap]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+
+    }
+
+    [BurstCompile]
+    struct GenerateHeightFieldContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // height field data:
+        [ReadOnly] public NativeArray<HeightFieldHeader> heightFieldHeaders;
+        [ReadOnly] public NativeArray<float> heightFieldSamples;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
+
+            if (shape.dataIndex < 0)
+                return;
+
+            var header = heightFieldHeaders[shape.dataIndex];
+            int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            BurstHeightField triangleMeshShape = new BurstHeightField()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shapes[colliderIndex],
+                header = heightFieldHeaders[shapes[colliderIndex].dataIndex],
+                heightFieldSamples = heightFieldSamples
+            };
+
+            float4 triNormal = float4.zero;
+
+            var co = new BurstContact { bodyA = simplexIndex, bodyB = colliderIndex };
 
             int resolutionU = (int)shape.center.x;
             int resolutionV = (int)shape.center.y;
@@ -66,8 +157,8 @@ namespace Obi
             float cellHeight = shape.size.z / (resolutionV - 1);
 
             // calculate particle bounds min/max cells:
-            int2 min = new int2((int)math.floor(simplexBounds.min[0] / cellWidth), (int)math.floor(simplexBounds.min[2] / cellHeight));
-            int2 max = new int2((int)math.floor(simplexBounds.max[0] / cellWidth), (int)math.floor(simplexBounds.max[2] / cellHeight));
+            int2 min = new int2((int)math.floor(simplexBoundsCS.min[0] / cellWidth), (int)math.floor(simplexBoundsCS.min[2] / cellHeight));
+            int2 max = new int2((int)math.floor(simplexBoundsCS.max[0] / cellWidth), (int)math.floor(simplexBoundsCS.max[2] / cellHeight));
 
             for (int su = min[0]; su <= max[0]; ++su)
             {
@@ -106,11 +197,11 @@ namespace Obi
                             float4 v2 = new float4(max_x, h4, max_z, 0);
                             float4 v3 = new float4(min_x, h1, min_z, 0);
 
-                            tri.Cache(v1, v2, v3);
+                            triangleMeshShape.tri.Cache(v1, v2, v3);
                             triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
 
-                            var colliderPoint = BurstLocalOptimization.Optimize<BurstHeightField>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                                ref simplexBary, out convexPoint, optimizationIterations, optimizationTolerance);
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
                             float4 velocity = float4.zero;
                             float simplexRadius = 0;
@@ -128,12 +219,12 @@ namespace Obi
                             float dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
                             float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
 
-                            if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
                             {
                                 co.pointB = colliderPoint.point;
-                                co.normal = colliderPoint.normal;
+                                co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
                                 co.pointA = simplexBary;
-                                contacts.Enqueue(co);
+                                contactsQueue.Enqueue(co);
                             }
 
                             // ------contact against the second triangle------:
@@ -141,11 +232,11 @@ namespace Obi
                             v2 = new float4(max_x, h4, max_z, 0);
                             v3 = new float4(max_x, h2, min_z, 0);
 
-                            tri.Cache(v1, v2, v3);
+                            triangleMeshShape.tri.Cache(v1, v2, v3);
                             triNormal.xyz = math.normalizesafe(math.cross((v2 - v1).xyz, (v3 - v1).xyz));
 
-                            colliderPoint = BurstLocalOptimization.Optimize<BurstHeightField>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                                ref simplexBary, out convexPoint, optimizationIterations, optimizationTolerance);
+                            colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                            ref simplexBary, out convexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
                             velocity = float4.zero;
                             simplexRadius = 0;
@@ -163,21 +254,19 @@ namespace Obi
                             dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
                             vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
 
-                            if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
                             {
                                 co.pointB = colliderPoint.point;
-                                co.normal = colliderPoint.normal;
+                                co.normal = colliderPoint.normal * triangleMeshShape.shape.sign;
                                 co.pointA = simplexBary;
 
-                                contacts.Enqueue(co);
+                                contactsQueue.Enqueue(co);
                             }
                         }
                     }
                 }
             }
-            
         }
-
     }
 
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
index 0b0570e08..16da88c46 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
@@ -50,6 +50,7 @@ namespace Obi
                 convexRadii += radii[particle] * convexBary[j];
                 convexOrientation.value += orientations[particle].value * convexBary[j];
             }
+            convexPoint.w = 0;
         }
 
         public static SurfacePoint Optimize<T>(ref T function,
@@ -112,6 +113,7 @@ namespace Obi
                 {
                     int particle = simplices[simplexStart + j];
                     float4 candidate = positions[particle] - convexPoint;
+                    candidate.w = 0;
 
                     // here, we adjust the candidate by projecting it to the engrosed simplex's surface:
                     candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
@@ -176,6 +178,8 @@ namespace Obi
 
                 float4 candidateC = positions[simplices[simplexStart]] - pointInFunction.point;
                 float4 candidateD = positions[simplices[simplexStart + 1]] - pointInFunctionD.point;
+                candidateC.w = 0;
+                candidateD.w = 0;
 
                 candidateC -= pointInFunction.normal * (radii[simplices[simplexStart]].x - convexThickness.x);
                 candidateD -= pointInFunctionD.normal * (radii[simplices[simplexStart + 1]].x - convexThicknessD.x);
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
index 35f990289..d042894d9 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
@@ -24,9 +24,9 @@ namespace Obi
         {
             if (simplexSize == 3)
             {
-                tri.Cache(positions[simplices[simplexStart]],
-                          positions[simplices[simplexStart + 1]],
-                          positions[simplices[simplexStart + 2]]);
+                tri.Cache(new float4(positions[simplices[simplexStart]].xyz,0),
+                          new float4(positions[simplices[simplexStart + 1]].xyz,0),
+                          new float4(positions[simplices[simplexStart + 2]].xyz,0));
             }
         }
 
@@ -35,16 +35,17 @@ namespace Obi
             switch (simplexSize)
             {
                 case 1:
+                default:
                     {
-                        float4 p1 = positions[simplices[simplexStart]];
+                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
                         projectedPoint.bary = new float4(1, 0, 0, 0);
                         projectedPoint.point = p1;
                     }
                     break;
                 case 2:
                     {
-                        float4 p1 = positions[simplices[simplexStart]];
-                        float4 p2 = positions[simplices[simplexStart + 1]];
+                        float4 p1 = positions[simplices[simplexStart]]; p1.w = 0;
+                        float4 p2 = positions[simplices[simplexStart + 1]]; p2.w = 0;
                         BurstMath.NearestPointOnEdge(p1, p2, point, out float mu);
                         projectedPoint.bary = new float4(1 - mu, mu, 0, 0);
                         projectedPoint.point = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
index 327262365..cd5b297f1 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
@@ -1,21 +1,22 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstSphere : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstSphere : BurstLocalOptimization.IDistanceFunction
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public float dt;
 
         public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
         {
             float4 center = shape.center * colliderToSolver.scale;
             point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
@@ -27,36 +28,98 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                             NativeArray<float4> positions,
-                             NativeArray<quaternion> orientations,
-                             NativeArray<float4> velocities,
-                             NativeArray<float4> radii,
-
-                             NativeArray<int> simplices,
-                             in BurstAabb simplexBounds,
-                             int simplexIndex,
-                             int simplexStart,
-                             int simplexSize,
-
-                             NativeQueue<BurstContact>.ParallelWriter contacts,
-                             int optimizationIterations,
-                             float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                                BurstSolverImpl solver,
+                                                NativeList<Oni.ContactPair> contactPairs,
+                                                NativeQueue<BurstContact> contactQueue,
+                                                NativeArray<int> contactOffsetsPerType,
+                                                float deltaTime,
+                                                JobHandle inputDeps)
         {
-            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.Sphere + 1] - contactOffsetsPerType[(int)Oni.ShapeType.Sphere];
+            if (pairCount == 0) return inputDeps;
+
+            var job = new GenerateSphereContactsJob
+            {
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.Sphere]
+            };
+
+            inputDeps = job.Schedule(pairCount, 8, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateSphereContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            BurstSphere shape = new BurstSphere { colliderToSolver = colliderToSolver, shape = shapes[colliderIndex] };
+            
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref shape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out _, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstSphere>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                             ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
-
-            co.pointB = colliderPoint.point;
-            co.normal = colliderPoint.normal;
-            co.pointA = simplexBary;
-
-            contacts.Enqueue(co);
+            contactsQueue.Enqueue(new BurstContact {
+                bodyA = simplexIndex,
+                bodyB = colliderIndex,
+                pointA = simplexBary,
+                pointB = colliderPoint.point,
+                normal = colliderPoint.normal * shape.shape.sign
+            });
         }
     }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
index 6edf852f4..6ef8be0bf 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
@@ -1,30 +1,23 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
 using Unity.Collections;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
 {
-    public struct BurstTriangleMesh : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    public struct BurstTriangleMesh : BurstLocalOptimization.IDistanceFunction
     {
         public BurstColliderShape shape;
         public BurstAffineTransform colliderToSolver;
-        public BurstAffineTransform solverToWorld;
 
-        public TriangleMeshHeader header;
-        public NativeArray<BIHNode> bihNodes;
-        public NativeArray<Triangle> triangles;
-        public NativeArray<float3> vertices;
-
-        public float dt;
-        public float collisionMargin;
-
-        private BurstMath.CachedTri tri;
+        public BurstMath.CachedTri tri;
 
         public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
         {
             point = colliderToSolver.InverseTransformPointUnscaled(point);
 
-            if (shape.is2D != 0)
+            if (shape.is2D)
                 point[2] = 0;
 
             float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
@@ -34,116 +27,194 @@ namespace Obi
             projectedPoint.normal = colliderToSolver.TransformDirection(normal);
         }
 
-        public void Contacts(int colliderIndex,
-                             int rigidbodyIndex,
-                             NativeArray<BurstRigidbody> rigidbodies,
-
-                              NativeArray<float4> positions,
-                              NativeArray<quaternion> orientations,
-                              NativeArray<float4> velocities,
-                              NativeArray<float4> radii,
-
-                              NativeArray<int> simplices,
-                              in BurstAabb simplexBounds,
-                              int simplexIndex,
-                              int simplexStart,
-                              int simplexSize,
-
-                              NativeQueue<BurstContact>.ParallelWriter contacts,
-                              int optimizationIterations,
-                              float optimizationTolerance)
+        public static JobHandle GenerateContacts(ObiColliderWorld world,
+                                               BurstSolverImpl solver,
+                                               NativeList<Oni.ContactPair> contactPairs,
+                                               NativeQueue<BurstContact> contactQueue,
+                                               NativeArray<int> contactOffsetsPerType,
+                                               float deltaTime,
+                                               JobHandle inputDeps)
         {
+            int pairCount = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh + 1] - contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh];
+            if (pairCount == 0) return inputDeps;
 
-            BIHTraverse(colliderIndex, rigidbodyIndex, simplexIndex, simplexStart, simplexSize,
-                        rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBounds, 0, contacts, optimizationIterations, optimizationTolerance);
-            
-        }
-
-        private void BIHTraverse(int colliderIndex,
-                                 int rigidbodyIndex,
-                                 int simplexIndex,
-                                 int simplexStart,
-                                 int simplexSize,
-                                 NativeArray<BurstRigidbody> rigidbodies,
-                                 NativeArray<float4> positions,
-                                 NativeArray<quaternion> orientations,
-                                 NativeArray<float4> velocities,
-                                 NativeArray<float4> radii,
-                                 NativeArray<int> simplices,
-                                 in BurstAabb simplexBounds,
-                                 int nodeIndex,
-                                 NativeQueue<BurstContact>.ParallelWriter contacts,
-                                 int optimizationIterations,
-                                 float optimizationTolerance)
-        {
-            var node = bihNodes[header.firstNode + nodeIndex];
-
-            if (node.firstChild >= 0)
-            { 
-                // visit min node:
-                if (simplexBounds.min[node.axis] <= node.min)
-                    BIHTraverse(colliderIndex, rigidbodyIndex, simplexIndex, simplexStart, simplexSize,
-                                rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBounds,
-                                node.firstChild, contacts, optimizationIterations, optimizationTolerance);
-
-                // visit max node:
-                if (simplexBounds.max[node.axis] >= node.max)
-                    BIHTraverse(colliderIndex, rigidbodyIndex, simplexIndex, simplexStart, simplexSize,
-                                rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBounds,
-                                node.firstChild + 1, contacts, optimizationIterations, optimizationTolerance);
-            }
-            else
+            var job = new GenerateTriangleMeshContactsJob
             {
-                // check for contact against all triangles:
-                for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+                contactPairs = contactPairs,
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+
+                triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray<TriangleMeshHeader>(),
+                bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
+                triangles = world.triangleMeshContainer.triangles.AsNativeArray<Triangle>(),
+                vertices = world.triangleMeshContainer.vertices.AsNativeArray<float3>(),
+
+                contactsQueue = contactQueue.AsParallelWriter(),
+
+                solverToWorld = solver.inertialFrame,
+                worldToSolver = solver.worldToSolver,
+                deltaTime = deltaTime,
+                parameters = solver.abstraction.parameters,
+                firstPair = contactOffsetsPerType[(int)Oni.ShapeType.TriangleMesh]
+            };
+
+            inputDeps = job.Schedule(pairCount, 1, inputDeps);
+            return inputDeps;
+        }
+    }
+
+    [BurstCompile]
+    struct GenerateTriangleMeshContactsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeList<Oni.ContactPair> contactPairs;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float> invMasses;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+        [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+
+        // collider arrays:
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+        [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+        [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+
+        // triangle mesh data:
+        [ReadOnly] public NativeArray<TriangleMeshHeader> triangleMeshHeaders;
+        [ReadOnly] public NativeArray<BIHNode> bihNodes;
+        [ReadOnly] public NativeArray<Triangle> triangles;
+        [ReadOnly] public NativeArray<float3> vertices;
+
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+        // auxiliar data:
+        [ReadOnly] public int firstPair;
+        [ReadOnly] public BurstInertialFrame solverToWorld;
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public void Execute(int i)
+        {
+            int simplexIndex = contactPairs[firstPair + i].bodyA;
+            int colliderIndex = contactPairs[firstPair + i].bodyB;
+            var shape = shapes[colliderIndex];
+
+            if (shape.dataIndex < 0)
+                return;
+
+            int rigidbodyIndex = shape.rigidbodyIndex;
+            var header = triangleMeshHeaders[shape.dataIndex];
+
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(simplexIndex, out int simplexSize);
+            var simplexBound = simplexBounds[simplexIndex];
+
+            BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
+
+            // invert a full matrix here to accurately represent collider bounds scale.
+            var solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+            var simplexBoundsCS = simplexBound.Transformed(solverToCollider);
+
+            float4 marginCS = new float4((shape.contactOffset + parameters.collisionMargin) / colliderToSolver.scale.xyz, 0);
+
+            BurstTriangleMesh triangleMeshShape = new BurstTriangleMesh()
+            {
+                colliderToSolver = colliderToSolver,
+                shape = shape
+            };
+
+            NativeQueue<int> queue = new NativeQueue<int>(Allocator.Temp);
+
+            queue.Enqueue(0);
+
+            while (!queue.IsEmpty())
+            {
+                int nodeIndex = queue.Dequeue();
+                var node = bihNodes[header.firstNode + nodeIndex];
+
+                // leaf node:
+                if (node.firstChild < 0)
                 {
-                    Triangle t = triangles[header.firstTriangle + dataOffset];
-                    float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0);
-                    float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0);
-                    float4 v3 = new float4(vertices[header.firstVertex + t.i3], 0);
-                    BurstAabb triangleBounds = new BurstAabb(v1, v2, v3, shape.contactOffset + collisionMargin);
-
-                    if (triangleBounds.IntersectsAabb(simplexBounds, shape.is2D != 0))
+                    // check for contact against all triangles:
+                    for (int dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
                     {
-                        float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
-                        tri.Cache(v1 * colliderToSolver.scale, v2 * colliderToSolver.scale, v3 * colliderToSolver.scale);
+                        Triangle t = triangles[header.firstTriangle + dataOffset];
+                        float4 v1 = new float4(vertices[header.firstVertex + t.i1], 0);
+                        float4 v2 = new float4(vertices[header.firstVertex + t.i2], 0);
+                        float4 v3 = new float4(vertices[header.firstVertex + t.i3], 0);
+                        BurstAabb triangleBounds = new BurstAabb(v1, v2, v3, marginCS);
 
-                        var colliderPoint = BurstLocalOptimization.Optimize<BurstTriangleMesh>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                            ref simplexBary, out float4 simplexPoint, optimizationIterations, optimizationTolerance);
-
-                        float4 velocity = float4.zero;
-                        float simplexRadius = 0;
-                        for (int j = 0; j < simplexSize; ++j)
+                        if (triangleBounds.IntersectsAabb(simplexBoundsCS, shape.is2D))
                         {
-                            int particleIndex = simplices[simplexStart + j];
-                            simplexRadius += radii[particleIndex].x * simplexBary[j];
-                            velocity += velocities[particleIndex] * simplexBary[j];
-                        }
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
 
-                        float4 rbVelocity = float4.zero;
-                        if (rigidbodyIndex >= 0)
-                            rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+                            triangleMeshShape.tri.Cache(v1 * colliderToSolver.scale, v2 * colliderToSolver.scale, v3 * colliderToSolver.scale);
 
-                        float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
-                        float vel = math.dot(velocity     - rbVelocity, colliderPoint.normal); 
+                            var colliderPoint = BurstLocalOptimization.Optimize(ref triangleMeshShape, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                                ref simplexBary, out float4 simplexPoint, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
 
-                        if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
-                        {
-                            contacts.Enqueue(new BurstContact()
+                            float4 velocity = float4.zero;
+                            float simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
                             {
-                                bodyA = simplexIndex,
-                                bodyB = colliderIndex,
-                                pointA = simplexBary,
-                                pointB = colliderPoint.point,
-                                normal = colliderPoint.normal,
-                            });
+                                int particleIndex = simplices[simplexStart + j];
+                                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                                velocity += velocities[particleIndex] * simplexBary[j];
+                            }
+
+                            float4 rbVelocity = float4.zero;
+                            if (rigidbodyIndex >= 0)
+                                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+                            float dAB = math.dot(simplexPoint - colliderPoint.point, colliderPoint.normal);
+                            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * deltaTime + dAB <= simplexRadius + shape.contactOffset + parameters.collisionMargin)
+                            {
+                                contactsQueue.Enqueue(new BurstContact()
+                                {
+                                    bodyA = simplexIndex,
+                                    bodyB = colliderIndex,
+                                    pointA = simplexBary,
+                                    pointB = colliderPoint.point,
+                                    normal = colliderPoint.normal * triangleMeshShape.shape.sign
+                                });
+                            }
                         }
                     }
                 }
+                else // check min and/or max children:
+                {
+                    // visit min node:
+                    if (simplexBoundsCS.min[node.axis] <= node.min)
+                        queue.Enqueue(node.firstChild);
+
+                    // visit max node:
+                    if (simplexBoundsCS.max[node.axis] >= node.max)
+                        queue.Enqueue(node.firstChild + 1);
+                }
             }
         }
-
     }
-
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs
deleted file mode 100644
index dd6e73bc2..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs
+++ /dev/null
@@ -1,29 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using Unity.Collections;
-using Unity.Mathematics;
-
-namespace Obi
-{
-    interface IBurstCollider
-    {
-        void Contacts(int colliderIndex,
-                      int rigidbodyIndex,
-                      NativeArray<BurstRigidbody> rigidbodies,
-
-                      NativeArray<float4> positions,
-                      NativeArray<quaternion> orientations,
-                      NativeArray<float4> velocities,
-                      NativeArray<float4> radii,
-
-                      NativeArray<int> simplices,
-                      in BurstAabb simplexBounds,
-                      int simplexIndex,
-                      int simplexStart,
-                      int simplexSize,
-
-                      NativeQueue<BurstContact>.ParallelWriter contacts,
-                      int optimizationIterations,
-                      float optimizationTolerance);
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
index 3fc159964..2c66cbdc9 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
@@ -26,12 +26,12 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             return inputDeps;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new AerodynamicConstraintsBatchJob()
             {
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
index b163b493e..18997515c 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
@@ -42,7 +42,7 @@ namespace Obi
             applyConstraints.particleIndices = this.particleIndices;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             projectConstraints.positions = solverImplementation.positions;
             projectConstraints.invMasses = solverImplementation.invMasses;
@@ -97,7 +97,6 @@ namespace Obi
                 float4 bendVector = positions[p3] - (positions[p1] + positions[p2] + positions[p3]) / 3.0f;
                 float bend = math.length(bendVector);
 
-             
                 float constraint = bend - restBends[i];
 
                 constraint = math.max(0, constraint - stiffnesses[i].x) +
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
index c34acf76c..bea412444 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
@@ -32,7 +32,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new BendTwistConstraintsBatchJob()
             {
@@ -107,12 +107,11 @@ namespace Obi
                 quaternion omega_plus;
                 omega_plus.value = omega.value + rest.value;  //delta Omega with - omega_0
                 omega.value -= rest.value;                    //delta Omega with + omega_0
-
                 if (math.lengthsq(omega.value) > math.lengthsq(omega_plus.value))
                     omega = omega_plus;
 
                 // plasticity
-                if (math.lengthsq(omega.value) > plasticity[i].x * plasticity[i].x)
+                if (math.lengthsq(omega.value.xyz) > plasticity[i].x * plasticity[i].x)
                 {
                     rest.value += omega.value * plasticity[i].y * deltaTime;
                     restDarboux[i] = rest;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
index 5594e4786..35f19d56b 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
@@ -24,11 +24,7 @@ namespace Obi
 
         public bool enabled
         {
-            set
-            {
-                if (m_Enabled != value)
-                    m_Enabled = value;
-            }
+            set { m_Enabled = value; }
             get { return m_Enabled; }
         }
 
@@ -50,22 +46,17 @@ namespace Obi
         protected NativeArray<int> particleIndices;
         protected NativeArray<float> lambdas;
 
-        public virtual JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public virtual JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             if (lambdas.IsCreated)
             {
-                // no need for jobs here, memclear is faster and we don't pay scheduling overhead.
-                unsafe
-                {
-                    UnsafeUtility.MemClear(NativeArrayUnsafeUtility.GetUnsafeBufferPointerWithoutChecks(lambdas),
-                                           lambdas.Length * UnsafeUtility.SizeOf<float>());
-                }
+                inputDeps = new ClearLambdasJob {lambdas = lambdas}.Schedule(lambdas.Length, 256, inputDeps);
             }
             return inputDeps;
         }
 
         // implemented by concrete constraint subclasses.
-        public abstract JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps);
+        public abstract JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
         public abstract JobHandle Apply(JobHandle inputDeps, float substepTime);
 
         public virtual void Destroy()
@@ -104,6 +95,16 @@ namespace Obi
                 counts[particleIndex] = 0;
             }
         }
+
+        [BurstCompile]
+        public struct ClearLambdasJob : IJobParallelFor
+        {
+            public NativeArray<float> lambdas;
+            public void Execute(int i)
+            {
+                lambdas[i] = 0;
+            }
+        }
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
index 2b502be8b..961b8de13 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
@@ -9,8 +9,8 @@ namespace Obi
 {
     public interface IBurstConstraintsImpl : IConstraints
     {
-        JobHandle Initialize(JobHandle inputDeps, float substepTime);
-        JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int substeps);
+        JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
+        JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
         void Dispose();
 
         IConstraintsBatchImpl CreateConstraintsBatch();
@@ -63,14 +63,14 @@ namespace Obi
             return count;
         }
 
-        public JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             // initialize all batches in parallel:
             if (batches.Count > 0)
             {
                 NativeArray<JobHandle> deps = new NativeArray<JobHandle>(batches.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
                 for (int i = 0; i < batches.Count; ++i)
-                    deps[i] = batches[i].enabled ? batches[i].Initialize(inputDeps, substepTime) : inputDeps;
+                    deps[i] = batches[i].enabled ? batches[i].Initialize(inputDeps, stepTime, substepTime, steps, timeLeft) : inputDeps;
 
                 JobHandle result = JobHandle.CombineDependencies(deps);
                 deps.Dispose();
@@ -81,7 +81,7 @@ namespace Obi
             return inputDeps;
         }
 
-        public JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             UnityEngine.Profiling.Profiler.BeginSample("Project");
 
@@ -90,11 +90,11 @@ namespace Obi
             switch(parameters.evaluationOrder)
             {
                 case Oni.ConstraintParameters.EvaluationOrder.Sequential:
-                    inputDeps = EvaluateSequential(inputDeps, stepTime, substepTime, substeps);
+                    inputDeps = EvaluateSequential(inputDeps, stepTime, substepTime, steps, timeLeft);
                 break;
 
                 case Oni.ConstraintParameters.EvaluationOrder.Parallel:
-                    inputDeps = EvaluateParallel(inputDeps, stepTime, substepTime, substeps);
+                    inputDeps = EvaluateParallel(inputDeps, stepTime, substepTime, steps, timeLeft);
                 break;
             }
 
@@ -103,14 +103,14 @@ namespace Obi
             return inputDeps;
         }
 
-        protected virtual JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime,int substeps)
+        protected virtual JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime,int steps, float timeLeft)
         {
             // evaluate and apply all batches:
             for (int i = 0; i < batches.Count; ++i)
             {
                 if (batches[i].enabled)
                 {
-                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, substeps);
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
                     inputDeps = batches[i].Apply(inputDeps, substepTime);
                     m_Solver.ScheduleBatchedJobsIfNeeded();
                 }
@@ -119,13 +119,13 @@ namespace Obi
             return inputDeps;
         }
 
-        protected virtual JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        protected virtual JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             // evaluate all batches:
             for (int i = 0; i < batches.Count; ++i)
                 if (batches[i].enabled)
                 {
-                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, substeps);
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
                     m_Solver.ScheduleBatchedJobsIfNeeded();
                 }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
index 080e3a65b..2a177188d 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
@@ -30,7 +30,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
 
             var projectConstraints = new ChainConstraintsBatchJob()
@@ -88,12 +88,14 @@ namespace Obi
             {
                 int numEdges = numIndices[c] - 1;
                 int first = firstIndex[c];
-                float minLength = restLengths[c].y;
+                float minLength = restLengths[c].x;
                 float maxLength = restLengths[c].y;
 
                 // (ni:constraint gradient, di:desired lenght)
                 NativeArray<float4> ni = new NativeArray<float4>(numEdges, Allocator.Temp);
-                NativeArray<float> di = new NativeArray<float>(numEdges, Allocator.Temp);
+
+                // calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
+                NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
 
                 for (int i = 0; i < numEdges; ++i)
                 {
@@ -104,20 +106,10 @@ namespace Obi
                     float4 diff = p1 - p2;
 
                     float distance = math.length(diff);
-                    float correction = 0;
-
-                    if (distance >= maxLength)
-                        correction = distance - maxLength;
-                    else if (distance <= minLength)
-                        correction = distance - minLength;
-
-                    di[i] = correction;
                     ni[i] = new float4(diff/(distance + BurstMath.epsilon));
                 }
 
-                // calculate ai (subdiagonals), bi (diagonals) and ci (superdiagonals):
-                NativeArray<float3> diagonals = new NativeArray<float3>(numEdges, Allocator.Temp);
-
+                // calculate ai, bi and ci (superdiagonals):
                 for (int i = 0; i < numEdges; ++i)
                 {
                     int edge = first + i;
@@ -135,34 +127,47 @@ namespace Obi
                                     -w__i * math.dot(n_i_, n__i));// ci
                 }
 
-                NativeArray<float2> sweep = new NativeArray<float2>(numEdges, Allocator.Temp);
-
                 // solve step #1, forward sweep:
+                // reuse diagonals.xy to store sweep results ci_ and di_:
                 for (int i = 0; i < numEdges; ++i)
                 {
                     int edge = first + i;
+                    float4 p1 = positions[particleIndices[edge]];
+                    float4 p2 = positions[particleIndices[edge + 1]];
 
-                    float cip_ = (i > 0) ? sweep[i - 1].x : 0;
-                    float dip_ = (i > 0) ? sweep[i - 1].y : 0;
+                    float cip_ = (i > 0) ? diagonals[i - 1].x : 0;
+                    float dip_ = (i > 0) ? diagonals[i - 1].y : 0;
                     float den = diagonals[i].y - cip_ * diagonals[i].x;
 
-                    if (den != 0)
+                    float3 d = diagonals[i];
+                    if (math.abs(den) > BurstMath.epsilon)
                     {
-                        sweep[i] = new float2((diagonals[i].z / den),
-                                              (di[i] - dip_ * diagonals[i].x) / den);
+                        float distance = math.distance(p1, p2);
+                        float correction = 0;
+
+                        if (distance >= maxLength)
+                            correction = distance - maxLength;
+                        else if (distance <= minLength)
+                            correction = distance - minLength;
+
+                        d.xy = new float2(d.z / den,
+                                         (correction - dip_ * d.x) / den);
+
                     }
                     else
-                        sweep[i] = float2.zero;
+                        d.xy = float2.zero;
+
+                    diagonals[i] = d;
                 }
 
-                // solve step #2, backward sweep:
-                NativeArray<float> xi = new NativeArray<float>(numEdges, Allocator.Temp);
+                // solve step #2, backward sweep. reuse diagonals.z to store solution xi:
                 for (int i = numEdges - 1; i >= 0; --i)
                 {
-                    int edge = first + i;
+                    float xi_ = (i < numEdges - 1) ? diagonals[i + 1].z : 0;
 
-                    float xi_ = (i < numEdges - 1) ? xi[i + 1] : 0;
-                    xi[i] = sweep[i].y - sweep[i].x * xi_;
+                    float3 d = diagonals[i];
+                    d.z = d.y - d.x * xi_;
+                    diagonals[i] = d;
                 }
 
                 // calculate deltas:
@@ -173,11 +178,11 @@ namespace Obi
                     float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
                     float4 n_i_ = (i < numIndices[c] - 1) ? ni[i] : float4.zero;
 
-                    float xi_ = (i > 0) ? xi[i - 1] : 0;
-                    float nxi = (i < numIndices[c] - 1) ? xi[i] : 0;
+                    float xi_ = (i > 0) ? diagonals[i - 1].z : 0;
+                    float nxi = (i < numIndices[c] - 1) ? diagonals[i].z : 0;
 
                     int p = particleIndices[index];
-                    deltas[p] -= invMasses[p] * (-ni__ * xi_ + n_i_ * nxi);
+                    deltas[p] += invMasses[p] * (ni__ * xi_ - n_i_ * nxi);
                     counts[p]++;
                 }
             }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
index e7d0e1a22..b139b9481 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
@@ -24,9 +24,7 @@ namespace Obi
 
         public override int GetConstraintCount()
         {
-            if (!((BurstSolverImpl)solver).colliderContacts.IsCreated)
-                return 0;
-            return ((BurstSolverImpl)solver).colliderContacts.Length;
+            return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
index 12cd97c1b..35538e876 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
@@ -17,7 +17,7 @@ namespace Obi
             m_ConstraintType = Oni.ConstraintType.Collision;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var updateContacts = new UpdateContactsJob()
             {
@@ -26,7 +26,7 @@ namespace Obi
                 velocities = solverImplementation.velocities,
                 radii = solverImplementation.principalRadii,
                 invMasses = solverImplementation.invMasses,
-                invInertiaTensors = solverImplementation.invInertiaTensors,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
                 particleMaterialIndices = solverImplementation.collisionMaterials,
                 collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
 
@@ -39,13 +39,14 @@ namespace Obi
                 rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
                 rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
 
-                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
                 inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame
             };
-            return updateContacts.Schedule(((BurstSolverImpl)constraints.solver).colliderContacts.Length, 128, inputDeps);
+            return updateContacts.Schedule(((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.count, 128, inputDeps);
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
 
@@ -72,11 +73,13 @@ namespace Obi
                 deltas = solverAbstraction.positionDeltas.AsNativeArray<float4>(),
                 counts = solverAbstraction.positionConstraintCounts.AsNativeArray<int>(),
 
-                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
                 inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
                 constraintParameters = parameters,
                 solverParameters = solverAbstraction.parameters,
-                substeps = substeps,
+                steps = steps,
+                timeLeft = timeLeft,
                 stepTime = stepTime,
                 substepTime = substepTime
             };
@@ -89,7 +92,7 @@ namespace Obi
 
             var applyConstraints = new ApplyCollisionConstraintsBatchJob()
             {
-                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
 
                 simplices = solverImplementation.simplices,
                 simplexCounts = solverImplementation.simplexCounts,
@@ -108,7 +111,7 @@ namespace Obi
 
         /**
          * Updates contact data (such as contact distance) at the beginning of each substep. This is
-         * necessary because contacts are generalted only once at the beginning of each step, not every substep.
+         * necessary because contacts are generated only once at the beginning of each step, not every substep.
          */
         [BurstCompile]
         public struct UpdateContactsJob : IJobParallelFor
@@ -118,7 +121,7 @@ namespace Obi
             [ReadOnly] public NativeArray<float4> velocities;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
 
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
             [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
@@ -133,12 +136,14 @@ namespace Obi
             [ReadOnly] public NativeArray<float4> rigidbodyLinearDeltas;
             [ReadOnly] public NativeArray<float4> rigidbodyAngularDeltas;
 
+            public NativeArray<ContactEffectiveMasses> effectiveMasses;
             public NativeArray<BurstContact> contacts;
             [ReadOnly] public BurstInertialFrame inertialFrame;
 
             public void Execute(int i)
             {
                 var contact = contacts[i];
+                var efMasses = effectiveMasses[i];
 
                 int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
 
@@ -150,7 +155,7 @@ namespace Obi
                 float4 simplexPrevPosition = float4.zero;
                 quaternion simplexPrevOrientation = new quaternion(0, 0, 0, 0);
                 float simplexInvMass = 0;
-                float4 simplexInvInertia = float4.zero;
+                float simplexInvRotationalMass = 0;
                 float simplexRadius = 0;
 
                 for (int j = 0; j < simplexSize; ++j)
@@ -160,7 +165,7 @@ namespace Obi
                     simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
                     simplexPrevOrientation.value += prevOrientations[particleIndex].value * contact.pointA[j];
                     simplexInvMass += invMasses[particleIndex] * contact.pointA[j];
-                    simplexInvInertia += invInertiaTensors[particleIndex] * contact.pointA[j];
+                    simplexInvRotationalMass = invRotationalMasses[particleIndex] * contact.pointA[j];
                     simplexRadius += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
                 }
 
@@ -168,7 +173,7 @@ namespace Obi
                 int rigidbodyIndex = shapes[contact.bodyB].rigidbodyIndex;
                 if (rigidbodyIndex >= 0)
                 {
-                    relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                    relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
 
                     int bMaterialIndex = shapes[contact.bodyB].materialIndex;
                     rollingContacts |= bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false;
@@ -180,17 +185,21 @@ namespace Obi
                 // calculate contact point in A's surface:
                 float4 contactPoint = contact.pointB + contact.normal * contact.distance;
 
-                // update contact orthonormal basis:
-                contact.CalculateBasis(relativeVelocity);
+                // calculate contact tangent (first friction direction) using relative velocity:
+                contact.CalculateTangent(relativeVelocity);
 
                 // calculate A's contact mass.
-                contact.CalculateContactMassesA(simplexInvMass, simplexInvInertia, simplexPrevPosition, simplexPrevOrientation, contactPoint, rollingContacts);
+                float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadius, simplexInvRotationalMass) + new float4(BurstMath.epsilon));
+                efMasses.CalculateContactMassesA(simplexInvMass, invInertiaTensor, simplexPrevPosition, simplexPrevOrientation, contactPoint, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
 
                 // calculate B's contact mass.
                 if (rigidbodyIndex >= 0)
-                    contact.CalculateContactMassesB(rigidbodies[rigidbodyIndex], inertialFrame.frame);
+                    efMasses.CalculateContactMassesB(rigidbodies[rigidbodyIndex], inertialFrame.frame, contact.pointB, contact.normal, contact.tangent, contact.bitangent);
+                else
+                    efMasses.ClearContactMassesB();
 
                 contacts[i] = contact;
+                effectiveMasses[i] = efMasses;
             }
         }
 
@@ -220,12 +229,14 @@ namespace Obi
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
 
             public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
             [ReadOnly] public BurstInertialFrame inertialFrame;
             [ReadOnly] public Oni.ConstraintParameters constraintParameters;
             [ReadOnly] public Oni.SolverParameters solverParameters;
             [ReadOnly] public float stepTime;
             [ReadOnly] public float substepTime;
-            [ReadOnly] public int substeps;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
 
             public void Execute()
             {
@@ -237,12 +248,15 @@ namespace Obi
                     int colliderIndex = contact.bodyB;
 
                     // Skip contacts involving triggers:
-                    if (shapes[colliderIndex].flags > 0)
+                    if (shapes[colliderIndex].isTrigger)
                         continue;
 
                     // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
                     int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
 
+                    float frameEnd = stepTime * steps;
+                    float substepsToEnd = timeLeft / substepTime;
+
                     // Combine collision materials (use material from first particle in simplex)
                     BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
 
@@ -262,24 +276,24 @@ namespace Obi
                     }
 
                     // project position to the end of the full step:
-                    float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substeps);
+                    float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substepsToEnd);
                     posA += -contact.normal * simplexRadius;
 
                     float4 posB = contact.pointB;
 
                     if (rigidbodyIndex >= 0)
-                        posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame) * stepTime;
+                        posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame) * frameEnd;
 
                     // adhesion:
-                    float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, stepTime);
+                    float lambda = contact.SolveAdhesion(effectiveMasses[i].TotalNormalInvMass, posA, posB, material.stickDistance, material.stickiness, stepTime);
 
                     // depenetration:
-                    lambda += contact.SolvePenetration(posA, posB, solverParameters.maxDepenetration * stepTime);
+                    lambda += contact.SolvePenetration(effectiveMasses[i].TotalNormalInvMass, posA, posB, solverParameters.maxDepenetration * stepTime);
 
                     // Apply normal impulse to both simplex and rigidbody:
                     if (math.abs(lambda) > BurstMath.epsilon)
                     {
-                        float4 delta = lambda * contact.normal * BurstMath.BaryScale(contact.pointA) / substeps;
+                        float4 delta = lambda * contact.normal * BurstMath.BaryScale(contact.pointA) / substepsToEnd;
                         for (int j = 0; j < simplexSize; ++j)
                         {
                             int particleIndex = simplices[simplexStart + j];
@@ -298,8 +312,8 @@ namespace Obi
                         }
 
                         if (rigidbodyIndex >= 0)
-                        {
-                            BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / stepTime * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        { 
+                            BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / frameEnd * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
                         }
                     }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
index e7be9989a..5d57a75e3 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
@@ -25,9 +25,7 @@ namespace Obi
 
         public override int GetConstraintCount()
         {
-            if (!((BurstSolverImpl)solver).colliderContacts.IsCreated)
-                return 0;
-            return ((BurstSolverImpl)solver).colliderContacts.Length;
+            return ((BurstSolverImpl)solver).abstraction.colliderContacts.count;
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
index 6505d5302..bd39b1612 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
@@ -15,16 +15,13 @@ namespace Obi
             m_ConstraintType = Oni.ConstraintType.Friction;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             return inputDeps;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
-            if (!((BurstSolverImpl)constraints.solver).colliderContacts.IsCreated)
-                return inputDeps;
-
             var projectConstraints = new FrictionConstraintsBatchJob()
             {
                 positions = solverImplementation.positions,
@@ -33,7 +30,7 @@ namespace Obi
                 prevOrientations = solverImplementation.prevOrientations,
 
                 invMasses = solverImplementation.invMasses,
-                invInertiaTensors = solverImplementation.invInertiaTensors,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
                 radii = solverImplementation.principalRadii,
                 particleMaterialIndices = solverImplementation.collisionMaterials,
 
@@ -52,9 +49,10 @@ namespace Obi
                 orientationDeltas = solverImplementation.orientationDeltas,
                 orientationCounts = solverImplementation.orientationConstraintCounts,
 
-                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.contactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
                 inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
-                substeps = substeps,
+                steps = steps,
                 stepTime = stepTime,
                 substepTime = substepTime
             };
@@ -63,14 +61,11 @@ namespace Obi
 
         public override JobHandle Apply(JobHandle inputDeps, float substepTime)
         {
-            if (!((BurstSolverImpl)constraints.solver).colliderContacts.IsCreated)
-                return inputDeps;
-
             var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
 
             var applyConstraints = new ApplyCollisionConstraintsBatchJob()
             {
-                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.colliderContacts.AsNativeArray<BurstContact>(),
 
                 simplices = solverImplementation.simplices,
                 simplexCounts = solverImplementation.simplexCounts,
@@ -96,7 +91,7 @@ namespace Obi
             [ReadOnly] public NativeArray<quaternion> prevOrientations;
 
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
 
@@ -118,10 +113,11 @@ namespace Obi
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
 
             public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
             [ReadOnly] public BurstInertialFrame inertialFrame;
             [ReadOnly] public float stepTime;
             [ReadOnly] public float substepTime;
-            [ReadOnly] public int substeps;
+            [ReadOnly] public int steps;
 
             public void Execute()
             {
@@ -134,7 +130,7 @@ namespace Obi
                     int colliderIndex = contact.bodyB;
 
                     // Skip contacts involving triggers:
-                    if (shapes[colliderIndex].flags > 0)
+                    if (shapes[colliderIndex].isTrigger)
                         continue;
 
                     // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
@@ -149,9 +145,9 @@ namespace Obi
                     float4 prevPositionA = float4.zero;
                     float4 linearVelocityA = float4.zero;
                     float4 angularVelocityA = float4.zero;
-                    float4 invInertiaTensorA = float4.zero;
+                    float invRotationalMassA = 0;
                     quaternion orientationA = new quaternion(0, 0, 0, 0);
-                    float simplexRadiusA = 0;
+                    float4 simplexRadiiA = float4.zero;
 
                     for (int j = 0; j < simplexSize; ++j)
                     {
@@ -159,17 +155,17 @@ namespace Obi
                         prevPositionA    += prevPositions[particleIndex] * contact.pointA[j];
                         linearVelocityA  += BurstIntegration.DifferentiateLinear(positions[particleIndex],prevPositions[particleIndex], substepTime) * contact.pointA[j];
                         angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
-                        invInertiaTensorA += invInertiaTensors[particleIndex] * contact.pointA[j];
+                        invRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
                         orientationA.value += orientations[particleIndex].value * contact.pointA[j];
-                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                        simplexRadiiA += radii[particleIndex] * contact.pointA[j];
                     }
-
+ 
                     float4 relativeVelocity = linearVelocityA;
 
                     // Add particle angular velocity if rolling contacts are enabled:
                     if (material.rollingContacts > 0)
                     {
-                        rA = -contact.normal * simplexRadiusA;
+                        rA = -contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationA, simplexRadiiA.xyz);
                         relativeVelocity += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
                     }
 
@@ -178,11 +174,11 @@ namespace Obi
                     {
                         // Note: unlike rA, that is expressed in solver space, rB is expressed in world space.
                         rB = inertialFrame.frame.TransformPoint(contact.pointB) - rigidbodies[rigidbodyIndex].com;
-                        relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
                     }
 
                     // Determine impulse magnitude:
-                    float2 impulses = contact.SolveFriction(relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+                    float2 impulses = contact.SolveFriction(effectiveMasses[i].TotalTangentInvMass, effectiveMasses[i].TotalBitangentInvMass, relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
 
                     if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
                     {
@@ -194,8 +190,7 @@ namespace Obi
                         for (int j = 0; j < simplexSize; ++j)
                         {
                             int particleIndex = simplices[simplexStart + j];
-                            //(tangentImpulse * contact.tangentInvMassA + bitangentImpulse * contact.bitangentInvMassA) * dt;
-                            deltas[particleIndex] += (tangentImpulse * contact.tangentInvMassA + bitangentImpulse * contact.bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale; 
+                            deltas[particleIndex] += (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale; 
                             counts[particleIndex]++;
                         }
 
@@ -208,7 +203,8 @@ namespace Obi
                         if (material.rollingContacts > 0)
                         {
                             // Calculate angular velocity deltas due to friction impulse:
-                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
+                            float4 invInertiaTensor = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiA, invRotationalMassA) + new float4(BurstMath.epsilon));
+                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensor, orientationA);
 
                             float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
                             float4 angVelDeltaB = float4.zero;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
index 602e3b3f1..5110160a2 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
@@ -1,9 +1,8 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using System;
-using Unity.Jobs;
 using Unity.Burst;
 using Unity.Collections;
 using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
 using Unity.Mathematics;
 
 namespace Obi
@@ -12,10 +11,6 @@ namespace Obi
     {
         public NativeList<int> fluidParticles;
 
-        public NativeArray<float4> eta;
-        public NativeArray<float4> smoothPositions;
-        public NativeArray<float3x3> anisotropies;
-
         public BurstDensityConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Density)
         {
             fluidParticles = new NativeList<int>(Allocator.Persistent);
@@ -39,12 +34,12 @@ namespace Obi
             batch.Destroy();
         }
 
-        protected override JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        protected override JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
-            return EvaluateParallel(inputDeps, stepTime, substepTime, substeps);
+            return EvaluateParallel(inputDeps, stepTime, substepTime, steps, timeLeft);
         }
 
-        protected override JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        protected override JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             inputDeps = UpdateInteractions(inputDeps);
 
@@ -53,15 +48,41 @@ namespace Obi
             {
                 if (batches[i].enabled)
                 {
-                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, substeps);
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, steps, timeLeft);
                     m_Solver.ScheduleBatchedJobsIfNeeded();
                 }
             }
 
-            // calculate per-particle lambdas:
+            // calculate per-particle density lambdas:
             inputDeps = CalculateLambdas(inputDeps, substepTime);
 
-            // then apply them:
+            // calculate viscosity/vorticity:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].ViscosityAndVorticity(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            // apply viscosity/vorticity positional deltas:
+            var app = new ApplyPositionDeltasJob()
+            {
+                fluidParticles = fluidParticles,
+                positions = m_Solver.positions,
+                deltas = m_Solver.positionDeltas,
+                counts = m_Solver.positionConstraintCounts,
+                anisotropies = m_Solver.anisotropies,
+                normals = m_Solver.normals,
+                fluidData = m_Solver.fluidData,
+                matchingRotations = m_Solver.orientationDeltas, 
+                linearFromAngular = m_Solver.restPositions,
+            };
+
+            inputDeps = app.Schedule(fluidParticles.Length, 64, inputDeps);
+
+            // apply density positional deltas:
             for (int i = 0; i < batches.Count; ++i)
             {
                 if (batches[i].enabled)
@@ -74,29 +95,23 @@ namespace Obi
             return inputDeps;
         }
 
+        public JobHandle CalculateVelocityCorrections(JobHandle inputDeps, float deltaTime)
+        {
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].CalculateNormals(inputDeps, deltaTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            return inputDeps;
+        }
+
         public JobHandle ApplyVelocityCorrections(JobHandle inputDeps, float deltaTime)
         {
-            eta = new NativeArray<float4>(((BurstSolverImpl)solver).particleCount, Allocator.TempJob);
-
-            for (int i = 0; i < batches.Count; ++i)
-            {
-                if (batches[i].enabled)
-                {
-                    inputDeps = batches[i].CalculateViscosityAndNormals(inputDeps, deltaTime);
-                    m_Solver.ScheduleBatchedJobsIfNeeded();
-                }
-            }
-
-            for (int i = 0; i < batches.Count; ++i)
-            {
-                if (batches[i].enabled)
-                {
-                    inputDeps = batches[i].CalculateVorticity(inputDeps);
-                    m_Solver.ScheduleBatchedJobsIfNeeded();
-                }
-            }
-
-            inputDeps = ApplyVorticityAndAtmosphere(inputDeps, deltaTime);
+            inputDeps = ApplyAtmosphere(inputDeps, deltaTime);
             m_Solver.ScheduleBatchedJobsIfNeeded();
 
             return inputDeps;
@@ -106,10 +121,7 @@ namespace Obi
         {
             // if the constraints are deactivated or we need no anisotropy:
             if (((BurstSolverImpl)solver).abstraction.parameters.maxAnisotropy <= 1)
-                return IdentityAnisotropy(inputDeps);
-
-            smoothPositions = new NativeArray<float4>(((BurstSolverImpl)solver).particleCount, Allocator.TempJob);
-            anisotropies = new NativeArray<float3x3>(((BurstSolverImpl)solver).particleCount, Allocator.TempJob);
+                return inputDeps;
 
             for (int i = 0; i < batches.Count; ++i)
             {
@@ -139,8 +151,11 @@ namespace Obi
             // clear existing fluid data:
             var clearData = new ClearFluidDataJob()
             {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
-                fluidData = ((BurstSolverImpl)solver).abstraction.fluidData.AsNativeArray<float4>(),
+                fluidParticles = fluidParticles,
+                fluidData = m_Solver.fluidData,
+                massCenters = m_Solver.normals,
+                prevMassCenters = m_Solver.renderablePositions,
+                moments = m_Solver.anisotropies
             };
 
             inputDeps = clearData.Schedule(fluidParticles.Length, 64, inputDeps);
@@ -150,7 +165,7 @@ namespace Obi
             {
                 pairs = m_Solver.fluidInteractions,
                 positions = m_Solver.positions,
-                radii = m_Solver.smoothingRadii,
+                fluidMaterials = m_Solver.fluidMaterials,
                 densityKernel = new Poly6Kernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
                 gradientKernel = new SpikyKernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
             };
@@ -161,64 +176,65 @@ namespace Obi
         private JobHandle CalculateLambdas(JobHandle inputDeps, float deltaTime)
         {
             // calculate lagrange multipliers:
-            var calculateLambdas = new CalculateLambdasJob()
+            var calculateLambdas = new CalculateLambdasJob
             {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
-                invMasses = m_Solver.invMasses,
-                radii = m_Solver.smoothingRadii,
-                restDensities = m_Solver.restDensities,
-                surfaceTension = m_Solver.surfaceTension,
+                fluidParticles = fluidParticles,
+                positions = m_Solver.positions,
+                prevPositions = m_Solver.prevPositions,
+                matchingRotations = m_Solver.restPositions.Reinterpret<quaternion>(),
+                principalRadii = m_Solver.principalRadii,
+                fluidMaterials = m_Solver.fluidMaterials,
                 densityKernel = new Poly6Kernel(m_Solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
                 gradientKernel = new SpikyKernel(m_Solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
-                normals = m_Solver.normals,
-                vorticity = m_Solver.vorticities,
-                fluidData = m_Solver.fluidData
+                fluidData = m_Solver.fluidData,
+
+                massCenters = m_Solver.normals,
+                prevMassCenters = m_Solver.renderablePositions,
+                moments = m_Solver.anisotropies,
+
+                deltas = m_Solver.positionDeltas,
+                counts = m_Solver.positionConstraintCounts,
+
+                solverParams = m_Solver.abstraction.parameters
             };
 
             return calculateLambdas.Schedule(fluidParticles.Length,64,inputDeps);
         }
 
-        private JobHandle ApplyVorticityAndAtmosphere(JobHandle inputDeps, float deltaTime)
+        private JobHandle ApplyAtmosphere(JobHandle inputDeps, float deltaTime)
         {
-            // calculate lagrange multipliers:
-            var conf = new ApplyVorticityConfinementAndAtmosphere()
+            var conf = new ApplyAtmosphereJob
             {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                fluidParticles = fluidParticles,
                 wind = m_Solver.wind,
-                vorticities = m_Solver.vorticities,
-                eta = eta,
-                atmosphericDrag = m_Solver.athmosphericDrag,
-                atmosphericPressure = m_Solver.athmosphericPressure,
-                vorticityConfinement = m_Solver.vortConfinement,
-                restDensities = m_Solver.restDensities,
+                fluidInterface = m_Solver.fluidInterface,
+                fluidMaterials2 = m_Solver.fluidMaterials2,
+                principalRadii = m_Solver.principalRadii,
                 normals = m_Solver.normals,
                 fluidData = m_Solver.fluidData,
                 velocities = m_Solver.velocities,
-                dt = deltaTime
+                angularVelocities = m_Solver.angularVelocities,
+                vorticity = m_Solver.restOrientations.Reinterpret<float4>(),
+                vorticityAccelerations = m_Solver.orientationDeltas.Reinterpret<float4>(),
+                linearAccelerations = m_Solver.positionDeltas,
+                linearFromAngular = m_Solver.restPositions,
+                angularDiffusion = m_Solver.anisotropies,
+                positions = m_Solver.positions,
+                prevPositions = m_Solver.prevPositions,
+                dt = deltaTime,
+                solverParams = m_Solver.abstraction.parameters
             };
 
             return conf.Schedule(fluidParticles.Length, 64, inputDeps);
         }
 
-        private JobHandle IdentityAnisotropy(JobHandle inputDeps)
-        {
-            var idAnisotropy = new IdentityAnisotropyJob()
-            {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
-                principalAxes = m_Solver.anisotropies,
-                radii = m_Solver.principalRadii
-            };
-
-            return idAnisotropy.Schedule(fluidParticles.Length, 64, inputDeps);
-        }
-
         private JobHandle AverageSmoothPositions(JobHandle inputDeps)
         {
             var average = new AverageSmoothPositionsJob()
             {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                fluidParticles = fluidParticles,
                 renderablePositions = m_Solver.renderablePositions,
-                smoothPositions = smoothPositions
+                anisotropies = m_Solver.anisotropies
             };
 
             return average.Schedule(fluidParticles.Length, 64, inputDeps);
@@ -228,13 +244,16 @@ namespace Obi
         {
             var average = new AverageAnisotropyJob()
             {
-                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                fluidParticles = fluidParticles,
                 renderablePositions = m_Solver.renderablePositions,
-                smoothPositions = smoothPositions,
+                renderableOrientations = m_Solver.renderableOrientations,
                 principalRadii = m_Solver.principalRadii,
-                anisotropies = anisotropies,
+                anisotropies = m_Solver.anisotropies,
                 maxAnisotropy = m_Solver.abstraction.parameters.maxAnisotropy,
-                principalAxes = m_Solver.anisotropies
+                renderableRadii = m_Solver.renderableRadii,
+                fluidData = m_Solver.fluidData,
+                life = m_Solver.life,
+                solverParams = m_Solver.abstraction.parameters
             };
 
             return average.Schedule(fluidParticles.Length, 64, inputDeps);
@@ -243,12 +262,19 @@ namespace Obi
         [BurstCompile]
         public struct ClearFluidDataJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeList<int> fluidParticles;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
 
             public void Execute(int i)
             {
-                fluidData[fluidParticles[i]] = float4.zero;
+                int p = fluidParticles[i];
+                fluidData[p] = float4.zero;
+                massCenters[p] = float4.zero;
+                prevMassCenters[p] = float4.zero;
+                moments[p] = float4x4.zero;
             }
         }
 
@@ -256,7 +282,7 @@ namespace Obi
         public struct UpdateInteractionsJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<float4> positions;
-            [ReadOnly] public NativeArray<float> radii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
             [ReadOnly] public Poly6Kernel densityKernel;
             [ReadOnly] public SpikyKernel gradientKernel;
 
@@ -269,16 +295,16 @@ namespace Obi
                 var pair = pairs[i];
 
                 // calculate normalized gradient vector:
-                pair.gradient = (positions[pair.particleA] - positions[pair.particleB]);
+                pair.gradient = new float4((positions[pair.particleA] - positions[pair.particleB]).xyz,0);
                 float distance = math.length(pair.gradient);
                 pair.gradient /= distance + math.FLT_MIN_NORMAL;
 
                 // calculate and store average density and gradient kernels:
-                pair.avgKernel = (densityKernel.W(distance, radii[pair.particleA]) +
-                                  densityKernel.W(distance, radii[pair.particleB])) * 0.5f;
+                pair.avgKernel = (densityKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                  densityKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
 
-                pair.avgGradient = (gradientKernel.W(distance, radii[pair.particleA]) +
-                                    gradientKernel.W(distance, radii[pair.particleB])) * 0.5f;
+                pair.avgGradient = (gradientKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                    gradientKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
 
                 pairs[i] = pair;
             }
@@ -287,164 +313,239 @@ namespace Obi
         [BurstCompile]
         public struct CalculateLambdasJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<int> fluidParticles;
-            [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float> radii;
-            [ReadOnly] public NativeArray<float> restDensities;
-            [ReadOnly] public NativeArray<float> surfaceTension;
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
             [ReadOnly] public Poly6Kernel densityKernel;
-            [ReadOnly] public SpikyKernel gradientKernel; 
+            [ReadOnly] public SpikyKernel gradientKernel;
+
+            [ReadOnly] public Oni.SolverParameters solverParams;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> vorticity;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
 
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> matchingRotations;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
             public void Execute(int p)
             {
                 int i = fluidParticles[p];
 
-                normals[i] = float4.zero;
-                vorticity[i] = float4.zero;
-
+                float restVolume = math.pow(principalRadii[i].x * 2, 3 - (int)solverParams.mode);
                 float4 data = fluidData[i];
 
-                float grad = gradientKernel.W(0, radii[i]) / invMasses[i] / restDensities[i];
+                float grad = restVolume * gradientKernel.W(0, fluidMaterials[i].x);
 
-                // self particle contribution to density and gradient:
-                data += new float4(densityKernel.W(0, radii[i]), 0, grad, grad * grad + data[2] * data[2]);
+                // self particle contribution to density, gradient and mass centers:
+                data += new float4(densityKernel.W(0, fluidMaterials[i].x), 0, grad, grad * grad + data[2] * data[2]);
+                massCenters[i] += new float4(positions[i].xyz, 1) / positions[i].w;
+                prevMassCenters[i] += new float4(prevPositions[i].xyz, 1) / positions[i].w;
 
-                // weight by mass:
-                data[0] /= invMasses[i];
-
-                // evaluate density constraint (clamp pressure):
-                float constraint = math.max(-0.5f * surfaceTension[i], data[0] / restDensities[i] - 1);
+                // usually, we'd weight density by mass (density contrast formulation) by dividing by invMass. Then, multiply by invMass when
+                // calculating the state equation (density / restDensity - 1, restDensity = mass / volume, so density * invMass * restVolume - 1
+                // We end up with density / invMass * invMass * restVolume - 1, invMass cancels out.
+                float constraint = math.max(0, data[0] * restVolume - 1) * fluidMaterials[i].w;
 
                 // calculate lambda:
-                data[1] = -constraint / (invMasses[i] * data[3] + math.FLT_MIN_NORMAL);
+                data[1] = -constraint / (positions[i].w * data[3] + math.FLT_MIN_NORMAL);
 
                 fluidData[i] = data;
+
+                // get total neighborhood mass:
+                float M = massCenters[i][3];
+                massCenters[i] /= massCenters[i][3];
+                prevMassCenters[i] /= prevMassCenters[i][3];
+
+                // update moments:
+                moments[i] += (BurstMath.multrnsp4(positions[i], prevPositions[i]) + float4x4.identity * math.pow(principalRadii[i].x, 2) * 0.001f) / positions[i].w;
+                moments[i] -= M * BurstMath.multrnsp4(massCenters[i], prevMassCenters[i]);
+
+                // extract neighborhood orientation delta:
+                matchingRotations[i] = BurstMath.ExtractRotation(moments[i], quaternion.identity, 5);
+
+                // viscosity and vorticity:
+                float4 viscGoal = new float4(massCenters[i].xyz + math.rotate(matchingRotations[i], (prevPositions[i] - prevMassCenters[i]).xyz), 0);
+                deltas[i] += (viscGoal - positions[i]) * fluidMaterials[i].z;
+
+                counts[i]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyPositionDeltasJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeList<int> fluidParticles;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> matchingRotations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> linearFromAngular;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                if (counts[i] > 0)
+                {
+                    positions[i] += new float4(deltas[i].xyz,0) / counts[i];
+                    deltas[i] = float4.zero;
+                    counts[i] = 0;
+                }
+
+                normals[i] = float4.zero;
+                anisotropies[i] = float4x4.zero;
+                linearFromAngular[i] = float4.zero;
+                matchingRotations[i] = new quaternion(0, 0, 0, 0);
+
+                // zero out fluidData.z in preparation to accumulate relative velocity.
+                float4 data = fluidData[i];
+                data.z = 0;
+                fluidData[i] = data;
             }
         }
 
         [BurstCompile]
-        public struct ApplyVorticityConfinementAndAtmosphere : IJobParallelFor
+        public struct ApplyAtmosphereJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeList<int> fluidParticles;
             [ReadOnly] public NativeArray<float4> wind;
-            [ReadOnly] public NativeArray<float4> vorticities;
-            [ReadOnly] public NativeArray<float> atmosphericDrag;
-            [ReadOnly] public NativeArray<float> atmosphericPressure;
-            [ReadOnly] public NativeArray<float> vorticityConfinement;
-            [ReadOnly] public NativeArray<float> restDensities;
+            [ReadOnly] public NativeArray<float4> fluidInterface;
+            [ReadOnly] public NativeArray<float4> fluidMaterials2;
+            [ReadOnly] public NativeArray<float4> principalRadii;
             [ReadOnly] public NativeArray<float4> normals;
             [ReadOnly] public NativeArray<float4> fluidData;
+            [ReadOnly] public NativeArray<float4> linearFromAngular;
 
-            [DeallocateOnJobCompletion] [ReadOnly] public NativeArray<float4> eta;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevPositions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> linearAccelerations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> vorticityAccelerations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> vorticity;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> angularDiffusion;
 
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
 
             [ReadOnly] public float dt;
+            [ReadOnly] public Oni.SolverParameters solverParams;
 
             public void Execute(int p)
             {
                 int i = fluidParticles[p];
 
+                float restVolume = math.pow(principalRadii[i].x * 2, 3 - (int)solverParams.mode);
+
                 //atmospheric drag:
                 float4 velocityDiff = velocities[i] - wind[i];
 
                 // particles near the surface should experience drag:
-                velocities[i] -= atmosphericDrag[i] * velocityDiff * math.max(0, 1 - fluidData[i][0] / restDensities[i]) * dt;
+                velocities[i] -= fluidInterface[i].x * velocityDiff * math.max(0, 1 - fluidData[i][0] * restVolume) * dt;
 
                 // ambient pressure:
-                velocities[i] += atmosphericPressure[i] * normals[i] * dt;
+                velocities[i] += fluidInterface[i].y * normals[i] * dt;
 
-                // apply vorticity confinement:
-                velocities[i] += new float4(math.cross(math.normalizesafe(eta[i]).xyz,vorticities[i].xyz), 0) * vorticityConfinement[i] * dt;
-            }
-        }
+                // angular accel due to baroclinity:
+                angularVelocities[i] += new float4(fluidMaterials2[i].z * math.cross(-normals[i].xyz, -velocityDiff.xyz), 0) * dt;
+                angularVelocities[i] -= fluidMaterials2[i].w * angularDiffusion[i].c0;
 
-        [BurstCompile]
-        public struct IdentityAnisotropyJob : IJobParallelFor
-        {
-            [ReadOnly] public NativeArray<int> fluidParticles;
-            [ReadOnly] public NativeArray<float4> radii;
+                // micropolar vorticity:
+                velocities[i] += fluidMaterials2[i].x * linearAccelerations[i] * dt;
+                vorticity[i] += fluidMaterials2[i].x * (vorticityAccelerations[i] * 0.5f - vorticity[i]) * dt;
+                vorticity[i] -= fluidMaterials2[i].y * angularDiffusion[i].c1;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> principalAxes;
+                linearAccelerations[i] = float4.zero;
+                vorticityAccelerations[i] = float4.zero;
+                angularDiffusion[i] = float4x4.zero;
 
-            public void Execute(int p)
-            {
-                int i = fluidParticles[p];
-
-                // align the principal axes of the particle with the solver axes:
-                principalAxes[i * 3]     = new float4(1,0,0,radii[i].x);
-                principalAxes[i * 3 + 1] = new float4(0,1,0,radii[i].x);
-                principalAxes[i * 3 + 2] = new float4(0,0,1,radii[i].x);
+                // we want to add together linear and angular velocity fields and use result to advect particles without modifying either field:
+                positions[i] += new float4(linearFromAngular[i].xyz * dt,0);
+                prevPositions[i] += new float4(linearFromAngular[i].xyz * dt, 0);
             }
         }
 
         [BurstCompile]
         public struct AverageSmoothPositionsJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeList<int> fluidParticles;
             [ReadOnly] public NativeArray<float4> renderablePositions;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> smoothPositions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
 
             public void Execute(int p)
             {
                 int i = fluidParticles[p];
 
-                if (smoothPositions[i].w > 0)
-                    smoothPositions[i] /= smoothPositions[i].w;
+                var smoothPos = anisotropies[i];
+
+                if (smoothPos.c3.w > 0)
+                    smoothPos.c3 /= smoothPos.c3.w;
                 else
-                    smoothPositions[i] = renderablePositions[i];
+                    smoothPos.c3.xyz = renderablePositions[i].xyz;
+
+                anisotropies[i] = smoothPos;
             }
         }
 
         [BurstCompile]
         public struct AverageAnisotropyJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeList<int> fluidParticles;
             [ReadOnly] public NativeArray<float4> principalRadii;
             [ReadOnly] public float maxAnisotropy;
+            [ReadOnly] public NativeArray<float4x4> anisotropies;
+            [ReadOnly] public NativeArray<float> life;
 
-            [ReadOnly]
-            [DeallocateOnJobCompletion]
-            public NativeArray<float4> smoothPositions;
-
-            [ReadOnly]
-            [DeallocateOnJobCompletion]
-            public NativeArray<float3x3> anisotropies;
-
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> renderablePositions;
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> principalAxes;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> renderableOrientations;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> renderableRadii;
+
+            [ReadOnly] public Oni.SolverParameters solverParams;
 
             public void Execute(int p)
             {
                 int i = fluidParticles[p];
 
-                if (smoothPositions[i].w > 0 && (anisotropies[i].c0[0] + anisotropies[i].c1[1] + anisotropies[i].c2[2]) > 0.01f)
+                if (anisotropies[i].c3.w > 0 && (anisotropies[i].c0[0] + anisotropies[i].c1[1] + anisotropies[i].c2[2]) > 0.01f)
                 {
                     float3 singularValues;
                     float3x3 u;
-                    BurstMath.EigenSolve(anisotropies[i] / smoothPositions[i].w, out singularValues, out u);
+                    BurstMath.EigenSolve(math.float3x3(anisotropies[i] / anisotropies[i].c3.w), out singularValues, out u);
 
                     float max = singularValues[0];
                     float3 s = math.max(singularValues,new float3(max / maxAnisotropy)) / max * principalRadii[i].x;
 
-                    principalAxes[i * 3]     = new float4(u.c0, s.x);
-                    principalAxes[i * 3 + 1] = new float4(u.c1, s.y);
-                    principalAxes[i * 3 + 2] = new float4(u.c2, s.z);
+                    renderableOrientations[i] = quaternion.LookRotationSafe(u.c2,u.c1);
+                    renderableRadii[i] = new float4(s.xyz,1);
                 }
                 else
                 {
                     float radius = principalRadii[i].x / maxAnisotropy;
-                    principalAxes[i * 3]     = new float4(1, 0, 0, radius);
-                    principalAxes[i * 3 + 1] = new float4(0, 1, 0, radius);
-                    principalAxes[i * 3 + 2] = new float4(0, 0, 1, radius);
+                    renderableOrientations[i] = quaternion.identity;
+                    renderableRadii[i] = new float4(radius,radius,radius,1);
+
+                    float4 data = fluidData[i];
+                    data.x = 1 / math.pow(math.abs(radius * 2), 3 - (int)solverParams.mode); // normal volume of an isolated particle.
+                    fluidData[i] = data;
                 }
 
-                renderablePositions[i] = smoothPositions[i];
+                renderablePositions[i] = math.lerp(renderablePositions[i], anisotropies[i].c3, math.min((maxAnisotropy - 1)/3.0f,1));
+
+                // inactive particles have radii.w == 0, set it right away for particles killed during this frame 
+                // to keep them from being rendered during this frame instead of waiting to do it at the start of next sim step:
+                float4 radii = renderableRadii[i];
+                radii.w = life[i] <= 0 ? 0 : radii.w;
+                renderableRadii[i] = radii;
             }
         }
     }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
index c44762137..c37438008 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
@@ -1,11 +1,9 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
 using Unity.Jobs;
 using Unity.Collections;
 using Unity.Collections.LowLevel.Unsafe;
 using Unity.Mathematics;
 using Unity.Burst;
-using System.Collections;
 
 namespace Obi
 {
@@ -19,12 +17,12 @@ namespace Obi
             m_ConstraintType = Oni.ConstraintType.Density;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             return inputDeps;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
 
             // update densities and gradients:
@@ -32,13 +30,16 @@ namespace Obi
             {
                 pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
                 positions = solverImplementation.positions,
-                invMasses = solverImplementation.invMasses,
-                restDensities = solverImplementation.restDensities,
-                diffusion = solverImplementation.diffusion,
-                userData = solverImplementation.userData,
+                prevPositions = solverImplementation.prevPositions,
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
                 fluidData = solverImplementation.fluidData,
+                moments = solverImplementation.anisotropies,
+                massCenters = solverImplementation.normals,
+                prevMassCenters = solverImplementation.renderablePositions,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
                 batchData = batchData,
-                dt = substepTime
+                solverParams = solverAbstraction.parameters
             };
 
             int batchCount = batchData.isLast ? batchData.workItemCount : 1;
@@ -52,15 +53,14 @@ namespace Obi
             // update densities and gradients:
             var apply = new ApplyDensityConstraintsJob()
             {
-                invMasses = solverImplementation.invMasses,
-                radii = solverImplementation.smoothingRadii,
-                restDensities = solverImplementation.restDensities,
-                surfaceTension = solverImplementation.surfaceTension,
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
                 pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
                 densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
                 positions = solverImplementation.positions,
                 fluidData = solverImplementation.fluidData,
                 batchData = batchData,
+                solverParams = solverAbstraction.parameters,
                 sorFactor = parameters.SORFactor
             };
 
@@ -68,36 +68,54 @@ namespace Obi
             return apply.Schedule(batchData.workItemCount, batchCount, inputDeps);
         }
 
-        public JobHandle CalculateViscosityAndNormals(JobHandle inputDeps, float deltaTime)
+        public JobHandle CalculateNormals(JobHandle inputDeps, float deltaTime)
         {
-            var viscosity = new NormalsViscosityAndVorticityJob()
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+
+            var vorticity = new NormalsJob()
             {
-                positions = solverImplementation.positions,
                 invMasses = solverImplementation.invMasses,
-                radii = solverImplementation.smoothingRadii,
-                restDensities = solverImplementation.restDensities,
-                viscosities = solverImplementation.viscosities,
+                positions = solverImplementation.positions,
+                principalRadii = solverImplementation.principalRadii,
+                fluidMaterials = solverImplementation.fluidMaterials,
+                fluidMaterials2 = solverImplementation.fluidMaterials2,
                 fluidData = solverImplementation.fluidData,
-                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                fluidInterface = solverImplementation.fluidInterface,
                 velocities = solverImplementation.velocities,
-                vorticities = solverImplementation.vorticities,
+                angularVelocities = solverImplementation.angularVelocities,
+
+                vorticityAccelerations = solverImplementation.orientationDeltas.Reinterpret<float4>(),
+                vorticity = solverImplementation.restOrientations.Reinterpret<float4>(),
+                linearAccelerations = solverImplementation.positionDeltas,
+                linearFromAngular = solverImplementation.restPositions,
+                angularDiffusion = solverImplementation.anisotropies,
+
+                userData = solverImplementation.userData,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
                 normals = solverImplementation.normals,
-                batchData = batchData
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                gradKernel = new SpikyKernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                solverParams = solverAbstraction.parameters,
+                batchData = batchData,
+                dt = deltaTime,
             };
 
-            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
-            return viscosity.Schedule(batchData.workItemCount, batchCount, inputDeps);
+            return vorticity.Schedule(batchData.workItemCount, batchCount, inputDeps);
         }
 
-        public JobHandle CalculateVorticity(JobHandle inputDeps)
+        public JobHandle ViscosityAndVorticity(JobHandle inputDeps)
         {
-            var eta = new CalculateVorticityEta()
+            var eta = new ViscosityVorticityJob()
             {
-                invMasses = solverImplementation.invMasses,
-                restDensities = solverImplementation.restDensities,
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                matchingRotations = solverImplementation.restPositions.Reinterpret<quaternion>(),
                 pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
-                vorticities = solverImplementation.vorticities,
-                eta = ((BurstDensityConstraints)this.constraints).eta,
+                massCenters = solverImplementation.normals,
+                prevMassCenters = solverImplementation.renderablePositions,
+                fluidParams = solverImplementation.fluidMaterials,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
                 batchData = batchData
             };
 
@@ -110,8 +128,8 @@ namespace Obi
             var accumulateSmooth = new AccumulateSmoothPositionsJob()
             {
                 renderablePositions = solverImplementation.renderablePositions,
-                smoothPositions = ((BurstDensityConstraints)this.constraints).smoothPositions,
-                radii = solverImplementation.smoothingRadii,
+                anisotropies = solverImplementation.anisotropies,
+                fluidMaterials = solverImplementation.fluidMaterials,
                 densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
                 pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
                 batchData = batchData
@@ -126,8 +144,7 @@ namespace Obi
             var accumulateAnisotropy = new AccumulateAnisotropyJob()
             {
                 renderablePositions = solverImplementation.renderablePositions,
-                smoothPositions = ((BurstDensityConstraints)this.constraints).smoothPositions,
-                anisotropies = ((BurstDensityConstraints)this.constraints).anisotropies,
+                anisotropies = solverImplementation.anisotropies,
                 pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
                 batchData = batchData
             };
@@ -140,17 +157,21 @@ namespace Obi
         public struct UpdateDensitiesJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<float4> positions;
-            [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float> restDensities;
-            [ReadOnly] public NativeArray<float> diffusion;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<float4> principalRadii;
             [ReadOnly] public NativeArray<FluidInteraction> pairs;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> userData;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
 
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> moments;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+
+            [ReadOnly] public Poly6Kernel densityKernel;
             [ReadOnly] public BatchData batchData;
 
-            [ReadOnly] public float dt;
+            [ReadOnly] public Oni.SolverParameters solverParams;
 
             public void Execute(int workItemIndex)
             {
@@ -161,8 +182,8 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float restVolumeA = 1.0f / invMasses[pair.particleA] / restDensities[pair.particleA];
-                    float restVolumeB = 1.0f / invMasses[pair.particleB] / restDensities[pair.particleB];
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
 
                     float gradA = restVolumeB * pair.avgGradient;
                     float gradB = restVolumeA * pair.avgGradient;
@@ -174,11 +195,17 @@ namespace Obi
                     fluidData[pair.particleA] += new float4(vA * pair.avgKernel, 0, gradA, gradA * gradA);
                     fluidData[pair.particleB] += new float4(vB * pair.avgKernel, 0, gradB, gradB * gradB);
 
-                    // property diffusion:
-                    float diffusionSpeed = (diffusion[pair.particleA] + diffusion[pair.particleB]) * pair.avgKernel * dt;
-                    float4 userDelta = (userData[pair.particleB] - userData[pair.particleA]) * diffusionSpeed;
-                    userData[pair.particleA] += vA * userDelta;
-                    userData[pair.particleB] -= vB * userDelta;
+                    // accumulate masses for COMs and moment matrices:
+                    float wAvg = pair.avgKernel / ((densityKernel.W(0, fluidMaterials[pair.particleA].x) + densityKernel.W(0, fluidMaterials[pair.particleB].x)) * 0.5f);
+
+                    massCenters[pair.particleA] += wAvg * new float4(positions[pair.particleB].xyz, 1) / positions[pair.particleB].w;
+                    massCenters[pair.particleB] += wAvg * new float4(positions[pair.particleA].xyz, 1) / positions[pair.particleA].w;
+
+                    prevMassCenters[pair.particleA] += wAvg * new float4(prevPositions[pair.particleB].xyz, 1) / positions[pair.particleB].w;
+                    prevMassCenters[pair.particleB] += wAvg * new float4(prevPositions[pair.particleA].xyz, 1) / positions[pair.particleA].w;
+
+                    moments[pair.particleA] += wAvg * (BurstMath.multrnsp4(positions[pair.particleB], prevPositions[pair.particleB]) + float4x4.identity * math.pow(principalRadii[pair.particleB].x, 2) * 0.001f) / positions[pair.particleB].w;
+                    moments[pair.particleB] += wAvg * (BurstMath.multrnsp4(positions[pair.particleA], prevPositions[pair.particleA]) + float4x4.identity * math.pow(principalRadii[pair.particleA].x, 2) * 0.001f) / positions[pair.particleA].w;
                 }
             }
         }
@@ -186,18 +213,18 @@ namespace Obi
         [BurstCompile]
         public struct ApplyDensityConstraintsJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float> radii;
-            [ReadOnly] public NativeArray<float> restDensities;
-            [ReadOnly] public NativeArray<float> surfaceTension;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
             [ReadOnly] public NativeArray<FluidInteraction> pairs;
             [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public CohesionKernel cohesionKernel;
 
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> positions;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
 
             [ReadOnly] public BatchData batchData;
             [ReadOnly] public float sorFactor;
+            [ReadOnly] public Oni.SolverParameters solverParams;
 
             public void Execute(int workItemIndex)
             {
@@ -208,36 +235,41 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float restVolumeA = 1.0f / invMasses[pair.particleA] / restDensities[pair.particleA];
-                    float restVolumeB = 1.0f / invMasses[pair.particleB] / restDensities[pair.particleB];
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
+
+                    float dist = math.length(positions[pair.particleA].xyz - positions[pair.particleB].xyz); // TODO: FIX! we cant read positions while we are writing to them.
 
                     // calculate tensile instability correction factor:
-                    float wAvg = pair.avgKernel / ((densityKernel.W(0, radii[pair.particleA]) + densityKernel.W(0, radii[pair.particleB])) * 0.5f);
-                    float scorrA = -(0.001f + 0.2f * surfaceTension[pair.particleA]) * wAvg / (invMasses[pair.particleA] * fluidData[pair.particleA][3]);
-                    float scorrB = -(0.001f + 0.2f * surfaceTension[pair.particleB]) * wAvg / (invMasses[pair.particleB] * fluidData[pair.particleB][3]);
+                    float cAvg = (cohesionKernel.W(dist, fluidMaterials[pair.particleA].x * 1.4f) + cohesionKernel.W(dist, fluidMaterials[pair.particleB].x * 1.4f)) * 0.5f;
+                    float st = 0.2f * cAvg * (1 - math.saturate(math.abs(fluidMaterials[pair.particleA].y - fluidMaterials[pair.particleB].y))) * (fluidMaterials[pair.particleA].y + fluidMaterials[pair.particleB].y) * 0.5f;
+                    float scorrA = -st / (positions[pair.particleA].w * fluidData[pair.particleA][3] + math.FLT_MIN_NORMAL);
+                    float scorrB = -st / (positions[pair.particleB].w * fluidData[pair.particleB][3] + math.FLT_MIN_NORMAL);
 
                     // calculate position delta:
                     float4 delta = pair.gradient * pair.avgGradient * ((fluidData[pair.particleA][1] + scorrA) * restVolumeB + (fluidData[pair.particleB][1] + scorrB) * restVolumeA) * sorFactor;
-                    positions[pair.particleA] += delta * invMasses[pair.particleA];
-                    positions[pair.particleB] -= delta * invMasses[pair.particleB];
+                    delta.w = 0;
+                    positions[pair.particleA] += delta * positions[pair.particleA].w;
+                    positions[pair.particleB] -= delta * positions[pair.particleB].w;
+
                 }
             }
         }
 
         [BurstCompile]
-        public struct NormalsViscosityAndVorticityJob : IJobParallelFor
+        public struct ViscosityVorticityJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<float4> positions;
-            [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float> radii;
-            [ReadOnly] public NativeArray<float> restDensities;
-            [ReadOnly] public NativeArray<float> viscosities;
-            [ReadOnly] public NativeArray<float4> fluidData;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> matchingRotations;
+            [ReadOnly] public NativeArray<float4> fluidParams;
             [ReadOnly] public NativeArray<FluidInteraction> pairs;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> vorticities;
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> massCenters;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> prevMassCenters;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
 
             [ReadOnly] public BatchData batchData;
 
@@ -250,41 +282,50 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float restVolumeA = 1.0f / invMasses[pair.particleA] / restDensities[pair.particleA];
-                    float restVolumeB = 1.0f / invMasses[pair.particleB] / restDensities[pair.particleB];
+                    float visc = math.min(fluidParams[pair.particleA].z, fluidParams[pair.particleB].z);
 
-                    // XSPH viscosity:
-                    float viscosityCoeff = math.min(viscosities[pair.particleA], viscosities[pair.particleB]);
-                    float4 relVelocity = velocities[pair.particleB] - velocities[pair.particleA];
-                    float4 viscosity = viscosityCoeff * relVelocity * pair.avgKernel;
-                    velocities[pair.particleA] += viscosity * restVolumeB;
-                    velocities[pair.particleB] -= viscosity * restVolumeA;
+                    // viscosity:
+                    float4 goalA = new float4(massCenters[pair.particleB].xyz + math.rotate(matchingRotations[pair.particleB], (prevPositions[pair.particleA] - prevMassCenters[pair.particleB]).xyz), 0);
+                    float4 goalB = new float4(massCenters[pair.particleA].xyz + math.rotate(matchingRotations[pair.particleA], (prevPositions[pair.particleB] - prevMassCenters[pair.particleA]).xyz), 0);
+                    deltas[pair.particleA] += (goalA - positions[pair.particleA]) * visc;
+                    deltas[pair.particleB] += (goalB - positions[pair.particleB]) * visc;
 
-                    // calculate vorticity:
-                    float4 vgrad = pair.gradient * pair.avgGradient;
-                    float4 vorticity = new float4(math.cross(relVelocity.xyz,vgrad.xyz),0);
-                    vorticities[pair.particleA] += vorticity * restVolumeB;
-                    vorticities[pair.particleB] += vorticity * restVolumeA;
-
-                    // calculate color field  normal:
-                    float radius = (radii[pair.particleA] + radii[pair.particleB]) * 0.5f;
-                    normals[pair.particleA] += vgrad * radius / invMasses[pair.particleB] / fluidData[pair.particleB][0];
-                    normals[pair.particleB] -= vgrad * radius / invMasses[pair.particleA] / fluidData[pair.particleA][0];
+                    counts[pair.particleA]++;
+                    counts[pair.particleB]++;
                 }
             }
         }
 
         [BurstCompile]
-        public struct CalculateVorticityEta : IJobParallelFor
+        public struct NormalsJob : IJobParallelFor
         {
-            [ReadOnly] public NativeArray<float4> vorticities;
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float> restDensities;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> angularVelocities;
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> vorticity;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> eta;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
+            [ReadOnly] public NativeArray<float4> fluidMaterials2;
+            [ReadOnly] public NativeArray<float4> fluidInterface;
+            [ReadOnly] public NativeArray<FluidInteraction> pairs;
 
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> userData;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> linearAccelerations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> vorticityAccelerations;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> linearFromAngular;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4x4> angularDiffusion;
+
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public SpikyKernel gradKernel;
             [ReadOnly] public BatchData batchData;
+            [ReadOnly] public Oni.SolverParameters solverParams;
+            [ReadOnly] public float dt;
 
             public void Execute(int workItemIndex)
             {
@@ -295,9 +336,70 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float4 vgrad = pair.gradient * pair.avgGradient;
-                    eta[pair.particleA] += math.length(vorticities[pair.particleA]) * vgrad / invMasses[pair.particleB] / restDensities[pair.particleB];
-                    eta[pair.particleB] -= math.length(vorticities[pair.particleB]) * vgrad / invMasses[pair.particleA] / restDensities[pair.particleA];
+                    float restVolumeA = math.pow(principalRadii[pair.particleA].x * 2, 3 - (int)solverParams.mode);
+                    float restVolumeB = math.pow(principalRadii[pair.particleB].x * 2, 3 - (int)solverParams.mode);
+
+                    float invDensityA = invMasses[pair.particleA] / fluidData[pair.particleA].x;
+                    float invDensityB = invMasses[pair.particleB] / fluidData[pair.particleB].x;
+
+                    float3 relVel = velocities[pair.particleA].xyz - velocities[pair.particleB].xyz;
+                    float3 relAng = angularVelocities[pair.particleA].xyz - angularVelocities[pair.particleB].xyz;
+                    float3 relVort = vorticity[pair.particleA].xyz - vorticity[pair.particleB].xyz;
+                    float4 d = new float4((positions[pair.particleA] - positions[pair.particleB]).xyz,0);
+                    float dist = math.length(d);
+
+                    float avgGrad = (gradKernel.W(dist, fluidMaterials[pair.particleA].x) +
+                                      gradKernel.W(dist, fluidMaterials[pair.particleB].x)) * 0.5f;
+                    float avgKern = (densityKernel.W(dist, fluidMaterials[pair.particleA].x) +
+                                  densityKernel.W(dist, fluidMaterials[pair.particleB].x)) * 0.5f;
+                    float avgNorm = (densityKernel.W(0, fluidMaterials[pair.particleA].x) +
+                                      densityKernel.W(0, fluidMaterials[pair.particleB].x)) * 0.5f;
+
+                    // property diffusion:
+                    float diffusionSpeed = (fluidInterface[pair.particleA].w + fluidInterface[pair.particleB].w) * avgKern * dt;
+                    float4 userDelta = (userData[pair.particleB] - userData[pair.particleA]) * solverParams.diffusionMask * diffusionSpeed;
+                    userData[pair.particleA] += restVolumeB / restVolumeA * userDelta;
+                    userData[pair.particleB] -= restVolumeA / restVolumeB * userDelta;
+
+                    // calculate color field  normal:
+                    float4 normGrad = d / (dist + BurstMath.epsilon);
+                    float4 vgrad = normGrad * avgGrad;
+                    float radius = (fluidMaterials[pair.particleA].x + fluidMaterials[pair.particleB].x) * 0.5f;
+                    normals[pair.particleA] += vgrad * radius * restVolumeB;
+                    normals[pair.particleB] -= vgrad * radius * restVolumeA;
+
+                    // measure relative velocity for foam generation:
+                    float4 dataA = fluidData[pair.particleA];
+                    float4 dataB = fluidData[pair.particleB];
+                    float relVelMag = math.length(relVel) + BurstMath.epsilon;
+                    float avgVelDiffKernel = 1 - math.min(1, dist / (radius + BurstMath.epsilon));
+                    float rv = relVelMag * (1 - math.dot(relVel / relVelMag, normGrad.xyz)) * avgVelDiffKernel;
+                    dataA.z += rv;
+                    dataB.z += rv;
+                    fluidData[pair.particleA] = dataA;
+                    fluidData[pair.particleB] = dataB;
+
+                    // micropolar: curl of linear/angular velocity:
+                    float3 velCross = math.cross(relVel, vgrad.xyz);
+                    float3 vortCross = math.cross(relVort, vgrad.xyz);
+                    linearAccelerations[pair.particleA] += new float4(vortCross / invMasses[pair.particleB] * invDensityA, 0);
+                    linearAccelerations[pair.particleB] += new float4(vortCross / invMasses[pair.particleA] * invDensityB, 0);
+                    vorticityAccelerations[pair.particleA] += new float4(velCross / invMasses[pair.particleB] * invDensityA, 0);
+                    vorticityAccelerations[pair.particleB] += new float4(velCross / invMasses[pair.particleA] * invDensityB, 0);
+
+                    // angular diffusion:
+                    float4x4 diffA = angularDiffusion[pair.particleA];
+                    float4x4 diffB = angularDiffusion[pair.particleB];
+                    diffA.c0 += new float4(relAng * avgKern / invMasses[pair.particleB] * invDensityA, 0);
+                    diffB.c0 -= new float4(relAng * avgKern / invMasses[pair.particleA] * invDensityB, 0);
+                    diffA.c1 += new float4(relVort * avgKern / invMasses[pair.particleB] * invDensityA, 0);
+                    diffB.c1 -= new float4(relVort * avgKern / invMasses[pair.particleA] * invDensityB, 0);
+                    angularDiffusion[pair.particleA] = diffA;
+                    angularDiffusion[pair.particleB] = diffB;
+
+                    // linear velocity due to baroclinity:
+                    linearFromAngular[pair.particleA] += new float4(math.cross(angularVelocities[pair.particleB].xyz, d.xyz) * avgKern / avgNorm, 0);
+                    linearFromAngular[pair.particleB] -= new float4(math.cross(angularVelocities[pair.particleA].xyz, d.xyz) * avgKern / avgNorm, 0);
                 }
             }
         }
@@ -306,10 +408,10 @@ namespace Obi
         public struct AccumulateSmoothPositionsJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<float4> renderablePositions;
-            [ReadOnly] public NativeArray<float> radii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
             [ReadOnly] public Poly6Kernel densityKernel;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> smoothPositions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
 
             [ReadOnly] public BatchData batchData;
@@ -323,14 +425,19 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float4 gradient = (renderablePositions[pair.particleA] - renderablePositions[pair.particleB]);
-                    float distance = math.length(gradient);
+                    float distance = math.length((renderablePositions[pair.particleA] - renderablePositions[pair.particleB]).xyz);
 
-                    pair.avgKernel = (densityKernel.W(distance, radii[pair.particleA]) +
-                                      densityKernel.W(distance, radii[pair.particleB])) * 0.5f;
+                    pair.avgKernel = (densityKernel.W(distance, fluidMaterials[pair.particleA].x) +
+                                      densityKernel.W(distance, fluidMaterials[pair.particleB].x)) * 0.5f;
 
-                    smoothPositions[pair.particleA] += new float4(renderablePositions[pair.particleB].xyz,1) * pair.avgKernel;
-                    smoothPositions[pair.particleB] += new float4(renderablePositions[pair.particleA].xyz,1) * pair.avgKernel;
+                    var A = anisotropies[pair.particleA];
+                    var B = anisotropies[pair.particleB];
+
+                    A.c3 += new float4(renderablePositions[pair.particleB].xyz,1) * pair.avgKernel;
+                    B.c3 += new float4(renderablePositions[pair.particleA].xyz,1) * pair.avgKernel;
+
+                    anisotropies[pair.particleA] = A;
+                    anisotropies[pair.particleB] = B;
 
                     pairs[i] = pair;
                 }
@@ -341,10 +448,9 @@ namespace Obi
         public struct AccumulateAnisotropyJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<float4> renderablePositions;
-            [ReadOnly] public NativeArray<float4> smoothPositions;
             [ReadOnly] public NativeArray<FluidInteraction> pairs;
 
-            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float3x3> anisotropies;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4x4> anisotropies;
 
             [ReadOnly] public BatchData batchData;
 
@@ -357,15 +463,15 @@ namespace Obi
                 {
                     var pair = pairs[i];
 
-                    float4 distanceA = renderablePositions[pair.particleB] - smoothPositions[pair.particleA];
-                    float4 distanceB = renderablePositions[pair.particleA] - smoothPositions[pair.particleB];
+                    float4 distanceA = (renderablePositions[pair.particleB] - anisotropies[pair.particleA].c3) * pair.avgKernel;
+                    float4 distanceB = (renderablePositions[pair.particleA] - anisotropies[pair.particleB].c3) * pair.avgKernel;
 
-                    anisotropies[pair.particleA] += BurstMath.multrnsp(distanceA,distanceA) * pair.avgKernel;
-                    anisotropies[pair.particleB] += BurstMath.multrnsp(distanceB,distanceB) * pair.avgKernel;
+                    anisotropies[pair.particleA] += BurstMath.multrnsp4(distanceA,distanceA);
+                    anisotropies[pair.particleB] += BurstMath.multrnsp4(distanceB,distanceB);
                 }
             }
         }
 
     }
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs
new file mode 100644
index 000000000..ed30bdf36
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs
@@ -0,0 +1,15 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct CohesionKernel
+    {
+        public float W(float r, float h)
+        {
+            return math.cos(math.min(r, h) * 3 * math.PI / (2 * h));
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta
new file mode 100644
index 000000000..9278ccede
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/CohesionKernel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d2bcf975ae59e4fcf9412ec328a3e2b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
index 5bdf72c08..4d83f2e44 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
@@ -39,7 +39,7 @@ namespace Obi
             applyConstraints.particleIndices = this.particleIndices;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             projectConstraints.positions = solverImplementation.positions;
             projectConstraints.invMasses = solverImplementation.invMasses;
@@ -62,7 +62,7 @@ namespace Obi
             return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
         }
 
-        [BurstCompile]
+        [BurstCompile] 
         public struct DistanceConstraintsBatchJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<int> particleIndices;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
index 02bb86246..5401abd7b 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
@@ -25,9 +25,7 @@ namespace Obi
 
         public override int GetConstraintCount()
         {
-            if (!((BurstSolverImpl)solver).particleContacts.IsCreated)
-                return 0;
-            return ((BurstSolverImpl)solver).particleContacts.Length;
+            return ((BurstSolverImpl)solver).abstraction.particleContacts.count;
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
index 735144267..e7b438b30 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
@@ -24,7 +24,7 @@ namespace Obi
             this.batchData = batchData;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var updateContacts = new UpdateParticleContactsJob()
             {
@@ -33,7 +33,7 @@ namespace Obi
                 velocities = solverImplementation.velocities,
                 radii = solverImplementation.principalRadii,
                 invMasses = solverImplementation.invMasses,
-                invInertiaTensors = solverImplementation.invInertiaTensors,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
 
                 simplices = solverImplementation.simplices,
                 simplexCounts = solverImplementation.simplexCounts,
@@ -41,7 +41,8 @@ namespace Obi
                 particleMaterialIndices = solverImplementation.collisionMaterials,
                 collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
 
-                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
                 batchData = batchData
             };
 
@@ -49,7 +50,7 @@ namespace Obi
             return updateContacts.Schedule(batchData.workItemCount, batchCount, inputDeps);
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
 
@@ -60,6 +61,7 @@ namespace Obi
                 invMasses = solverImplementation.invMasses,
                 radii = solverImplementation.principalRadii,
                 particleMaterialIndices = solverImplementation.collisionMaterials,
+                fluidInterface = solverImplementation.fluidInterface,
                 collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
 
                 simplices = solverImplementation.simplices,
@@ -67,7 +69,9 @@ namespace Obi
 
                 deltas = solverImplementation.positionDeltas,
                 counts = solverImplementation.positionConstraintCounts,
-                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                userData = solverImplementation.userData,
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
                 batchData = batchData,
 
                 constraintParameters = parameters,
@@ -86,7 +90,7 @@ namespace Obi
 
             var applyConstraints = new ApplyBatchedCollisionConstraintsBatchJob()
             {
-                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
 
                 simplices = solverImplementation.simplices,
                 simplexCounts = solverImplementation.simplexCounts,
@@ -117,7 +121,7 @@ namespace Obi
             [ReadOnly] public NativeArray<float4> velocities;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
 
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
             [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
@@ -126,6 +130,7 @@ namespace Obi
             [ReadOnly] public NativeArray<int> simplices;
             [ReadOnly] public SimplexCounts simplexCounts;
 
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<ContactEffectiveMasses> effectiveMasses;
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
 
             [ReadOnly] public BatchData batchData;
@@ -138,6 +143,7 @@ namespace Obi
                 for (int i = start; i < end; ++i)
                 {
                     var contact = contacts[i];
+                    var efMasses = effectiveMasses[i];
 
                     int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
                     int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
@@ -147,14 +153,14 @@ namespace Obi
                     quaternion simplexPrevOrientationA = new quaternion(0, 0, 0, 0);
                     float simplexRadiusA = 0;
                     float simplexInvMassA = 0;
-                    float4 simplexInvInertiaA = float4.zero;
+                    float simplexInvRotationalMassA = 0;
 
                     float4 simplexVelocityB = float4.zero;
                     float4 simplexPrevPositionB = float4.zero;
                     quaternion simplexPrevOrientationB = new quaternion(0, 0, 0, 0);
                     float simplexRadiusB = 0;
                     float simplexInvMassB = 0;
-                    float4 simplexInvInertiaB = float4.zero;
+                    float simplexInvRotationalMassB = 0;
 
                     for (int j = 0; j < simplexSizeA; ++j)
                     {
@@ -163,7 +169,7 @@ namespace Obi
                         simplexPrevPositionA += prevPositions[particleIndex] * contact.pointA[j];
                         simplexPrevOrientationA.value += prevOrientations[particleIndex].value * contact.pointA[j];
                         simplexInvMassA += invMasses[particleIndex] * contact.pointA[j];
-                        simplexInvInertiaA += invInertiaTensors[particleIndex] * contact.pointA[j];
+                        simplexInvRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
                         simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
                     }
 
@@ -174,20 +180,21 @@ namespace Obi
                         simplexPrevPositionB += prevPositions[particleIndex] * contact.pointB[j];
                         simplexPrevOrientationB.value += prevOrientations[particleIndex].value * contact.pointB[j];
                         simplexInvMassB += invMasses[particleIndex] * contact.pointB[j];
-                        simplexInvInertiaB += invInertiaTensors[particleIndex] * contact.pointB[j];
+                        simplexInvRotationalMassB += invRotationalMasses[particleIndex] * contact.pointB[j];
                         simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointB[j];
                     }
 
-                    // update contact distance
-                    float dAB = math.dot(simplexPrevPositionA - simplexPrevPositionB, contact.normal);
-                    contact.distance = dAB - (simplexRadiusA + simplexRadiusB);
+                    simplexPrevPositionA.w = 0;
+                    simplexPrevPositionB.w = 0;
 
-                    // calculate contact points:
-                    float4 contactPointA = simplexPrevPositionB + contact.normal * (contact.distance + simplexRadiusB);
-                    float4 contactPointB = simplexPrevPositionA - contact.normal * (contact.distance + simplexRadiusA);
+                    // update contact distance
+                    float4 contactPointA = simplexPrevPositionA - contact.normal * simplexRadiusA;
+                    float4 contactPointB = simplexPrevPositionB + contact.normal * simplexRadiusB;
+
+                    contact.distance = math.dot(contactPointA - contactPointB, contact.normal);
 
                     // update contact basis:
-                    contact.CalculateBasis(simplexVelocityA - simplexVelocityB);
+                    contact.CalculateTangent(simplexVelocityA - simplexVelocityB);
 
                     // update contact masses:
                     int aMaterialIndex = particleMaterialIndices[simplices[simplexStartA]];
@@ -195,10 +202,14 @@ namespace Obi
                     bool rollingContacts = (aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false) |
                                            (bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false);
 
-                    contact.CalculateContactMassesA(simplexInvMassA, simplexInvInertiaA, simplexPrevPositionA, simplexPrevOrientationA, contactPointA, rollingContacts);
-                    contact.CalculateContactMassesB(simplexInvMassB, simplexInvInertiaB, simplexPrevPositionB, simplexPrevOrientationB, contactPointB, rollingContacts);
+                    float4 invInertiaTensorA = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiusA, simplexInvRotationalMassA) + new float4(BurstMath.epsilon));
+                    float4 invInertiaTensorB = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiusB, simplexInvRotationalMassB) + new float4(BurstMath.epsilon));
+
+                    efMasses.CalculateContactMassesA(simplexInvMassA, invInertiaTensorA, simplexPrevPositionA, simplexPrevOrientationA, contactPointA, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
+                    efMasses.CalculateContactMassesB(simplexInvMassB, invInertiaTensorB, simplexPrevPositionB, simplexPrevOrientationB, contactPointB, contact.normal, contact.tangent, contact.bitangent, rollingContacts);
 
                     contacts[i] = contact;
+                    effectiveMasses[i] = efMasses;
                 }
             }
         }
@@ -210,6 +221,7 @@ namespace Obi
             [ReadOnly] public NativeArray<float> invMasses;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<float4> fluidInterface;
             [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
 
             // simplex arrays:
@@ -218,8 +230,10 @@ namespace Obi
 
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> userData;
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
 
             [ReadOnly] public Oni.ConstraintParameters constraintParameters;
             [ReadOnly] public Oni.SolverParameters solverParameters;
@@ -240,34 +254,42 @@ namespace Obi
                     int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
                     int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
 
-
                     // Combine collision materials:
                     BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStartA], simplices[simplexStartB]);
 
                     float4 simplexPositionA = float4.zero, simplexPositionB = float4.zero;
                     float simplexRadiusA = 0, simplexRadiusB = 0;
+                    float4 simplexUserDataA = float4.zero, simplexUserDataB = float4.zero;
+                    float miscibility = 0;
 
                     for (int j = 0; j < simplexSizeA; ++j)
                     {
                         int particleIndex = simplices[simplexStartA + j];
                         simplexPositionA += positions[particleIndex] * contact.pointA[j];
                         simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                        simplexUserDataA += userData[particleIndex] * contact.pointA[j];
+                        miscibility += fluidInterface[particleIndex].w * contact.pointA[j];
                     }
                     for (int j = 0; j < simplexSizeB; ++j)
                     {
                         int particleIndex = simplices[simplexStartB + j];
                         simplexPositionB += positions[particleIndex] * contact.pointB[j];
                         simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                        simplexUserDataB += userData[particleIndex] * contact.pointB[j];
+                        miscibility += fluidInterface[particleIndex].w * contact.pointB[j];
                     }
 
+                    simplexPositionA.w = 0;
+                    simplexPositionB.w = 0;
+
                     float4 posA = simplexPositionA - contact.normal * simplexRadiusA;
                     float4 posB = simplexPositionB + contact.normal * simplexRadiusB;
 
                     // adhesion:
-                    float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, substepTime);
+                    float lambda = contact.SolveAdhesion(effectiveMasses[i].TotalNormalInvMass, posA, posB, material.stickDistance, material.stickiness, substepTime);
 
                     // depenetration:
-                    lambda += contact.SolvePenetration(posA, posB, solverParameters.maxDepenetration * substepTime);
+                    lambda += contact.SolvePenetration(effectiveMasses[i].TotalNormalInvMass, posA, posB, solverParameters.maxDepenetration * substepTime);
 
                     // Apply normal impulse to both particles (w/ shock propagation):
                     if (math.abs(lambda) > BurstMath.epsilon)
@@ -292,20 +314,27 @@ namespace Obi
                         }
                     }
 
+                    // property diffusion:
+                    if (contact.distance < solverParameters.collisionMargin)
+                    {
+                        float diffusionSpeed = miscibility * 0.5f * substepTime;
+                        float4 userDelta = (simplexUserDataB - simplexUserDataA) * solverParameters.diffusionMask * diffusionSpeed;
+
+                        for (int j = 0; j < simplexSizeA; ++j)
+                            userData[simplices[simplexStartA + j]] += userDelta * contact.pointA[j];
+
+                        for (int j = 0; j < simplexSizeB; ++j)
+                            userData[simplices[simplexStartB + j]] -= userDelta * contact.pointB[j];
+                    }
+
                     // Apply position deltas immediately, if using sequential evaluation:
                     if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
                     {
                         for (int j = 0; j < simplexSizeA; ++j)
-                        {
-                            int particleIndex = simplices[simplexStartA + j];
-                            BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
-                        }
+                            ApplyPositionDelta(simplices[simplexStartA + j], constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
 
                         for (int j = 0; j < simplexSizeB; ++j)
-                        {
-                            int particleIndex = simplices[simplexStartB + j];
-                            BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
-                        }
+                            ApplyPositionDelta(simplices[simplexStartB + j], constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
                     }
 
                     contacts[i] = contact;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
index 3e9974dde..0eda6086a 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
@@ -24,9 +24,7 @@ namespace Obi
 
         public override int GetConstraintCount()
         {
-            if (!((BurstSolverImpl)solver).particleContacts.IsCreated)
-                return 0;
-            return ((BurstSolverImpl)solver).particleContacts.Length;
+            return ((BurstSolverImpl)solver).abstraction.particleContacts.count;
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
index c96cfbd21..f69bc41a3 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
@@ -24,15 +24,13 @@ namespace Obi
             this.batchData = batchData;
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             return inputDeps;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
-            if (!((BurstSolverImpl)constraints.solver).particleContacts.IsCreated)
-                return inputDeps;
 
             var projectConstraints = new ParticleFrictionConstraintsBatchJob()
             {
@@ -42,7 +40,7 @@ namespace Obi
                 prevOrientations = solverImplementation.prevOrientations,
 
                 invMasses = solverImplementation.invMasses,
-                invInertiaTensors = solverImplementation.invInertiaTensors,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
                 radii = solverImplementation.principalRadii,
                 particleMaterialIndices = solverImplementation.collisionMaterials,
                 collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
@@ -54,7 +52,8 @@ namespace Obi
                 counts = solverImplementation.positionConstraintCounts,
                 orientationDeltas = solverImplementation.orientationDeltas,
                 orientationCounts = solverImplementation.orientationConstraintCounts,
-                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                contacts = ((BurstSolverImpl)constraints.solver).abstraction.particleContacts.AsNativeArray<BurstContact>(),
+                effectiveMasses = ((BurstSolverImpl)constraints.solver).abstraction.particleContactEffectiveMasses.AsNativeArray<ContactEffectiveMasses>(),
 
                 batchData = batchData,
                 substepTime = substepTime,
@@ -66,14 +65,12 @@ namespace Obi
 
         public override JobHandle Apply(JobHandle inputDeps, float substepTime)
         {
-            if (!((BurstSolverImpl)constraints.solver).particleContacts.IsCreated)
-                return inputDeps;
 
             var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
 
             var applyConstraints = new ApplyBatchedCollisionConstraintsBatchJob()
             {
-                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                contacts = solverAbstraction.particleContacts.AsNativeArray<BurstContact>(),
 
                 simplices = solverImplementation.simplices,
                 simplexCounts = solverImplementation.simplexCounts,
@@ -102,7 +99,7 @@ namespace Obi
             [ReadOnly] public NativeArray<quaternion> prevOrientations;
 
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
             [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
@@ -118,6 +115,7 @@ namespace Obi
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
 
             [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+            [ReadOnly] public NativeArray<ContactEffectiveMasses> effectiveMasses;
 
             [ReadOnly] public BatchData batchData;
             [ReadOnly] public float substepTime;
@@ -140,16 +138,16 @@ namespace Obi
                     float4 prevPositionA = float4.zero;
                     float4 linearVelocityA = float4.zero;
                     float4 angularVelocityA = float4.zero;
-                    float4 invInertiaTensorA = float4.zero;
+                    float invRotationalMassA = 0;
                     quaternion orientationA = new quaternion(0, 0, 0, 0);
-                    float simplexRadiusA = 0;
+                    float4 simplexRadiiA = float4.zero;
 
                     float4 prevPositionB = float4.zero;
                     float4 linearVelocityB = float4.zero;
                     float4 angularVelocityB = float4.zero;
-                    float4 invInertiaTensorB = float4.zero;
+                    float invRotationalMassB = 0;
                     quaternion orientationB = new quaternion(0, 0, 0, 0);
-                    float simplexRadiusB = 0;
+                    float4 simplexRadiiB = float4.zero;
 
                     for (int j = 0; j < simplexSizeA; ++j)
                     {
@@ -157,9 +155,9 @@ namespace Obi
                         prevPositionA += prevPositions[particleIndex] * contact.pointA[j];
                         linearVelocityA += BurstIntegration.DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contact.pointA[j];
                         angularVelocityA += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointA[j];
-                        invInertiaTensorA += invInertiaTensors[particleIndex] * contact.pointA[j];
+                        invRotationalMassA += invRotationalMasses[particleIndex] * contact.pointA[j];
                         orientationA.value += orientations[particleIndex].value * contact.pointA[j];
-                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                        simplexRadiiA += radii[particleIndex] * contact.pointA[j];
                     }
                     for (int j = 0; j < simplexSizeB; ++j)
                     {
@@ -167,9 +165,9 @@ namespace Obi
                         prevPositionB += prevPositions[particleIndex] * contact.pointB[j];
                         linearVelocityB += BurstIntegration.DifferentiateLinear(positions[particleIndex], prevPositions[particleIndex], substepTime) * contact.pointB[j];
                         angularVelocityB += BurstIntegration.DifferentiateAngular(orientations[particleIndex], prevOrientations[particleIndex], substepTime) * contact.pointB[j];
-                        invInertiaTensorB += invInertiaTensors[particleIndex] * contact.pointB[j];
+                        invRotationalMassB += invRotationalMasses[particleIndex] * contact.pointB[j];
                         orientationB.value += orientations[particleIndex].value * contact.pointB[j];
-                        simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointB[j];
+                        simplexRadiiB += radii[particleIndex] * contact.pointB[j];
                     }
 
                     float4 rA = float4.zero, rB = float4.zero;
@@ -177,8 +175,8 @@ namespace Obi
                     // Consider angular velocities if rolling contacts are enabled:
                     if (material.rollingContacts > 0)
                     {
-                        rA = -contact.normal * simplexRadiusA;
-                        rB = contact.normal * simplexRadiusB;
+                        rA = -contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationA, simplexRadiiA.xyz);
+                        rB = contact.normal * BurstMath.EllipsoidRadius(contact.normal, orientationB, simplexRadiiB.xyz);
 
                         linearVelocityA += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
                         linearVelocityB += new float4(math.cross(angularVelocityB.xyz, rB.xyz), 0);
@@ -187,8 +185,8 @@ namespace Obi
                     // Calculate relative velocity:
                     float4 relativeVelocity = linearVelocityA - linearVelocityB;
 
-                    // Calculate friction impulses (in the tangent and bitangent ddirections):
-                    float2 impulses = contact.SolveFriction(relativeVelocity, material.staticFriction, material.dynamicFriction, substepTime);
+                    // Calculate friction impulses (in the tangent and bitangent directions):
+                    float2 impulses = contact.SolveFriction(effectiveMasses[i].TotalTangentInvMass, effectiveMasses[i].TotalBitangentInvMass, relativeVelocity, material.staticFriction, material.dynamicFriction, substepTime);
 
                     // Apply friction impulses to both particles:
                     if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
@@ -201,7 +199,7 @@ namespace Obi
                         for (int j = 0; j < simplexSizeA; ++j)
                         {
                             int particleIndex = simplices[simplexStartA + j];
-                            deltas[particleIndex] += (tangentImpulse * contact.tangentInvMassA + bitangentImpulse * contact.bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale;
+                            deltas[particleIndex] += (tangentImpulse * effectiveMasses[i].tangentInvMassA + bitangentImpulse * effectiveMasses[i].bitangentInvMassA) * substepTime * contact.pointA[j] * baryScale;
                             counts[particleIndex]++;
                         }
 
@@ -209,13 +207,16 @@ namespace Obi
                         for (int j = 0; j < simplexSizeB; ++j)
                         {
                             int particleIndex = simplices[simplexStartB + j];
-                            deltas[particleIndex] -= (tangentImpulse * contact.tangentInvMassB + bitangentImpulse * contact.bitangentInvMassB) * substepTime * contact.pointB[j] * baryScale;
+                            deltas[particleIndex] -= (tangentImpulse * effectiveMasses[i].tangentInvMassB + bitangentImpulse * effectiveMasses[i].bitangentInvMassB) * substepTime * contact.pointB[j] * baryScale;
                             counts[particleIndex]++;
                         }
 
                         // Rolling contacts:
                         if (material.rollingContacts > 0)
                         {
+                            float4 invInertiaTensorA = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiA, invRotationalMassA) + new float4(BurstMath.epsilon));
+                            float4 invInertiaTensorB = math.rcp(BurstMath.GetParticleInertiaTensor(simplexRadiiB, invRotationalMassB) + new float4(BurstMath.epsilon));
+
                             // Calculate angular velocity deltas due to friction impulse:
                             float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
                             float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(invInertiaTensorB, orientationB);
@@ -252,7 +253,7 @@ namespace Obi
 
                             for (int j = 0; j < simplexSizeB; ++j)
                             {
-                                int particleIndex = simplices[simplexStartB+ j];
+                                int particleIndex = simplices[simplexStartB + j];
                                 quaternion qB = orientationDeltas[particleIndex];
                                 qB.value += orientationDeltaB.value;
                                 orientationDeltas[particleIndex] = qB;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
index 530040132..d552207ec 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
@@ -1,5 +1,6 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using System;
+using Unity.Jobs;
 
 namespace Obi
 {
@@ -21,6 +22,20 @@ namespace Obi
             batches.Remove(batch as BurstPinConstraintsBatch);
             batch.Destroy();
         }
+
+        public JobHandle ProjectRenderablePositions(JobHandle inputDeps)
+        {
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].ProjectRenderablePositions(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            return inputDeps;
+        }
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
index bf8efe8cc..18a58a6b7 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
@@ -6,6 +6,7 @@ using Unity.Collections.LowLevel.Unsafe;
 using Unity.Mathematics;
 using Unity.Burst;
 using System.Collections.Generic;
+using System.Threading;
 
 namespace Obi
 {
@@ -33,7 +34,29 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var clearPins = new ClearPinsJob
+            {
+                colliderIndices = colliderIndices,
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+            };
+            inputDeps = clearPins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            var updatePins = new UpdatePinsJob
+            {
+                colliderIndices = colliderIndices,
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+            };
+            inputDeps = updatePins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            // clear lambdas:
+            return base.Initialize(inputDeps, stepTime, substepTime, steps, timeLeft);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new PinConstraintsBatchJob()
             {
@@ -63,12 +86,13 @@ namespace Obi
 
                 inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
                 stepTime = stepTime,
+                steps = steps,
                 substepTime = substepTime,
-                substeps = substeps,
+                timeLeft = timeLeft,
                 activeConstraintCount = m_ConstraintCount
             };
 
-            return projectConstraints.Schedule(inputDeps);
+            return projectConstraints.Schedule(m_ConstraintCount, 16, inputDeps);
         }
 
         public override JobHandle Apply(JobHandle inputDeps, float substepTime)
@@ -94,8 +118,78 @@ namespace Obi
             return applyConstraints.Schedule(inputDeps);
         }
 
+        public JobHandle ProjectRenderablePositions(JobHandle inputDeps)
+        {
+            var project = new ProjectRenderablePositionsJob()
+            {
+                particleIndices = particleIndices,
+                colliderIndices = colliderIndices,
+                offsets = offsets,
+                stiffnesses = stiffnesses,
+                restDarboux = restDarbouxVectors,
+
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+
+                renderablePositions = solverImplementation.renderablePositions,
+                renderableOrientations = solverImplementation.renderableOrientations,
+
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+            };
+
+            return project.Schedule(m_ConstraintCount, 16, inputDeps);
+        }
+
         [BurstCompile]
-        public unsafe struct PinConstraintsBatchJob : IJob
+        public unsafe struct ClearPinsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            public void Execute(int i)
+            {
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Exchange(ref arr[rigidbodyIndex].constraintCount, 0);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct UpdatePinsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            public void Execute(int i)
+            {
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                // Increment the amount of constraints affecting this rigidbody for mass splitting:
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Increment(ref arr[rigidbodyIndex].constraintCount);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct PinConstraintsBatchJob : IJobParallelFor
         {
             [ReadOnly] public NativeArray<int> particleIndices;
             [ReadOnly] public NativeArray<int> colliderIndices;
@@ -103,7 +197,7 @@ namespace Obi
             [ReadOnly] public NativeArray<float4> offsets;
             [ReadOnly] public NativeArray<float2> stiffnesses;
             [ReadOnly] public NativeArray<quaternion> restDarboux;
-            public NativeArray<float4> lambdas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> lambdas;
 
             [ReadOnly] public NativeArray<float4> positions;
             [ReadOnly] public NativeArray<float4> prevPositions;
@@ -114,8 +208,8 @@ namespace Obi
             [ReadOnly] public NativeArray<BurstColliderShape> shapes;
             [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
             [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
-            public NativeArray<float4> rigidbodyLinearDeltas;
-            public NativeArray<float4> rigidbodyAngularDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyLinearDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyAngularDeltas;
 
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
@@ -125,112 +219,113 @@ namespace Obi
             [ReadOnly] public BurstInertialFrame inertialFrame;
             [ReadOnly] public float stepTime;
             [ReadOnly] public float substepTime;
-            [ReadOnly] public int substeps;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
             [ReadOnly] public int activeConstraintCount;
 
-            public void Execute()
+            public void Execute(int i)
             {
-                for (int i = 0; i < activeConstraintCount; ++i)
+                int particleIndex = particleIndices[i];
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                float frameEnd = stepTime * steps;
+                float substepsToEnd = timeLeft / substepTime;
+
+                // calculate time adjusted compliances
+                float2 compliances = stiffnesses[i].xy / (substepTime * substepTime);
+
+                // project particle position to the end of the full step:
+                float4 particlePosition = math.lerp(prevPositions[particleIndex], positions[particleIndex], substepsToEnd);
+
+                // express pin offset in world space:
+                float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+                float4 predictedPinOffset = worldPinOffset;
+                quaternion predictedRotation = transforms[colliderIndex].rotation;
+
+                float rigidbodyLinearW = 0;
+                float rigidbodyAngularW = 0;
+
+                if (rigidbodyIndex >= 0)
                 {
-                    int particleIndex = particleIndices[i];
-                    int colliderIndex = colliderIndices[i];
+                    var rigidbody = rigidbodies[rigidbodyIndex];
 
-                    // no collider to pin to, so ignore the constraint.
-                    if (colliderIndex < 0)
-                        continue;
+                    // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+                    float4 velocityAtPoint = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, inertialFrame.frame.InverseTransformPoint(worldPinOffset), rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
+                    predictedPinOffset = BurstIntegration.IntegrateLinear(predictedPinOffset, inertialFrame.frame.TransformVector(velocityAtPoint), frameEnd);
 
-                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                    // predict rotation at the end of the step:
+                    predictedRotation = BurstIntegration.IntegrateAngular(predictedRotation, rigidbody.angularVelocity + rigidbodyAngularDeltas[rigidbodyIndex], stepTime);
 
-                    // calculate time adjusted compliances
-                    float2 compliances = stiffnesses[i].xy / (substepTime * substepTime);
+                    // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+                    rigidbodyLinearW = rigidbody.inverseMass * rigidbody.constraintCount;
+                    rigidbodyAngularW = BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor,
+                                                                    worldPinOffset - rigidbody.com,
+                                                                    math.normalizesafe(inertialFrame.frame.TransformPoint(particlePosition) - predictedPinOffset)) * rigidbody.constraintCount;
 
-                    // project particle position to the end of the full step:
-                    float4 particlePosition = math.lerp(prevPositions[particleIndex], positions[particleIndex], substeps);
-
-                    // express pin offset in world space:
-                    float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
-                    float4 predictedPinOffset = worldPinOffset;
-                    quaternion predictedRotation = transforms[colliderIndex].rotation;
-
-                    float rigidbodyLinearW = 0;
-                    float rigidbodyAngularW = 0;
-
-                    if (rigidbodyIndex >= 0)
-                    {
-                        var rigidbody = rigidbodies[rigidbodyIndex];
-
-                        // predict offset point position:
-                        float4 velocityAtPoint = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, inertialFrame.frame.InverseTransformPoint(worldPinOffset), rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
-                        predictedPinOffset = BurstIntegration.IntegrateLinear(predictedPinOffset, inertialFrame.frame.TransformVector(velocityAtPoint), stepTime);
-
-                        // predict rotation at the end of the step:
-                        predictedRotation = BurstIntegration.IntegrateAngular(predictedRotation, rigidbody.angularVelocity + rigidbodyAngularDeltas[rigidbodyIndex], stepTime);
-
-                        // calculate linear and angular rigidbody weights:
-                        rigidbodyLinearW = rigidbody.inverseMass;
-                        rigidbodyAngularW = BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor,
-                                                                        worldPinOffset - rigidbody.com,
-                                                                        math.normalizesafe(inertialFrame.frame.TransformPoint(particlePosition) - predictedPinOffset));
-
-                    }
-
-                    // Transform pin position to solver space for constraint solving:
-                    predictedPinOffset = inertialFrame.frame.InverseTransformPoint(predictedPinOffset);
-                    predictedRotation = math.mul(math.conjugate(inertialFrame.frame.rotation), predictedRotation);
-
-                    float4 gradient = particlePosition - predictedPinOffset;
-                    float constraint = math.length(gradient);
-                    float4 gradientDir = gradient / (constraint + BurstMath.epsilon);
-
-                    float4 lambda = lambdas[i];
-                    float linearDLambda = (-constraint - compliances.x * lambda.w) / (invMasses[particleIndex] + rigidbodyLinearW + rigidbodyAngularW + compliances.x + BurstMath.epsilon);
-                    lambda.w += linearDLambda;
-                    float4 correction = linearDLambda * gradientDir;
-
-                    deltas[particleIndex] += correction * invMasses[particleIndex] / substeps;
-                    counts[particleIndex]++;
-
-                    if (rigidbodyIndex >= 0)
-                    {
-                        BurstMath.ApplyImpulse(rigidbodyIndex,
-                                               -correction / stepTime * 1,
-                                               inertialFrame.frame.InverseTransformPoint(worldPinOffset),
-                                               rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
-                    }
-
-                    if (rigidbodyAngularW > 0 || invRotationalMasses[particleIndex] > 0)
-                    {
-                        // bend/twist constraint:
-                        quaternion omega = math.mul(math.conjugate(orientations[particleIndex]), predictedRotation);   //darboux vector
-
-                        quaternion omega_plus;
-                        omega_plus.value = omega.value + restDarboux[i].value;  //delta Omega with - omega_0
-                        omega.value -= restDarboux[i].value;                    //delta Omega with + omega_0
-                        if (math.lengthsq(omega.value) > math.lengthsq(omega_plus.value))
-                            omega = omega_plus;
-
-                        float3 dlambda = (omega.value.xyz - compliances.y * lambda.xyz) / new float3(compliances.y + invRotationalMasses[particleIndex] + rigidbodyAngularW + BurstMath.epsilon);
-                        lambda.xyz += dlambda;
-
-                        //discrete Darboux vector does not have vanishing scalar part
-                        quaternion dlambdaQ = new quaternion(dlambda[0], dlambda[1], dlambda[2], 0);
-
-                        quaternion orientDelta = orientationDeltas[particleIndex];
-                        orientDelta.value += math.mul(predictedRotation, dlambdaQ).value * invRotationalMasses[particleIndex] / substeps;
-                        orientationDeltas[particleIndex] = orientDelta;
-                        orientationCounts[particleIndex]++;
-
-                        if (rigidbodyIndex >= 0)
-                        {
-                            BurstMath.ApplyDeltaQuaternion(rigidbodyIndex,
-                                                            predictedRotation,
-                                                            -math.mul(orientations[particleIndex], dlambdaQ).value * rigidbodyAngularW,
-                                                            rigidbodyAngularDeltas, inertialFrame.frame, stepTime);
-                        }
-                    }
-
-                    lambdas[i] = lambda;
                 }
+
+                // Transform pin position to solver space for constraint solving:
+                predictedPinOffset = inertialFrame.frame.InverseTransformPoint(predictedPinOffset);
+                predictedRotation = math.mul(math.conjugate(inertialFrame.frame.rotation), predictedRotation);
+
+                float4 gradient = particlePosition - predictedPinOffset;
+                float constraint = math.length(gradient);
+                float4 gradientDir = gradient / (constraint + BurstMath.epsilon);
+
+                float4 lambda = lambdas[i];
+                float linearDLambda = (-constraint - compliances.x * lambda.w) / (invMasses[particleIndex] + rigidbodyLinearW + rigidbodyAngularW + compliances.x + BurstMath.epsilon);
+                lambda.w += linearDLambda;
+                float4 correction = linearDLambda * gradientDir;
+
+                deltas[particleIndex] += correction * invMasses[particleIndex] / substepsToEnd;
+                counts[particleIndex]++;
+
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstMath.ApplyImpulse(rigidbodyIndex,
+                                            -correction / frameEnd,
+                                            inertialFrame.frame.InverseTransformPoint(worldPinOffset),
+                                            rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                }
+                     
+                if (rigidbodyAngularW > 0 || invRotationalMasses[particleIndex] > 0)
+                {
+                    // bend/twist constraint:
+                    quaternion omega = math.mul(math.conjugate(orientations[particleIndex]), predictedRotation);   //darboux vector
+
+                    quaternion omega_plus;
+                    omega_plus.value = omega.value + restDarboux[i].value;  //delta Omega with - omega_0
+                    omega.value -= restDarboux[i].value;                    //delta Omega with + omega_0
+                    if (math.lengthsq(omega.value) > math.lengthsq(omega_plus.value))
+                        omega = omega_plus;
+
+                    float3 dlambda = (omega.value.xyz - compliances.y * lambda.xyz) / (compliances.y + invRotationalMasses[particleIndex] + rigidbodyAngularW + BurstMath.epsilon);
+                    lambda.xyz += dlambda;
+
+                    //discrete Darboux vector does not have vanishing scalar part
+                    quaternion dlambdaQ = new quaternion(dlambda[0], dlambda[1], dlambda[2], 0);
+
+                    quaternion orientDelta = orientationDeltas[particleIndex];
+                    orientDelta.value += math.mul(predictedRotation, dlambdaQ).value * invRotationalMasses[particleIndex] / substepsToEnd;
+                    orientationDeltas[particleIndex] = orientDelta;
+                    orientationCounts[particleIndex]++;
+
+                    if (rigidbodyIndex >= 0)
+                    {
+                        BurstMath.ApplyDeltaQuaternion(rigidbodyIndex,
+                                                        predictedRotation,
+                                                        -math.mul(orientations[particleIndex], dlambdaQ).value * rigidbodyAngularW,
+                                                        rigidbodyAngularDeltas, inertialFrame.frame, frameEnd);
+                    }
+                }
+
+                lambdas[i] = lambda;
             }
         }
 
@@ -275,6 +370,40 @@ namespace Obi
                 }
             }
         }
+
+        [BurstCompile]
+        public struct ProjectRenderablePositionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> colliderIndices;
+
+            [ReadOnly] public NativeArray<float4> offsets;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            [ReadOnly] public NativeArray<quaternion> restDarboux;
+
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> renderablePositions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> renderableOrientations;
+
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+
+            public void Execute(int i)
+            {
+                int particleIndex = particleIndices[i];
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to or projection deactivated, so ignore the constraint.
+                if (colliderIndex < 0 || offsets[i].w < 0.5f)
+                    return;
+
+                BurstAffineTransform attachmentMatrix = inertialFrame.frame.Inverse() * transforms[colliderIndex];
+
+                renderablePositions[particleIndex] = attachmentMatrix.TransformPoint(offsets[i]);
+                if (stiffnesses[i].y < 10000)
+                    renderableOrientations[particleIndex] = math.mul(attachmentMatrix.rotation, restDarboux[i]);
+            }
+        }
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole.meta
new file mode 100644
index 000000000..75112eaea
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 744a58a1ca5364e0a86c93e04770c0b8
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs
new file mode 100644
index 000000000..7c962bbc0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstPinholeConstraints : BurstConstraintsImpl<BurstPinholeConstraintsBatch>
+    {
+        public BurstPinholeConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Pinhole)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstPinholeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstPinholeConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs.meta
new file mode 100644
index 000000000..17b0fea75
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 71db1a3a2698147deb04f0264e4a728f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs
new file mode 100644
index 000000000..7f0a2b9c9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs
@@ -0,0 +1,490 @@
+ #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System.Collections.Generic;
+using System.Threading;
+
+namespace Obi
+{
+    public class BurstPinholeConstraintsBatch : BurstConstraintsBatchImpl, IPinholeConstraintsBatchImpl
+    {
+        private NativeArray<int> colliderIndices;
+        private NativeArray<float4> offsets;
+        private NativeArray<float> edgeMus;
+        private NativeArray<int2> edgeRanges;
+        private NativeArray<float2> edgeRangeMus;
+        private NativeArray<float> parameters;
+        private NativeArray<float> relativeVelocities;
+
+        public BurstPinholeConstraintsBatch(BurstPinholeConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Pinhole;
+        }
+
+        public void SetPinholeConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeFloatList edgeMus, ObiNativeIntList edgeRanges, ObiNativeFloatList edgeRangeMus, ObiNativeFloatList parameters, ObiNativeFloatList relativeVelocities, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.colliderIndices = colliderIndices.AsNativeArray<int>();
+            this.offsets = offsets.AsNativeArray<float4>();
+            this.edgeMus = edgeMus.AsNativeArray<float>();
+            this.edgeRanges = edgeRanges.AsNativeArray<int2>();
+            this.edgeRangeMus = edgeRangeMus.AsNativeArray<float2>();
+            this.parameters = parameters.AsNativeArray<float>();
+            this.relativeVelocities = relativeVelocities.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var clearPins = new ClearPinsJob
+            {
+                colliderIndices = colliderIndices,
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+            };
+            inputDeps = clearPins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            var updatePins = new UpdatePinsJob
+            {
+                particleIndices = particleIndices,
+                colliderIndices = colliderIndices,
+                offsets = offsets,
+                edgeMus = edgeMus,
+                edgeRangeMus = edgeRangeMus,
+                relativeVelocities = relativeVelocities,
+                parameters = parameters,
+                edgeRanges = edgeRanges,
+
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                invMasses = solverImplementation.invMasses,
+
+                deformableEdges = solverImplementation.abstraction.deformableEdges.AsNativeArray<int>(),
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                stepTime = stepTime,
+                steps = steps,
+                substepTime = substepTime,
+                timeLeft = timeLeft,
+                activeConstraintCount = m_ConstraintCount
+            };
+            inputDeps = updatePins.Schedule(m_ConstraintCount, 128, inputDeps);
+
+            // clear lambdas:
+            return base.Initialize(inputDeps, stepTime, substepTime, steps, timeLeft);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var projectConstraints = new PinholeConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                colliderIndices = colliderIndices,
+                offsets = offsets,
+                edgeMus = edgeMus,
+                parameters = parameters,
+                lambdas = lambdas,
+
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                invMasses = solverImplementation.invMasses,
+
+                deformableEdges = solverImplementation.abstraction.deformableEdges.AsNativeArray<int>(),
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                stepTime = stepTime,
+                steps = steps,
+                substepTime = substepTime,
+                timeLeft = timeLeft,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 16, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var cparameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyPinholeConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                deformableEdges = solverImplementation.abstraction.deformableEdges.AsNativeArray<int>(),
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = cparameters.SORFactor,
+                activeConstraintCount = m_ConstraintCount,
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public unsafe struct ClearPinsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            public void Execute(int i)
+            {
+                int colliderIndex = colliderIndices[i];
+
+                // no collider to pin to, so ignore the constraint.
+                if (colliderIndex < 0)
+                    return;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Exchange(ref arr[rigidbodyIndex].constraintCount, 0);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct UpdatePinsJob : IJobParallelFor
+        {
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> particleIndices;
+
+            [ReadOnly] public NativeArray<int2> edgeRanges;
+            [ReadOnly] public NativeArray<float2> edgeRangeMus;
+            [ReadOnly] public NativeArray<float4> offsets;
+            [ReadOnly] public NativeArray<float> parameters; // compliance, friction, motor speed, motor force, clamp behavior.
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float> edgeMus;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float> relativeVelocities;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [ReadOnly] public NativeArray<int> deformableEdges;
+
+            [ReadOnly] public NativeArray<int> colliderIndices;
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstRigidbody> rigidbodies;
+
+            [ReadOnly] public NativeArray<float4> rigidbodyLinearDeltas;
+            [ReadOnly] public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
+            [ReadOnly] public int activeConstraintCount;
+
+            private bool IsEdgeValid(int edgeIndex, int nextEdgeIndex, float mix)
+            {
+                return mix < 0 ? deformableEdges[nextEdgeIndex * 2 + 1] == deformableEdges[edgeIndex * 2] :
+                                 deformableEdges[nextEdgeIndex * 2] == deformableEdges[edgeIndex * 2 + 1];
+            }
+
+            private bool ClampToRange(int i, int edgeIndex, ref float mix)
+            {
+                bool clamped = false;
+                if (edgeIndex == edgeRanges[i].x && mix < edgeRangeMus[i].x)
+                {
+                    mix = edgeRangeMus[i].x;
+                    clamped = true;
+                }
+                if (edgeIndex == edgeRanges[i].y && mix > edgeRangeMus[i].y)
+                {
+                    mix = edgeRangeMus[i].y;
+                    clamped = true;
+                }
+                return clamped;
+            }
+
+            public void Execute(int i)
+            {
+                int edgeIndex = particleIndices[i];
+                int colliderIndex = colliderIndices[i];
+
+                // if no collider or edge, ignore the constraint.
+                if (colliderIndex < 0 || edgeIndex < 0)
+                    return;
+
+                // Increment the amount of constraints affecting this rigidbody for mass splitting:
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstRigidbody* arr = (BurstRigidbody*)rigidbodies.GetUnsafePtr();
+                    Interlocked.Increment(ref arr[rigidbodyIndex].constraintCount);
+                }
+
+                float frameEnd = stepTime * steps;
+                float substepsToEnd = timeLeft / substepTime;
+
+                int p1 = deformableEdges[edgeIndex * 2];
+                int p2 = deformableEdges[edgeIndex * 2 + 1];
+                int edgeCount = math.max(0, edgeRanges[i].y - edgeRanges[i].x + 1);
+
+                // express pin offset in world space:
+                float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+                float4 predictedPinOffset = worldPinOffset;
+
+                if (rigidbodyIndex >= 0)
+                {
+                    // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+                    float4 pointVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, inertialFrame.frame.InverseTransformPoint(worldPinOffset), rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
+                    predictedPinOffset = BurstIntegration.IntegrateLinear(predictedPinOffset, inertialFrame.frame.TransformVector(pointVelocity), frameEnd);
+                }
+
+                // transform pinhole position to solver space for constraint solving:
+                float4 solverPredictedOffset = inertialFrame.frame.InverseTransformPoint(predictedPinOffset);
+
+                // get current edge data:
+                float4 particlePosition1 = math.lerp(prevPositions[p1], positions[p1], substepsToEnd);
+                float4 particlePosition2 = math.lerp(prevPositions[p2], positions[p2], substepsToEnd);
+                float edgeLength = math.length(particlePosition1 - particlePosition2) + BurstMath.epsilon;
+                BurstMath.NearestPointOnEdge(particlePosition1, particlePosition2, solverPredictedOffset, out float mix, false);
+
+                // calculate current relative velocity between rope and pinhole:
+                float velocity = (mix - edgeMus[i]) / substepTime * edgeLength; // vel = pos / time.
+                relativeVelocities[i] = velocity;
+
+                //apply motor force:
+                float targetAccel = (parameters[i * 5 + 2] - velocity) / substepTime; // accel = vel / time.
+                float maxAccel = parameters[i * 5 + 3] * math.max(math.lerp(invMasses[p1], invMasses[p2], mix), BurstMath.epsilon); // accel = force / mass. Guard against inf*0
+                velocity += math.clamp(targetAccel, -maxAccel, maxAccel) * substepTime;
+
+                // calculate new position by adding motor acceleration:
+                float corrMix = edgeMus[i] + velocity * substepTime / edgeLength;
+
+                // apply artificial friction by interpolating predicted position and corrected position.
+                mix = math.lerp(mix, corrMix, parameters[i * 5 + 1]);
+
+                // move to an adjacent edge if needed:
+                if (!ClampToRange(i, edgeIndex, ref mix) && (mix < 0 || mix > 1))
+                {
+                    bool clampOnEnd = parameters[i * 5 + 4] > 0.5f;
+
+                    // calculate distance we need to travel along edge chain:
+                    float distToTravel = math.length(particlePosition1 - particlePosition2) * (mix < 0 ? -mix : mix - 1);
+
+                    int nextEdgeIndex;
+                    for (int k = 0; k < 10; ++k) // look up to 10 edges away.
+                    {
+                        // calculate index of next edge:
+                        nextEdgeIndex = mix < 0 ? edgeIndex - 1 : edgeIndex + 1;
+                        nextEdgeIndex = edgeRanges[i].x + (int)BurstMath.nfmod(nextEdgeIndex - edgeRanges[i].x, edgeCount);
+
+                        // see if it's valid
+                        if (!IsEdgeValid(edgeIndex, nextEdgeIndex, mix))
+                        {
+                            // disable constraint if needed
+                            if (!clampOnEnd) { particleIndices[i] = -1; return; }
+
+                            // otherwise clamp:
+                            mix = math.saturate(mix);
+                            break;
+                        }
+
+                        // advance to next edge:
+                        edgeIndex = nextEdgeIndex;
+                        p1 = deformableEdges[edgeIndex * 2];
+                        p2 = deformableEdges[edgeIndex * 2 + 1];
+                        particlePosition1 = math.lerp(prevPositions[p1], positions[p1], substepsToEnd);
+                        particlePosition2 = math.lerp(prevPositions[p2], positions[p2], substepsToEnd);
+                        edgeLength = math.length(particlePosition1 - particlePosition2) + BurstMath.epsilon;
+
+                        // stop if we reached target edge:
+                        if (distToTravel <= edgeLength)
+                        {
+                            mix = mix < 0 ? 1 - math.saturate(distToTravel / edgeLength) : math.saturate(distToTravel / edgeLength);
+                            ClampToRange(i, edgeIndex, ref mix);
+                            break;
+                        }
+
+                        // stop if we reached end of range:
+                        if (ClampToRange(i, edgeIndex, ref mix))
+                            break;
+
+                        distToTravel -= edgeLength;
+                    }
+                }
+
+                edgeMus[i] = mix;
+                particleIndices[i] = edgeIndex;
+            }
+        }
+
+        [BurstCompile]
+        public unsafe struct PinholeConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> colliderIndices;
+
+            [ReadOnly] public NativeArray<float4> offsets;
+            [ReadOnly] public NativeArray<float> parameters; // compliance, friction, motor speed, motor force, clamp behavior.
+            [ReadOnly] public NativeArray<float> edgeMus;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [ReadOnly] public NativeArray<int> deformableEdges;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyLinearDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public float timeLeft;
+            [ReadOnly] public int steps;
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute(int i)
+            {
+                int edgeIndex = particleIndices[i];
+                int colliderIndex = colliderIndices[i];
+
+                // if no collider or edge, ignore the constraint.
+                if (edgeIndex < 0 || colliderIndex < 0)
+                    return;
+
+                float frameEnd = stepTime * steps;
+                float substepsToEnd = timeLeft / substepTime;
+
+                // calculate time adjusted compliance
+                float compliance = parameters[i * 5] / (substepTime * substepTime);
+
+                int p1 = deformableEdges[edgeIndex * 2];
+                int p2 = deformableEdges[edgeIndex * 2 + 1];
+
+                // calculate projection on current edge:
+                float mix = edgeMus[i];
+                float4 particlePosition1 = math.lerp(prevPositions[p1], positions[p1], substepsToEnd);
+                float4 particlePosition2 = math.lerp(prevPositions[p2], positions[p2], substepsToEnd);
+                float4 projection = math.lerp(particlePosition1, particlePosition2, mix);
+
+                // express pin offset in world space:
+                float4 worldPinOffset = transforms[colliderIndex].TransformPoint(offsets[i]);
+                float4 predictedPinOffset = worldPinOffset;
+
+                float rigidbodyLinearW = 0;
+                float rigidbodyAngularW = 0;
+
+                int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    var rigidbody = rigidbodies[rigidbodyIndex];
+
+                    // predict offset point position using rb velocity at that point (can't integrate transform since position != center of mass)
+                    float4 pointVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, inertialFrame.frame.InverseTransformPoint(worldPinOffset), rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame);
+                    predictedPinOffset = BurstIntegration.IntegrateLinear(predictedPinOffset, inertialFrame.frame.TransformVector(pointVelocity), frameEnd);
+
+                    // calculate linear and angular rigidbody effective masses (mass splitting: multiply by constraint count)
+                    rigidbodyLinearW = rigidbody.inverseMass * rigidbody.constraintCount;
+                    rigidbodyAngularW = BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor,
+                                                                    worldPinOffset - rigidbody.com,
+                                                                    math.normalizesafe(inertialFrame.frame.TransformPoint(projection) - predictedPinOffset)) * rigidbody.constraintCount;
+                }
+
+                // Transform pinhole position to solver space for constraint solving:
+                predictedPinOffset = inertialFrame.frame.InverseTransformPoint(predictedPinOffset);
+
+                float4 gradient = projection - predictedPinOffset;
+                float constraint = math.length(gradient);
+                float4 gradientDir = gradient / (constraint + BurstMath.epsilon);
+
+                float lambda = (-constraint - compliance * lambdas[i]) / (math.lerp(invMasses[p1], invMasses[p2], mix) + rigidbodyLinearW + rigidbodyAngularW + compliance + BurstMath.epsilon);
+                lambdas[i] += lambda;
+                float4 correction = lambda * gradientDir;
+
+                float baryScale =  BurstMath.BaryScale(new float4(1 - mix, mix, 0, 0));
+
+                deltas[p1] += correction * baryScale * invMasses[p1] * (1 - mix) / substepsToEnd;
+                counts[p1]++;
+
+                deltas[p2] += correction * baryScale * invMasses[p2] * mix / substepsToEnd;
+                counts[p2]++;
+
+                if (rigidbodyIndex >= 0)
+                {
+                    BurstMath.ApplyImpulse(rigidbodyIndex,
+                                            -correction / frameEnd,
+                                           inertialFrame.frame.InverseTransformPoint(worldPinOffset),
+                                           rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyPinholeConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [ReadOnly] public NativeArray<int> deformableEdges;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    int edgeIndex = particleIndices[i];
+                    if (edgeIndex < 0) continue;
+
+                    int p1 = deformableEdges[edgeIndex * 2];
+                    int p2 = deformableEdges[edgeIndex * 2 + 1];
+
+                    if (counts[p1] > 0)
+                    {
+                        positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                        deltas[p1] = float4.zero;
+                        counts[p1] = 0;
+                    }
+
+                    if (counts[p2] > 0)
+                    {
+                        positions[p2] += deltas[p2] * sorFactor / counts[p2];
+                        deltas[p2] = float4.zero;
+                        counts[p2] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..a62fb0bef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pinhole/BurstPinholeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7c3a800919e2e435785c5beca1029b70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
index c73dc01c4..bb7f43537 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
@@ -23,6 +23,8 @@ namespace Obi
         private NativeArray<float4x4> linearTransforms;
         private NativeArray<float4x4> plasticDeformations;
 
+        private bool m_RecalculateRestShape = false;
+
         public BurstShapeMatchingConstraintsBatch(BurstShapeMatchingConstraints constraints)
         {
             m_Constraints = constraints;
@@ -67,13 +69,37 @@ namespace Obi
                 Aqq.Dispose();
         }
 
-        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             return inputDeps;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
+            if (m_RecalculateRestShape)
+            {
+                m_RecalculateRestShape = false;
+
+                var calculateRest = new ShapeMatchingCalculateRestJob()
+                {
+                    particleIndices = particleIndices,
+                    firstIndex = firstIndex,
+                    numIndices = numIndices,
+                    restComs = restComs,
+                    coms = coms,
+                    Aqq = Aqq,
+                    deformation = plasticDeformations,
+
+                    restPositions = solverAbstraction.restPositions.AsNativeArray<float4>(),
+                    restOrientations = solverAbstraction.restOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = solverAbstraction.principalRadii.AsNativeArray<float4>(),
+                    invMasses = solverAbstraction.invMasses.AsNativeArray<float>(),
+                    invRotationalMasses = solverAbstraction.invRotationalMasses.AsNativeArray<float>(),
+                };
+
+                inputDeps = calculateRest.Schedule(numIndices.Length, 64, inputDeps);
+            }
+
             var projectConstraints = new ShapeMatchingConstraintsBatchJob()
             {
                 particleIndices = particleIndices,
@@ -94,7 +120,7 @@ namespace Obi
                 restOrientations = solverImplementation.restOrientations,
                 invMasses = solverImplementation.invMasses,
                 invRotationalMasses = solverImplementation.invRotationalMasses,
-                invInertiaTensors = solverImplementation.invInertiaTensors,
+                principalRadii = solverImplementation.principalRadii,
 
                 deltas = solverImplementation.positionDeltas,
                 counts = solverImplementation.positionConstraintCounts,
@@ -127,25 +153,7 @@ namespace Obi
 
         public void CalculateRestShapeMatching()
         {
-            var deps = ((BurstSolverImpl)constraints.solver).RecalculateInertiaTensors(new JobHandle());
-
-            var calculateRest = new ShapeMatchingCalculateRestJob()
-            {
-                particleIndices = particleIndices,
-                firstIndex = firstIndex,
-                numIndices = numIndices,
-                restComs = restComs,
-                coms = coms,
-                Aqq = Aqq,
-                deformation = plasticDeformations,
-
-                restPositions = solverAbstraction.restPositions.AsNativeArray<float4>(),
-                restOrientations = solverAbstraction.restOrientations.AsNativeArray<quaternion>(),
-                invMasses = solverAbstraction.invMasses.AsNativeArray<float>(),
-                invInertiaTensors = solverAbstraction.invInertiaTensors.AsNativeArray<float4>(),
-            };
-
-            calculateRest.Schedule(numIndices.Length, 64, deps).Complete();
+            m_RecalculateRestShape = true;
         }
 
         protected static void RecalculateRestData(int i,
@@ -156,9 +164,10 @@ namespace Obi
                                                   ref NativeArray<float4x4> deformation,
                                                   ref NativeArray<int> numIndices,
                                                   ref NativeArray<float> invMasses,
+                                                  ref NativeArray<float> invRotationalMasses,
                                                   ref NativeArray<float4> restPositions,
                                                   ref NativeArray<quaternion> restOrientations,
-                                                  ref NativeArray<float4> invInertiaTensors)
+                                                  ref NativeArray<float4> principalRadii)
         {
             int k = 0;
             float maximumMass = 10000;
@@ -185,7 +194,7 @@ namespace Obi
                 particleR[3][3] = 0;
 
                 _Rqq += math.mul(particleR,
-                                 math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
+                                 math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
                                  math.transpose(particleR))
                                 );
 
@@ -225,7 +234,8 @@ namespace Obi
             [ReadOnly] public NativeArray<float4> restPositions;
             [ReadOnly] public NativeArray<quaternion> restOrientations;
             [ReadOnly] public NativeArray<float> invMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> principalRadii;
 
             public void Execute(int i)
             {
@@ -237,9 +247,10 @@ namespace Obi
                                     ref deformation,
                                     ref numIndices,
                                     ref invMasses,
+                                    ref invRotationalMasses,
                                     ref restPositions,
                                     ref restOrientations,
-                                    ref invInertiaTensors);
+                                    ref principalRadii);
             }
         }
 
@@ -265,7 +276,7 @@ namespace Obi
             [ReadOnly] public NativeArray<quaternion> restOrientations;
             [ReadOnly] public NativeArray<float> invMasses;
             [ReadOnly] public NativeArray<float> invRotationalMasses;
-            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float4> principalRadii;
 
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
             [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
@@ -298,7 +309,7 @@ namespace Obi
                     particleRT[3][3] = 0;
 
                     Rpq += math.mul(particleR,
-                                    math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
+                                    math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
                                     math.transpose(particleRT))
                                     );
 
@@ -327,7 +338,7 @@ namespace Obi
                 linearTransforms[i] = math.mul(Apq_def, Aqq[i]);
 
                 // extract rotation from transform matrix, using warmstarting and few iterations:
-                constraintOrientations[i] = BurstMath.ExtractRotation(Apq_def, constraintOrientations[i], 2);
+                constraintOrientations[i] = BurstMath.ExtractRotation(Apq_def, constraintOrientations[i], 5);
 
                 // finally, obtain rotation matrix:
                 float4x4 R = constraintOrientations[i].toMatrix();
@@ -400,9 +411,10 @@ namespace Obi
                                     ref deformation,
                                     ref numIndices,
                                     ref invMasses,
+                                    ref invRotationalMasses,
                                     ref restPositions,
                                     ref restOrientations,
-                                    ref invInertiaTensors);
+                                    ref principalRadii);
                     }
                 }
 
@@ -418,9 +430,10 @@ namespace Obi
                                     ref deformation,
                                     ref numIndices,
                                     ref invMasses,
+                                    ref invRotationalMasses,
                                     ref restPositions,
                                     ref restOrientations,
-                                    ref invInertiaTensors);
+                                    ref principalRadii);
                 }
             }
         }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
index 01ebb638b..85d1a9796 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
@@ -33,7 +33,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new SkinConstraintsBatchJob()
             {
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
index 58cabef91..934e06c45 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
@@ -27,7 +27,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new StitchConstraintsBatchJob()
             {
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
index 4824c5bab..006153e1a 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
@@ -33,7 +33,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new StretchShearConstraintsBatchJob()
             {
@@ -126,8 +126,8 @@ namespace Obi
                 // subtract third director vector (0,0,1):
                 gamma[2] -= 1;
 
-                float3 W = new float3((w1 + w2) / (restLengths[i] + BurstMath.epsilon) + invRotationalMasses[q] * 4.0f * restLengths[i] + BurstMath.epsilon);
-                float3 dlambda = (gamma - compliances * lambdas[i]) / (compliances + W);
+                float3 W = new float3((w1 + w2) / (restLengths[i] + BurstMath.epsilon) + invRotationalMasses[q] * 4.0f * restLengths[i]);
+                float3 dlambda = (gamma - compliances * lambdas[i]) / (W + compliances + BurstMath.epsilon);
                 lambdas[i] += dlambda;
 
                 // convert lambda delta lambda back to world space:
@@ -142,7 +142,10 @@ namespace Obi
                 // calculate rotation delta:
                 quaternion rotDelta = math.mul(new quaternion(dlambda[0], dlambda[1], dlambda[2], 0.0f),q_e_3_bar);
                 rotDelta.value *= 2.0f * invRotationalMasses[q] * restLengths[i];
-                orientationDeltas[q] = rotDelta;
+
+                quaternion orDelta = orientationDeltas[q];
+                orDelta.value += rotDelta.value;
+                orientationDeltas[q] = orDelta;
 
                 counts[p1]++;
                 counts[p2]++;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
index 4e3cd237c..eb1a4ee28 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
@@ -29,7 +29,7 @@ namespace Obi
             m_ConstraintCount = count;
         }
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new TetherConstraintsBatchJob()
             {
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
index 6d49fcd21..f813744dc 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
@@ -40,7 +40,7 @@ namespace Obi
         }
 
 
-        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
         {
             var projectConstraints = new VolumeConstraintsBatchJob()
             {
@@ -106,10 +106,7 @@ namespace Obi
             {
                 float compliance = pressureStiffness[i].y / deltaTimeSqr;
 
-                NativeList<int> particleIndices = new NativeList<int>(numTriangles[i] * 3, Allocator.Temp);
-
                 // calculate volume:
-                float volume = 0;
                 for (int j = 0; j < numTriangles[i]; ++j)
                 {
                     int v = (firstTriangle[i] + j) * 3;
@@ -117,21 +114,12 @@ namespace Obi
                     int i2 = triangles[v + 1];
                     int i3 = triangles[v + 2];
 
-                    particleIndices.Add(i1);
-                    particleIndices.Add(i2);
-                    particleIndices.Add(i3);
-
-                    //calculate this triangle's volume contribution:
-                    volume += math.dot(math.cross(positions[i1].xyz, positions[i2].xyz), positions[i3].xyz) / 6.0f;
+                    gradients[i1] = new float4(0, 0, 0, 1);
+                    gradients[i2] = new float4(0, 0, 0, 1);
+                    gradients[i3] = new float4(0, 0, 0, 1);
                 }
 
-                particleIndices.Sort();
-                int particleCount = particleIndices.AsArray().Unique();
-
-                // accumulate particle gradients:
-                for (int j = 0; j < particleCount; ++j)
-                    gradients[particleIndices[j]] = float4.zero;
-
+                float volume = 0;
                 for (int j = 0; j < numTriangles[i]; ++j)
                 {
                     int v = (firstTriangle[i] + j) * 3;
@@ -143,14 +131,28 @@ namespace Obi
                     gradients[i1] += new float4(math.cross(positions[i2].xyz, positions[i3].xyz), 0);
                     gradients[i2] += new float4(math.cross(positions[i3].xyz, positions[i1].xyz), 0);
                     gradients[i3] += new float4(math.cross(positions[i1].xyz, positions[i2].xyz), 0);
+
+                    //calculate this triangle's volume contribution:
+                    volume += math.dot(math.cross(positions[i1].xyz, positions[i2].xyz), positions[i3].xyz) / 6.0f;
                 }
 
                 // calculate constraint denominator (G(Cj)*inv(M)):
                 float denominator = 0;
-                for (int j = 0; j < particleCount; ++j)
+                for (int j = 0; j < numTriangles[i]; ++j)
                 {
-                    int p = particleIndices[j];
-                    denominator += invMasses[p] * math.lengthsq(gradients[p]);
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    denominator += invMasses[i1] * math.lengthsq(gradients[i1].xyz) * gradients[i1].w;
+                    gradients[i1] = new float4(gradients[i1].xyz,0);
+
+                    denominator += invMasses[i2] * math.lengthsq(gradients[i2].xyz) * gradients[i2].w;
+                    gradients[i2] = new float4(gradients[i2].xyz, 0);
+
+                    denominator += invMasses[i3] * math.lengthsq(gradients[i3].xyz) * gradients[i3].w;
+                    gradients[i3] = new float4(gradients[i3].xyz, 0);
                 }
 
                 // equality constraint: volume - pressure * rest volume = 0
@@ -161,11 +163,21 @@ namespace Obi
                 lambdas[i] += dlambda;
 
                 // calculate position deltas:
-                for (int j = 0; j < particleCount; ++j)
+                for (int j = 0; j < numTriangles[i]; ++j)
                 {
-                    int p = particleIndices[j];
-                    deltas[p] += dlambda * invMasses[p] * gradients[p];
-                    counts[p]++;
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    deltas[i1] += dlambda * invMasses[i1] * gradients[i1];
+                    counts[i1]++;
+
+                    deltas[i2] += dlambda * invMasses[i2] * gradients[i2];
+                    counts[i2]++;
+
+                    deltas[i3] += dlambda * invMasses[i3] * gradients[i3];
+                    counts[i3]++;
                 }
             }
         }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
index a02213b38..5fea22d30 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
@@ -24,16 +24,16 @@ namespace Obi
             this.max = max;
         }
 
-        public BurstAabb(float4 v1, float4 v2, float4 v3, float margin)
+        public BurstAabb(float4 v1, float4 v2, float4 v3, float4 margin)
         {
-            min = math.min(math.min(v1, v2), v3) - new float4(margin, margin, margin, 0);
-            max = math.max(math.max(v1, v2), v3) + new float4(margin, margin, margin, 0);
+            min = math.min(math.min(v1, v2), v3) - margin;
+            max = math.max(math.max(v1, v2), v3) + margin;
         }
 
-        public BurstAabb(float2 v1, float2 v2, float margin)
+        public BurstAabb(float4 v1, float4 v2, float4 margin)
         {
-            min = new float4(math.min(v1, v2) - new float2(margin, margin),0,0);
-            max = new float4(math.max(v1, v2) + new float2(margin, margin),0,0);
+            min = math.min(v1, v2) - margin;
+            max = math.max(v1, v2) + margin;
         }
 
         public BurstAabb(float4 previousPosition, float4 position, float radius)
@@ -50,7 +50,7 @@ namespace Obi
 
         public float MaxAxisLength()
         {
-            return math.cmax(max - min);
+            return math.cmax((max - min).xyz);
         }
 
         public void EncapsulateParticle(float4 position, float radius)
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
index cda36e3f0..f601191d2 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
@@ -36,6 +36,13 @@ namespace Obi
                                             1 / scale);
         }
 
+        public BurstAffineTransform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
+        {
+            return new BurstAffineTransform(BurstIntegration.IntegrateLinear(translation, linearVelocity, dt),
+                                            BurstIntegration.IntegrateAngular(rotation, angularVelocity, dt),
+                                            scale);
+        }
+
         public BurstAffineTransform Interpolate(BurstAffineTransform other, float translationalMu, float rotationalMu, float scaleMu)
         {
             return new BurstAffineTransform(math.lerp(translation, other.translation, translationalMu),
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
index 6bb3d5994..a93368131 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
@@ -25,7 +25,7 @@ namespace Obi
 
             switch (frictionCombineMode)
             {
-                case Oni.MaterialCombineMode.Average:
+                default: // average
                     result.dynamicFriction = (a.dynamicFriction + b.dynamicFriction) * 0.5f;
                     result.staticFriction = (a.staticFriction + b.staticFriction) * 0.5f;
                     result.rollingFriction = (a.rollingFriction + b.rollingFriction) * 0.5f;
@@ -37,22 +37,22 @@ namespace Obi
                     result.rollingFriction = math.min(a.rollingFriction, b.rollingFriction);
                     break;
 
-                case Oni.MaterialCombineMode.Maximum:
-                    result.dynamicFriction = math.max(a.dynamicFriction, b.dynamicFriction);
-                    result.staticFriction = math.max(a.staticFriction, b.staticFriction);
-                    result.rollingFriction = math.max(a.rollingFriction, b.rollingFriction);
-                    break;
-
                 case Oni.MaterialCombineMode.Multiply:
                     result.dynamicFriction = a.dynamicFriction * b.dynamicFriction;
                     result.staticFriction = a.staticFriction * b.staticFriction;
                     result.rollingFriction = a.rollingFriction * b.rollingFriction;
                     break;
+
+                case Oni.MaterialCombineMode.Maximum:
+                    result.dynamicFriction = math.max(a.dynamicFriction, b.dynamicFriction);
+                    result.staticFriction = math.max(a.staticFriction, b.staticFriction);
+                    result.rollingFriction = math.max(a.rollingFriction, b.rollingFriction);
+                    break;
             }
 
             switch (stickCombineMode)
             {
-                case Oni.MaterialCombineMode.Average:
+                default: // average
                     result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
                     break;
 
@@ -60,13 +60,13 @@ namespace Obi
                     result.stickiness = math.min(a.stickiness, b.stickiness);
                     break;
 
-                case Oni.MaterialCombineMode.Maximum:
-                    result.stickiness = math.max(a.stickiness, b.stickiness);
-                    break;
-
                 case Oni.MaterialCombineMode.Multiply:
                     result.stickiness = a.stickiness * b.stickiness;
                     break;
+
+                case Oni.MaterialCombineMode.Maximum:
+                    result.stickiness = math.max(a.stickiness, b.stickiness);
+                    break;
             }
 
             result.stickDistance = math.max(a.stickDistance, b.stickDistance);
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
index a49d7d566..a1e7b5513 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
@@ -38,6 +38,11 @@ namespace Obi
             angularAcceleration = float4.zero;
         }
 
+        public float4 VelocityAtPoint(float4 point)
+        {
+            return velocity + new float4(math.cross(angularVelocity.xyz, (point - prevFrame.translation).xyz), 0);
+        }
+
         public void Update(float4 position, float4 scale, quaternion rotation, float dt)
         {
             prevFrame = frame;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs
new file mode 100644
index 000000000..c214ce9e9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs
@@ -0,0 +1,128 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System.Collections.Generic;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstPrefixSum
+    {
+        private int inputSize;
+        private const int numBlocks = 8;
+
+        private NativeArray<int> blockSums;
+
+        public BurstPrefixSum(int inputSize)
+        {
+            this.inputSize = inputSize;
+            blockSums = new NativeArray<int>(numBlocks, Allocator.Persistent);
+        }
+
+        public void Dispose()
+        {
+            if (blockSums.IsCreated)
+                blockSums.Dispose();
+        }
+
+        public unsafe JobHandle Sum(NativeArray<int> input, NativeArray<int> result, int* count, JobHandle inputDeps)
+        {
+
+            // calculate partial prefix sums, one per block:
+            var job = new BlockSumJob
+            {
+                input = input,
+                output = result,
+                blocks = blockSums,
+                count = count
+            };
+            inputDeps = job.Schedule(numBlocks, 1, inputDeps);
+
+            var job3 = new BlockSum
+            {
+                blocks = blockSums
+            };
+            inputDeps = job3.Schedule(inputDeps);
+
+            // add the scanned partial block sums to the result:
+            var job2 = new PrefixSumJob
+            {
+                prefixBlocks = blockSums,
+                output = result,
+                count = count
+            };
+            return job2.Schedule(numBlocks, 1, inputDeps);
+        }
+
+        [BurstCompile]
+        unsafe struct BlockSumJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> input;
+            [NativeDisableParallelForRestriction] public NativeArray<int> output;
+            public NativeArray<int> blocks;
+
+            [ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
+
+            public void Execute(int block)
+            {
+                int length = *count + 1; // add 1 to get total sum in last element+1
+                int blockSize = (int)math.ceil(length / (float)numBlocks);
+
+                int start = block * blockSize;
+                int end = math.min(start + blockSize, length);
+
+                output[start] = 0;
+
+                if (blockSize == 0) { blocks[block] = 0; return; }
+
+                for (int i = start + 1; i < end; ++i)
+                    output[i] = output[i - 1] + input[i - 1];
+
+                blocks[block] = output[end - 1] + input[end - 1];
+            }
+        }
+
+        [BurstCompile]
+        struct BlockSum : IJob
+        {
+            public NativeArray<int> blocks;
+
+            public void Execute()
+            {
+                int aux = blocks[0];
+                blocks[0] = 0;
+
+                for (int i = 1; i < blocks.Length; ++i)
+                {
+                    int a = blocks[i];
+                    blocks[i] = blocks[i - 1] + aux;
+                    aux = a;
+                }
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct PrefixSumJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> prefixBlocks;
+            [NativeDisableParallelForRestriction] public NativeArray<int> output;
+
+            [ReadOnly] [NativeDisableUnsafePtrRestriction] public int* count;
+
+            public void Execute(int block)
+            {
+                int length = *count + 1; // add 1 to get total sum in last element+1
+                int blockSize = (int)math.ceil(length / (float)numBlocks);
+
+                int start = block * blockSize;
+                int end = math.min(start + blockSize, length);
+
+                for (int i = start; i < end; ++i)
+                    output[i] += prefixBlocks[block];
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta
new file mode 100644
index 000000000..3cd7558fd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstPrefixSum.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7fa11563c202445279d5e04b0eb1631b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
index 39f7cf90c..b56880310 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
@@ -9,7 +9,7 @@ namespace Obi
         public float4 size;
         public QueryShape.QueryType type;
         public float contactOffset;
-        public float distance;
+        public float maxDistance;
         public int filter;
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
index 6406cc850..7df6296a1 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
@@ -15,7 +15,7 @@ namespace Obi
         public float4 com;
         public float inverseMass;
 
-        private int pad0;
+        public int constraintCount;
         private int pad1;
         private int pad2;
     }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
index f1fcfb1f9..5f2c182bc 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
@@ -1,4 +1,4 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using System;
 using Unity.Collections;
 using Unity.Mathematics;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
index f15939bf9..3b3bf9ee9 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
@@ -1,4 +1,4 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using System;
 using System.Collections.Generic;
 using Unity.Collections;
@@ -9,7 +9,7 @@ using Unity.Jobs;
 
 namespace Obi
 {
-    public class ConstraintSorter<T> where T : unmanaged, IConstraint
+    public class ConstraintSorter<T> where T : unmanaged, IConstraint 
     {
 
         public struct ConstraintComparer<K> : IComparer<K> where K : IConstraint
@@ -28,7 +28,7 @@ namespace Obi
         public JobHandle SortConstraints(int particleCount,
                                          NativeArray<T> constraints,
                                          ref NativeArray<T> sortedConstraints,
-                                         JobHandle handle)
+                                         JobHandle handle) 
         {
             // Count the amount of digits in the largest particle index that can be referenced by a constraint:
             NativeArray<int> totalCountUpToDigit = new NativeArray<int>(particleCount + 1, Allocator.TempJob);
@@ -59,16 +59,16 @@ namespace Obi
             {
                 InOutArray = sortedConstraints,
                 NextElementIndex = totalCountUpToDigit,
-                comparer = new ConstraintComparer<T>()
+                comparer =  new ConstraintComparer<T>()
             }.Schedule(totalCountUpToDigit.Length, numPerBatch, handle);
 
             return handle;
         }
 
         [BurstCompile]
-        public struct CountSortPerFirstParticleJob : IJob
+        public struct CountSortPerFirstParticleJob : IJob 
         {
-            [ReadOnly] [NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
+            [ReadOnly][NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
             public NativeArray<T> output;
 
             [NativeDisableContainerSafetyRestriction] public NativeArray<int> digitCount;
@@ -117,7 +117,7 @@ namespace Obi
             [NativeDisableContainerSafetyRestriction] public NativeArray<T> InOutArray;
 
             // Typically lastDigitIndex is resulting RadixSortPerBodyAJob.digitCount. nextElementIndex[i] = index of first element with bodyA index == i + 1
-            [NativeDisableContainerSafetyRestriction] [DeallocateOnJobCompletion] public NativeArray<int> NextElementIndex;
+            [NativeDisableContainerSafetyRestriction][DeallocateOnJobCompletion] public NativeArray<int> NextElementIndex;
 
             [ReadOnly] public ConstraintComparer<T> comparer;
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
index 5c1470577..2015869be 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
@@ -1,9 +1,10 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using System;
-
-public interface IConstraint
+namespace Obi
 {
-    int GetParticleCount();
-    int GetParticle(int index);
+    public interface IConstraint
+    {
+        int GetParticleCount();
+        int GetParticle(int index);
+    }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
index c572cea82..fe57581a0 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
@@ -1,118 +1,76 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using Unity.Mathematics;
 
-public struct GridHash
+namespace Obi
 {
-    public readonly static int3[] cellOffsets3D =
+    public struct GridHash
     {
-        new int3(1,0,0),
-        new int3(0,1,0),
-        new int3(1,1,0),
-        new int3(0,0,1),
-        new int3(1,0,1),
-        new int3(0,1,1),
-        new int3(1,1,1),
-        new int3(-1,1,0),
-        new int3(-1,-1,1),
-        new int3(0,-1,1),
-        new int3(1,-1,1),
-        new int3(-1,0,1),
-        new int3(-1,1,1)
-    };
-
-    public readonly static int3[] cellOffsets =
-    {
-        new int3(0, 0, 0),
-        new int3(-1, 0, 0),
-        new int3(0, -1, 0),
-        new int3(0, 0, -1),
-        new int3(1, 0, 0),
-        new int3(0, 1, 0),
-        new int3(0, 0, 1)
-    };
-
-    public readonly static int2[] cell2DOffsets =
-    {
-        new int2(0, 0),
-        new int2(-1, 0),
-        new int2(0, -1),
-        new int2(1, 0),
-        new int2(0, 1),
-    };
-
-    public static int Hash(float3 v, float cellSize)
-    {
-        return Hash(Quantize(v, cellSize));
-    }
-
-    public static int3 Quantize(float3 v, float cellSize)
-    {
-        return new int3(math.floor(v / cellSize));
-    }
-
-    public static int Hash(float2 v, float cellSize)
-    {
-        return Hash(Quantize(v, cellSize));
-    }
-
-    public static int2 Quantize(float2 v, float cellSize)
-    {
-        return new int2(math.floor(v / cellSize));
-    }
-
-    public static int Hash(int3 grid)
-    {
-        unchecked
+        public readonly static int3[] cellOffsets3D =
         {
-            // Simple int3 hash based on a pseudo mix of :
-            // 1) https://en.wikipedia.org/wiki/Fowler%E2%80%93Noll%E2%80%93Vo_hash_function
-            // 2) https://en.wikipedia.org/wiki/Jenkins_hash_function
-            int hash = grid.x;
-            hash = (hash * 397) ^ grid.y;
-            hash = (hash * 397) ^ grid.z;
-            hash += hash << 3;
-            hash ^= hash >> 11;
-            hash += hash << 15;
-            return hash;
-        }
-    }
+            new int3(1,0,0),
+            new int3(0,1,0),
+            new int3(1,1,0),
+            new int3(0,0,1),
+            new int3(1,0,1),
+            new int3(0,1,1),
+            new int3(1,1,1),
+            new int3(-1,1,0),
+            new int3(-1,-1,1),
+            new int3(0,-1,1),
+            new int3(1,-1,1),
+            new int3(-1,0,1),
+            new int3(-1,1,1)
+        };
 
-    public static int Hash(int2 grid)
-    {
-        unchecked
+        public readonly static int3[] cellOffsets =
         {
-            // Simple int3 hash based on a pseudo mix of :
-            // 1) https://en.wikipedia.org/wiki/Fowler%E2%80%93Noll%E2%80%93Vo_hash_function
-            // 2) https://en.wikipedia.org/wiki/Jenkins_hash_function
-            int hash = grid.x;
-            hash = (hash * 397) ^ grid.y;
-            hash += hash << 3;
-            hash ^= hash >> 11;
-            hash += hash << 15;
-            return hash;
+            new int3(0, 0, 0),
+            new int3(-1, 0, 0),
+            new int3(0, -1, 0),
+            new int3(0, 0, -1),
+            new int3(1, 0, 0),
+            new int3(0, 1, 0),
+            new int3(0, 0, 1)
+        };
+
+        public readonly static int2[] cell2DOffsets =
+        {
+            new int2(0, 0),
+            new int2(-1, 0),
+            new int2(0, -1),
+            new int2(1, 0),
+            new int2(0, 1),
+        };
+
+        public static int3 Quantize(float3 v, float cellSize)
+        {
+            return new int3(math.floor(v / cellSize));
         }
-    }
 
-    public static ulong Hash(ulong hash, ulong key)
-    {
-        const ulong m = 0xc6a4a7935bd1e995UL;
-        const int r = 47;
+        public static int2 Quantize(float2 v, float cellSize)
+        {
+            return new int2(math.floor(v / cellSize));
+        }
 
-        ulong h = hash;
-        ulong k = key;
+        public static int Hash(in int4 cellIndex, int maxCells)
+        {
+            const int p1 = 73856093;
+            const int p2 = 19349663;
+            const int p3 = 83492791;
+            const int p4 = 10380569;
+            return math.abs(p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z ^ p4 * cellIndex.w) % maxCells;
+        }
 
-        k *= m;
-        k ^= k >> r;
-        k *= m;
+        public static int Hash(in int3 cellIndex, int maxCells)
+        {
+            const int p1 = 73856093;
+            const int p2 = 19349663;
+            const int p3 = 83492791;
+            return ((p1 * cellIndex.x ^ p2 * cellIndex.y ^ p3 * cellIndex.z) & 0x7fffffff) % maxCells;
 
-        h ^= k;
-        h *= m;
-
-        h ^= h >> r;
-        h *= m;
-        h ^= h >> r;
-
-        return h;
+            /*var index = cellIndex - new int3(-32, -32, -32);
+            return index.x + index.y * 64 + index.z * 64 * 64;*/
+        }
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
index c70f198fb..aa210c062 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
@@ -23,7 +23,9 @@ namespace Obi
     public unsafe struct NativeMultilevelGrid<T> : IDisposable where T : unmanaged, IEquatable<T>
     {
 
-        public const float minSize = 0.01f; 
+        public const float minSize = 0.01f; // minimum cell size is 1 centimeter, enough for very small particles.
+        public const int minLevel = -6;   // grid level for minSize.
+        public const int maxLevel = 17;
 
         /**
          * A cell in the multilevel grid. Coords are 4-dimensional, the 4th component is the grid level.
@@ -58,7 +60,7 @@ namespace Obi
             {
                 get
                 {
-                    return UnsafeUtility.ReadArrayElement<K>(contents.Ptr, index);
+                    return contents.ElementAt(index);
                 }
             }
 
@@ -69,11 +71,7 @@ namespace Obi
 
             public bool Remove(K entity)
             {
-                //int index = contents.IndexOf(entity);
-                int index = -1;
-                for (int i = 0; i < contents.Length; ++i)
-                    if (contents[i].Equals(entity)) { index = i; break; }
-
+                int index = contents.IndexOf(entity);
                 if (index >= 0)
                 {
                     contents.RemoveAtSwapBack(index);
@@ -88,15 +86,15 @@ namespace Obi
             }
         }
 
-        public NativeHashMap<int4, int> grid;
+        public NativeParallelHashMap<int4, int> grid;
         public NativeList<Cell<T>> usedCells;
-        public NativeHashMap<int, int> populatedLevels;
+        public NativeParallelHashMap<int, int> populatedLevels;
 
         public NativeMultilevelGrid(int capacity, Allocator label)
         {
-            grid = new NativeHashMap<int4, int>(capacity, label);
+            grid = new NativeParallelHashMap<int4, int>(capacity, label);
             usedCells = new NativeList<Cell<T>>(label);
-            populatedLevels = new NativeHashMap<int, int>(10, label);
+            populatedLevels = new NativeParallelHashMap<int, int>(10, label);
         }
 
         public int CellCount
@@ -172,14 +170,16 @@ namespace Obi
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static int GridLevelForSize(float size)
         {
-            // the magic number is 1/log(2)
-            return (int)math.ceil(math.log(math.max(size,minSize)) * 1.44269504089f);
+            // the magic number is 1/log(2), used because log_a(x) = log_b(x) / log_b(a)
+            // level is clamped between MIN_LEVEL and MAX_LEVEL, then remapped to (0, MAX_LEVEL - MIN_LEVEL)
+            // this allows us to avoid InterlockedMax issues on GPU, since it doesn't work on negative numbers on some APIs.
+            return math.clamp((int)math.ceil(math.log(size) * 1.44269504089f), minLevel, maxLevel) - minLevel;
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float CellSizeOfLevel(int level)
         {
-            return math.exp2(level);
+            return math.exp2(level + minLevel);
         }
 
         /**
@@ -187,7 +187,7 @@ namespace Obi
          */
         public static int4 GetParentCellCoords(int4 cellCoords, int level)
         {
-            float decimation = CellSizeOfLevel(level - cellCoords[3]);
+            float decimation = math.exp2(level - cellCoords[3]);
             int4 cell = (int4)math.floor((float4)cellCoords / decimation);
             cell[3] = level;
             return cell;
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
index 5fab570fc..b2c8ccdae 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
@@ -4,6 +4,7 @@ using Unity.Collections;
 using Unity.Jobs;
 using Unity.Mathematics;
 using Unity.Burst;
+using UnityEngine;
 
 namespace Obi
 {
@@ -20,34 +21,14 @@ namespace Obi
         public NativeQueue<BurstContact> particleContactQueue;
         public NativeQueue<FluidInteraction> fluidInteractionQueue;
 
-      
-        [BurstCompile]
-        struct CalculateCellCoords : IJobParallelFor
-        {
-            [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
-             public NativeArray<int4> cellCoords;
-            [ReadOnly] public bool is2D;
-
-            public void Execute(int i)
-            {
-                int level = NativeMultilevelGrid<int>.GridLevelForSize(simplexBounds[i].AverageAxisLength());
-                float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
-
-                // get new particle cell coordinate:
-                int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
-
-                // if the solver is 2D, project the particle to the z = 0 cell.
-                if (is2D) newCellCoord[2] = 0;
-
-                cellCoords[i] = newCellCoord;
-            }
-        }
-
         [BurstCompile]
         struct UpdateGrid : IJob
         {
             public NativeMultilevelGrid<int> grid;
-            [ReadOnly] public NativeArray<int4> cellCoords;
+            [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
+            public NativeArray<int4> cellCoords;
+
+            [ReadOnly] public Oni.SolverParameters parameters;
             [ReadOnly] public int simplexCount;
 
             public void Execute()
@@ -56,6 +37,17 @@ namespace Obi
 
                 for (int i = 0; i < simplexCount; ++i)
                 {
+                    int level = NativeMultilevelGrid<int>.GridLevelForSize(simplexBounds[i].MaxAxisLength());
+                    float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
+
+                    // get new cell coordinate:
+                    int4 newCellCoord = new int4(GridHash.Quantize(simplexBounds[i].center.xyz, cellSize), level);
+
+                    // if the solver is 2D, project to the z = 0 cell.
+                    if (parameters.mode == Oni.SolverParameters.Mode.Mode2D) newCellCoord[2] = 0;
+
+                    cellCoords[i] = newCellCoord;
+
                     // add to new cell:
                     int cellIndex = grid.GetOrCreateCell(cellCoords[i]);
                     var newCell = grid.usedCells[cellIndex];
@@ -69,6 +61,7 @@ namespace Obi
         public struct GenerateParticleParticleContactsJob : IJobParallelFor
         {
             [ReadOnly] public NativeMultilevelGrid<int> grid;
+
             [DeallocateOnJobCompletion]
             [ReadOnly] public NativeArray<int> gridLevels;
 
@@ -80,14 +73,13 @@ namespace Obi
             [ReadOnly] public NativeArray<float> invMasses;
             [ReadOnly] public NativeArray<float4> radii;
             [ReadOnly] public NativeArray<float4> normals;
-            [ReadOnly] public NativeArray<float> fluidRadii;
+            [ReadOnly] public NativeArray<float4> fluidMaterials;
             [ReadOnly] public NativeArray<int> phases;
             [ReadOnly] public NativeArray<int> filters;
 
             // simplex arrays:
             [ReadOnly] public NativeArray<int> simplices;
             [ReadOnly] public SimplexCounts simplexCounts;
-            [ReadOnly] public NativeArray<BurstAabb> simplexBounds;
 
             [ReadOnly] public NativeArray<int> particleMaterialIndices;
             [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
@@ -165,7 +157,7 @@ namespace Obi
                 }
 
                 // neighboring cells in levels above the current one:
-                int levelIndex = gridLevels.IndexOf<int,int>(cellCoords.w);
+                int levelIndex = gridLevels.IndexOf<int, int>(cellCoords.w);
                 if (levelIndex >= 0)
                 {
                     levelIndex++;
@@ -202,10 +194,10 @@ namespace Obi
                 for (int j = 0; j < simplexSize; ++j)
                 {
                     int particleIndex = simplices[simplexStart + j];
+                    group = math.max(group, ObiUtils.GetGroupFromPhase(phases[particleIndex]));
                     flags |= ObiUtils.GetFlagsFromPhase(phases[particleIndex]);
                     category |= filters[particleIndex] & ObiUtils.FilterCategoryBitmask;
                     mask |= (filters[particleIndex] & ObiUtils.FilterMaskBitmask) >> 16;
-                    group = math.max(group, ObiUtils.GetGroupFromPhase(phases[particleIndex]));
                     restPositionsEnabled |= restPositions[particleIndex].w > 0.5f;
                 }
 
@@ -214,10 +206,6 @@ namespace Obi
 
             private void InteractionTest(int A, int B, ref BurstSimplex simplexShape)
             {
-                // skip the pair if their bounds don't intersect:
-                if (!simplexBounds[A].IntersectsAabb(simplexBounds[B]))
-                    return;
-                
                 // get the start index and size of each simplex:
                 int simplexStartA = simplexCounts.GetSimplexStartAndSize(A, out int simplexSizeA);
                 int simplexStartB = simplexCounts.GetSimplexStartAndSize(B, out int simplexSizeB);
@@ -247,17 +235,14 @@ namespace Obi
                 // if all simplices are fluid, check their smoothing radii:
                 if ((flagsA & ObiUtils.ParticleFlags.Fluid) != 0 && (flagsB & ObiUtils.ParticleFlags.Fluid) != 0)
                 {
+                    // for fluid we only consider the first particle in each simplex.
                     int particleA = simplices[simplexStartA];
                     int particleB = simplices[simplexStartB];
 
-                    // for fluid we only consider the first particle in each simplex.
-                    float4 predictedPositionA = positions[particleA] + velocities[particleA] * dt;
-                    float4 predictedPositionB = positions[particleB] + velocities[particleB] * dt;
-
                     // Calculate particle center distance:
-                    float d2 = math.lengthsq(predictedPositionA - predictedPositionB);
+                    float d2 = math.lengthsq(positions[particleA].xyz - positions[particleB].xyz);
 
-                    float fluidDistance = math.max(fluidRadii[particleA], fluidRadii[particleB]);
+                    float fluidDistance = math.max(fluidMaterials[particleA].x, fluidMaterials[particleB].x) + collisionMargin;
                     if (d2 <= fluidDistance * fluidDistance)
                     {
                         fluidInteractionsQueue.Enqueue(new FluidInteraction { particleA = particleA, particleB = particleB });
@@ -299,7 +284,7 @@ namespace Obi
 
                         // compare distance along contact normal with radius.
                         if (math.dot(simplexPoint - restPoint.point, restPoint.normal) < simplexRadiusA + simplexRadiusB)
-                            return; 
+                            return;
                     }
 
                     simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
@@ -310,13 +295,16 @@ namespace Obi
                                         simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, optimizationIterations, optimizationTolerance);
 
                     simplexRadiusA = 0; simplexRadiusB = 0;
-                    float4 velocityA = float4.zero, velocityB = float4.zero, normalB = float4.zero;
+                    float4 velocityA = float4.zero, velocityB = float4.zero, normalA = float4.zero, normalB = float4.zero;
+                    float invMassA = 0, invMassB = 0; 
 
                     for (int j = 0; j < simplexSizeA; ++j)
                     {
                         int particleIndex = simplices[simplexStartA + j];
                         simplexRadiusA += radii[particleIndex].x * simplexBary[j];
                         velocityA += velocities[particleIndex] * simplexBary[j];
+                        normalA += (normals[particleIndex].w < 0 ? new float4(math.rotate(orientations[particleIndex],normals[particleIndex].xyz), normals[particleIndex].w) : normals[particleIndex]) * simplexBary[j];
+                        invMassA += invMasses[particleIndex] * simplexBary[j];
                     }
 
                     for (int j = 0; j < simplexSizeB; ++j)
@@ -324,111 +312,53 @@ namespace Obi
                         int particleIndex = simplices[simplexStartB + j];
                         simplexRadiusB += radii[particleIndex].x * surfacePoint.bary[j];
                         velocityB += velocities[particleIndex] * surfacePoint.bary[j];
-                        normalB += normals[particleIndex] * surfacePoint.bary[j];
+                        normalB += (normals[particleIndex].w < 0 ? new float4(math.rotate(orientations[particleIndex], normals[particleIndex].xyz), normals[particleIndex].w) : normals[particleIndex]) * surfacePoint.bary[j];
+                        invMassB += invMasses[particleIndex] * simplexBary[j];
                     }
 
+                    // no contact between fixed simplices:
+                    //if (!(invMassA > 0 || invMassB > 0)) 
+                      //  return;
+
                     float dAB = math.dot(simplexPoint - surfacePoint.point, surfacePoint.normal);
-                    float vel = math.dot(velocityA    - velocityB,          surfacePoint.normal);
+                    float vel = math.dot(velocityA - velocityB, surfacePoint.normal);
 
                     // check if the projected velocity along the contact normal will get us within collision distance.
                     if (vel * dt + dAB <= simplexRadiusA + simplexRadiusB + collisionMargin)
                     {
                         // adapt collision normal for one-sided simplices:
                         if ((flagsB & ObiUtils.ParticleFlags.OneSided) != 0 && categoryA < categoryB)
-                            BurstMath.OneSidedNormal(normalB, ref surfacePoint.normal);
+                            BurstMath.OneSidedNormal(normalB, ref surfacePoint.normal); 
 
-                        contactsQueue.Enqueue(new BurstContact()
+                        // during inter-collision, if either particle contains SDF data and they overlap:
+                        if (groupA != groupB && (normalB.w < 0 || normalA.w < 0) && dAB * 1.05f <= simplexRadiusA + simplexRadiusB)
+                        {
+                            // as normal, pick SDF gradient belonging to least penetration distance:
+                            float4 nij = normalB;
+                            if (normalB.w >= 0 || (normalA.w < 0 && normalB.w < normalA.w))
+                                nij = new float4(-normalA.xyz, normalA.w);
+
+                            // for boundary particles, use one sided sphere normal:
+                            if (math.abs(nij.w) <= math.max(simplexRadiusA, simplexRadiusB) * 1.5f)
+                                BurstMath.OneSidedNormal(nij, ref surfacePoint.normal);
+                            else
+                                surfacePoint.normal = nij;
+                        }
+
+                        surfacePoint.normal.w = 0;
+                        contactsQueue.Enqueue(new BurstContact
                         {
                             bodyA = A,
                             bodyB = B,
                             pointA = simplexBary,
                             pointB = surfacePoint.bary,
                             normal = surfacePoint.normal
-                        });
+                        }); 
                     }
                 }
             }
         }
 
-        [BurstCompile]
-        public struct InterpolateDiffusePropertiesJob : IJobParallelFor
-        {
-            [ReadOnly] public NativeMultilevelGrid<int> grid;
-
-            [DeallocateOnJobCompletion]
-            [ReadOnly] public NativeArray<int4> cellOffsets;
-
-            [ReadOnly] public NativeArray<float4> positions;
-            [ReadOnly] public NativeArray<float4> properties;
-            [ReadOnly] public NativeArray<float4> diffusePositions;
-            [ReadOnly] public Poly6Kernel densityKernel;
-
-            public NativeArray<float4> diffuseProperties;
-            public NativeArray<int> neighbourCount;
-
-            [DeallocateOnJobCompletion]
-            [ReadOnly] public NativeArray<int> gridLevels;
-
-            [ReadOnly] public BurstInertialFrame inertialFrame;
-            [ReadOnly] public bool mode2D;
-
-            public void Execute(int p)
-            {
-                neighbourCount[p] = 0;
-                float4 diffuseProperty = float4.zero;
-                float kernelSum = 0;
-
-                int offsetCount = mode2D ? 4 : 8;
-
-                float4 solverDiffusePosition = inertialFrame.frame.InverseTransformPoint(diffusePositions[p]);
-
-                for (int k = 0; k < gridLevels.Length; ++k)
-                {
-                    int l = gridLevels[k];
-                    float radius = NativeMultilevelGrid<int>.CellSizeOfLevel(l);
-
-                    float4 cellCoords = math.floor(solverDiffusePosition / radius);
-
-                    cellCoords[3] = 0;
-                    if (mode2D)
-                        cellCoords[2] = 0;
-
-                    float4 posInCell = solverDiffusePosition - (cellCoords * radius + new float4(radius * 0.5f));
-                    int4 quadrant = (int4)math.sign(posInCell);
-
-                    quadrant[3] = l;
-
-                    for (int i = 0; i < offsetCount; ++i)
-                    {
-                        int cellIndex;
-                        if (grid.TryGetCellIndex((int4)cellCoords + cellOffsets[i] * quadrant, out cellIndex))
-                        {
-                            var cell = grid.usedCells[cellIndex];
-                            for (int n = 0; n < cell.Length; ++n)
-                            {
-                                float4 r = solverDiffusePosition - positions[cell[n]];
-                                r[3] = 0;
-                                if (mode2D)
-                                    r[2] = 0;
-
-                                float d = math.length(r);
-                                if (d <= radius)
-                                {
-                                    float w = densityKernel.W(d, radius);
-                                    kernelSum += w;
-                                    diffuseProperty += properties[cell[n]] * w;
-                                    neighbourCount[p]++;
-                                }
-                            }
-                        }
-                    }
-                }
-
-                if (kernelSum > BurstMath.epsilon)
-                    diffuseProperties[p] = diffuseProperty / kernelSum;
-            }
-        }
-
         public ParticleGrid()
         {
             this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
@@ -436,22 +366,15 @@ namespace Obi
             this.fluidInteractionQueue = new NativeQueue<FluidInteraction>(Allocator.Persistent);
         }
 
-        public void Update(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
+        public void Update(BurstSolverImpl solver, JobHandle inputDeps)
         {
-            var calculateCells = new CalculateCellCoords
-            {
-                simplexBounds = solver.simplexBounds,
-                cellCoords = solver.cellCoords,
-                is2D = solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D,
-            };
-
-            inputDeps = calculateCells.Schedule(solver.simplexCounts.simplexCount, 4, inputDeps);
-
             var updateGrid = new UpdateGrid
             {
                 grid = grid,
+                simplexBounds = solver.simplexBounds,
+                simplexCount = solver.simplexCounts.simplexCount,
                 cellCoords = solver.cellCoords,
-                simplexCount = solver.simplexCounts.simplexCount
+                parameters = solver.abstraction.parameters
             };
             updateGrid.Schedule(inputDeps).Complete();
         }
@@ -472,13 +395,12 @@ namespace Obi
                 invMasses = solver.invMasses,
                 radii = solver.principalRadii,
                 normals = solver.normals,
-                fluidRadii = solver.smoothingRadii,
+                fluidMaterials = solver.fluidMaterials,
                 phases = solver.phases,
                 filters = solver.filters,
 
                 simplices = solver.simplices,
                 simplexCounts = solver.simplexCounts,
-                simplexBounds = solver.simplexBounds,
 
                 particleMaterialIndices = solver.abstraction.collisionMaterials.AsNativeArray<int>(),
                 collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
@@ -494,49 +416,11 @@ namespace Obi
             return generateParticleContactsJob.Schedule(grid.CellCount, 1);
         }
 
-        public JobHandle InterpolateDiffuseProperties(BurstSolverImpl solver,
-                                                        NativeArray<float4> properties,
-                                                        NativeArray<float4> diffusePositions,
-                                                        NativeArray<float4> diffuseProperties,
-                                                        NativeArray<int> neighbourCount,
-                                                        int diffuseCount)
-        {
-
-            NativeArray<int4> offsets = new NativeArray<int4>(8, Allocator.TempJob);
-            offsets[0] = new int4(0, 0, 0, 1);
-            offsets[1] = new int4(1, 0, 0, 1);
-            offsets[2] = new int4(0, 1, 0, 1);
-            offsets[3] = new int4(1, 1, 0, 1);
-            offsets[4] = new int4(0, 0, 1, 1);
-            offsets[5] = new int4(1, 0, 1, 1);
-            offsets[6] = new int4(0, 1, 1, 1);
-            offsets[7] = new int4(1, 1, 1, 1);
-
-            var interpolateDiffusePropertiesJob = new InterpolateDiffusePropertiesJob
-            {
-                grid = grid,
-                positions = solver.abstraction.positions.AsNativeArray<float4>(),
-                cellOffsets = offsets,
-                properties = properties,
-                diffusePositions = diffusePositions,
-                diffuseProperties = diffuseProperties,
-                neighbourCount = neighbourCount,
-                densityKernel = new Poly6Kernel(solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
-                gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
-                inertialFrame = solver.inertialFrame,
-                mode2D = solver.abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
-            };
-
-            return interpolateDiffusePropertiesJob.Schedule(diffuseCount, 64);
-        }
-
         public JobHandle SpatialQuery(BurstSolverImpl solver,
                                       NativeArray<BurstQueryShape> shapes,
                                       NativeArray<BurstAffineTransform> transforms,
                                       NativeQueue<BurstQueryResult> results)
         {
-            var world = ObiColliderWorld.GetInstance();
-
             var job = new SpatialQueryJob
             {
                 grid = grid,
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
index aee21d6f2..483053074 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
@@ -1,6 +1,5 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using Unity.Mathematics;
-using Unity.Collections;
 
 namespace Obi
 {
@@ -9,34 +8,25 @@ namespace Obi
         public float4 pointA; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
         public float4 pointB; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
 
-        public float4 normal;
-        public float4 tangent;
-        public float4 bitangent;
+        public float4 normal; // contact normal on bodyB's surface.
+        public float4 tangent; // contact tangent on bodyB's surface.
 
-        public float distance;
+        public float distance;      // distance between bodyA's and bodyB's surface.
 
-        float normalLambda;
-        float tangentLambda;
-        float bitangentLambda;
-        float stickLambda;
-        float rollingFrictionImpulse;
+        public float normalLambda;
+        public float tangentLambda;
+        public float bitangentLambda;
+        public float stickLambda;
+        public float rollingFrictionImpulse;
 
         public int bodyA;
         public int bodyB;
 
-        public float normalInvMassA;
-        public float tangentInvMassA;
-        public float bitangentInvMassA;
-
-        public float normalInvMassB;
-        public float tangentInvMassB;
-        public float bitangentInvMassB;
-
-        public double pad0; // padding to ensure correct alignment to 128 bytes.
-
         public int GetParticleCount() { return 2; }
         public int GetParticle(int index) { return index == 0 ? bodyA : bodyB; }
 
+        public float4 bitangent => math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz), 0)); 
+        
         public override string ToString()
         {
             return bodyA + "," + bodyB;
@@ -50,85 +40,15 @@ namespace Obi
             return first;
         }
 
-        public float TotalNormalInvMass
-        {
-            get { return normalInvMassA + normalInvMassB; }
-        }
-
-        public float TotalTangentInvMass
-        {
-            get { return tangentInvMassA + tangentInvMassB; }
-        }
-
-        public float TotalBitangentInvMass
-        {
-            get { return bitangentInvMassA + bitangentInvMassB; }
-        }
-
-        public void CalculateBasis(float4 relativeVelocity)
+        public void CalculateTangent(float4 relativeVelocity)
         {
             tangent = math.normalizesafe(relativeVelocity - math.dot(relativeVelocity, normal) * normal);
-            bitangent = math.normalizesafe(new float4(math.cross(normal.xyz, tangent.xyz),0));
         }
 
-        public void CalculateContactMassesA(float invMass,
-                                            float4 inverseInertiaTensor,
-                                            float4 position,
-                                            quaternion orientation,
-                                            float4 contactPoint,
-                                            bool rollingContacts)
-        {
-            // initialize inverse linear masses:
-            normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
-
-            if (rollingContacts)
-            {
-                float4 rA = contactPoint - position;
-                float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
-
-                normalInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, normal);
-                tangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, tangent);
-                bitangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, bitangent);
-            }
-        }
-
-        public void CalculateContactMassesB(float invMass,
-                                            float4 inverseInertiaTensor,
-                                            float4 position,
-                                            quaternion orientation,
-                                            float4 contactPoint,
-                                            bool rollingContacts)
-        {
-            // initialize inverse linear masses:
-            normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
-
-            if (rollingContacts)
-            {
-                float4 rB = contactPoint - position;
-                float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
-
-                normalInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, normal);
-                tangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, tangent);
-                bitangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, bitangent);
-            }
-        }
-
-
-        public void CalculateContactMassesB(in BurstRigidbody rigidbody, in BurstAffineTransform solver2World)
-        {
-            float4 rB = solver2World.TransformPoint(pointB) - rigidbody.com;
-
-            // initialize inverse linear masses:
-            normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
-            normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
-            tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
-            bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
-        }
-
-        public float SolveAdhesion(float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
+        public float SolveAdhesion(float normalMass, float4 posA, float4 posB, float stickDistance, float stickiness, float dt)
         {
 
-            if (TotalNormalInvMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
+            if (normalMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
                 return 0;
 
             distance = math.dot(posA - posB, normal);
@@ -137,7 +57,7 @@ namespace Obi
             float constraint = stickiness * (1 - math.max(distance / stickDistance, 0)) * dt;
 
             // calculate lambda multiplier:
-            float dlambda = -constraint / TotalNormalInvMass;
+            float dlambda = -constraint / normalMass;
 
             // accumulate lambda:
             float newStickinessLambda = math.min(stickLambda + dlambda, 0);
@@ -149,10 +69,9 @@ namespace Obi
             return lambdaChange;
         }
 
-        public float SolvePenetration(float4 posA, float4 posB, float maxDepenetrationDelta)
+        public float SolvePenetration(float normalMass, float4 posA, float4 posB, float maxDepenetrationDelta)
         {
-
-            if (TotalNormalInvMass <= 0)
+            if (normalMass <= 0)
                 return 0;
 
             //project position delta to normal vector:
@@ -162,7 +81,7 @@ namespace Obi
             float maxProjection = math.max(-distance - maxDepenetrationDelta, 0);
 
             // calculate lambda multiplier:
-            float dlambda = -(distance + maxProjection) / TotalNormalInvMass;
+            float dlambda = -(distance + maxProjection) / normalMass;
 
             // accumulate lambda:
             float newLambda = math.max(normalLambda + dlambda, 0);
@@ -174,11 +93,11 @@ namespace Obi
             return lambdaChange;
         }
 
-        public float2 SolveFriction(float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
+        public float2 SolveFriction(float tangentMass, float bitangentMass, float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
         {
             float2 lambdaChange = float2.zero;
 
-            if (TotalTangentInvMass <= 0 || TotalBitangentInvMass <= 0 ||
+            if (tangentMass <= 0 || bitangentMass <= 0 ||
                 (dynamicFriction <= 0 && staticFriction <= 0) || (normalLambda <= 0 && stickLambda <= 0))
                 return lambdaChange;
 
@@ -191,7 +110,7 @@ namespace Obi
             float staticFrictionCone  = normalLambda / dt * staticFriction;
 
             // tangent impulse:
-            float tangentLambdaDelta = -tangentPosDelta / TotalTangentInvMass; 
+            float tangentLambdaDelta = -tangentPosDelta / tangentMass; 
             float newTangentLambda = tangentLambda + tangentLambdaDelta;
 
             if (math.abs(newTangentLambda) > staticFrictionCone)
@@ -201,7 +120,7 @@ namespace Obi
             tangentLambda = newTangentLambda;
 
             // bitangent impulse:
-            float bitangentLambdaDelta = -bitangentPosDelta / TotalBitangentInvMass;
+            float bitangentLambdaDelta = -bitangentPosDelta / bitangentMass;
             float newBitangentLambda = bitangentLambda + bitangentLambdaDelta;
 
             if (math.abs(newBitangentLambda) > staticFrictionCone)
@@ -239,6 +158,6 @@ namespace Obi
         
             return rolling_impulse_change;
         }
-}
+    }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
index 7d676052c..5306e2cd6 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
@@ -10,9 +10,9 @@ namespace Obi
         public float4 queryPoint; // point B, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
         public float4 normal;
         public float distance;
+        public float distanceAlongRay; 
         public int simplexIndex;
         public int queryIndex;
-        public int pad0; // padding to ensure correct alignment.
     }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
index 4be8d5f1b..b56f3e35b 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
@@ -67,17 +67,29 @@ namespace Obi
                              int optimizationIterations,
                              float optimizationTolerance)
         {
-            var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstBoxQuery>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                        ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
 
             co.queryPoint = colliderPoint.point;
             co.normal = colliderPoint.normal;
             co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
 
-            results.Enqueue(co);
+            if (co.distance <= shape.maxDistance)
+                results.Enqueue(co);
         }
 
     }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
index ce2533383..b89248af2 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
@@ -1,6 +1,7 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
 using Unity.Collections;
 using Unity.Mathematics;
+using UnityEngine;
 
 namespace Obi
 {
@@ -17,7 +18,7 @@ namespace Obi
 
             // express ray in simplex space (ellipsoid == scaled sphere)
             float4 rayOrigin = math.mul(colliderToSimplex, new float4(shape.center.xyz,1));
-            float4 rayDirection = math.normalizesafe(math.mul(colliderToSimplex, new float4((shape.size - shape.center).xyz,0)));
+            float4 rayDirection = math.normalizesafe(math.mul(colliderToSimplex, new float4(shape.size.xyz,0)));
 
             float rayDistance = ObiUtils.RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3.zero, 1);
 
@@ -25,7 +26,7 @@ namespace Obi
             {
                 point = colliderToSolver.InverseTransformPointUnscaled(point);
 
-                float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, shape.size * colliderToSolver.scale, point, out float mu);
+                float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, (shape.center + shape.size) * colliderToSolver.scale, point, out float mu);
                 float4 centerToPoint = point - centerLine;
                 float distanceToCenter = math.length(centerToPoint);
 
@@ -57,17 +58,33 @@ namespace Obi
                              int optimizationIterations,
                              float optimizationTolerance)
         {
-            var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstRay>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                          ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
 
-            co.queryPoint = colliderPoint.point;
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
+
+            co.queryPoint = colliderPoint.point;  
             co.normal = colliderPoint.normal;
             co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
 
-            results.Enqueue(co);
+            if (co.distance <= shape.maxDistance)
+            {
+                float4 pointOnRay = colliderPoint.point + colliderPoint.normal * co.distance;
+                co.distanceAlongRay = math.dot(pointOnRay.xyz - shape.center.xyz, math.normalizesafe(shape.size.xyz));
+                results.Enqueue(co);
+            }
         }
     }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
index e36412357..82cf497eb 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
@@ -39,17 +39,29 @@ namespace Obi
                              int optimizationIterations,
                              float optimizationTolerance)
         {
-            var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
+            var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
             float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
 
-            var colliderPoint = BurstLocalOptimization.Optimize<BurstSphereQuery>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
-                                                                             ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+            var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
+                                                                ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
+
+            float4 simplexPrevPosition = float4.zero;
+            float simplexRadius = 0;
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int particleIndex = simplices[simplexStart + j];
+                simplexPrevPosition += positions[particleIndex] * simplexBary[j];
+                simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
+            }
 
             co.queryPoint = colliderPoint.point;
             co.normal = colliderPoint.normal;
             co.simplexBary = simplexBary;
+            co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
 
-            results.Enqueue(co);
+            if (co.distance <= shape.maxDistance)
+                results.Enqueue(co);
         }
     }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
index 6ea4f5875..1059408e3 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
@@ -54,7 +54,7 @@ namespace Obi
             {
                 var cell = grid.usedCells[c];
 
-                // calculate thickedned grid bounds:
+                // calculate thickened grid bounds:
                 float size = NativeMultilevelGrid<int>.CellSizeOfLevel(cell.Coords.w);
                 float4 cellPos = (float4)cell.Coords * size;
                 BurstAabb cellBounds = new BurstAabb(cellPos - new float4(size), cellPos + new float4(2 * size));
@@ -85,7 +85,7 @@ namespace Obi
 
         private BurstAabb CalculateShapeAABB(in BurstQueryShape shape)
         {
-            float offset = shape.contactOffset + shape.distance;
+            float offset = shape.contactOffset + shape.maxDistance;
             switch (shape.type)
             {
                 case QueryShape.QueryType.Sphere:
@@ -93,7 +93,7 @@ namespace Obi
                 case QueryShape.QueryType.Box:
                     return new BurstAabb(shape.center - shape.size*0.5f - offset, shape.center + shape.size * 0.5f + offset);
                 case QueryShape.QueryType.Ray:
-                    return new BurstAabb(shape.center, shape.size, offset);
+                    return new BurstAabb(shape.center, shape.center + shape.size, offset);
             }
             return new BurstAabb();
         }
@@ -108,57 +108,22 @@ namespace Obi
             switch (shape.type)
             {
                 case QueryShape.QueryType.Sphere:
-                    BurstSphereQuery sphereShape = new BurstSphereQuery() { colliderToSolver = shapeToSolver, shape = shape};
+                    BurstSphereQuery sphereShape = new BurstSphereQuery { colliderToSolver = shapeToSolver, shape = shape};
                     sphereShape.Query(shapeIndex, positions, orientations, radii, simplices,
                                       simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
                     break;
                 case QueryShape.QueryType.Box:
-                    BurstBoxQuery boxShape = new BurstBoxQuery() { colliderToSolver = shapeToSolver, shape = shape};
+                    BurstBoxQuery boxShape = new BurstBoxQuery { colliderToSolver = shapeToSolver, shape = shape};
                     boxShape.Query(shapeIndex, positions, orientations, radii, simplices,
                                       simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
                     break;
                 case QueryShape.QueryType.Ray:
-                    BurstRay rayShape = new BurstRay() { colliderToSolver = shapeToSolver, shape = shape };
+                    BurstRay rayShape = new BurstRay { colliderToSolver = shapeToSolver, shape = shape };
                     rayShape.Query(shapeIndex, positions, orientations, radii, simplices,
                                       simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
                     break;
             }
         }
     }
-
-    [BurstCompile]
-    public struct CalculateQueryDistances : IJobParallelFor
-    {
-        [ReadOnly] public NativeArray<float4> prevPositions;
-        [ReadOnly] public NativeArray<quaternion> prevOrientations;
-        [ReadOnly] public NativeArray<float4> radii;
-
-        // simplex arrays:
-        [ReadOnly] public NativeArray<int> simplices;
-        [ReadOnly] public SimplexCounts simplexCounts;
-
-        public NativeArray<BurstQueryResult> queryResults;
-
-        public void Execute(int i)
-        {
-            var result = queryResults[i];
-
-            int simplexStart = simplexCounts.GetSimplexStartAndSize(result.simplexIndex, out int simplexSize);
-
-            float4 simplexPrevPosition = float4.zero;
-            float simplexRadius = 0;
-
-            for (int j = 0; j < simplexSize; ++j)
-            {
-                int particleIndex = simplices[simplexStart + j];
-                simplexPrevPosition += prevPositions[particleIndex] * result.simplexBary[j];
-                simplexRadius += BurstMath.EllipsoidRadius(result.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * result.simplexBary[j];
-            }
-
-            // update contact distance
-            result.distance = math.dot(simplexPrevPosition - result.queryPoint, result.normal) - simplexRadius;
-            queryResults[i] = result;
-        }
-    }
 }
 #endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta
new file mode 100644
index 000000000..5085057bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e6af4953b3f22459ab04c6e64cd948ab
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta
new file mode 100644
index 000000000..632682d7c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3595afed529f346669fbe538323cd7d2
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs
new file mode 100644
index 000000000..bcb706819
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs
@@ -0,0 +1,62 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct BuildParticleMeshDataJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> particleIndices;
+        [ReadOnly] public NativeArray<int> rendererIndices;
+        [ReadOnly] public NativeArray<ParticleRendererData> rendererData;
+
+        [ReadOnly] public NativeArray<float4> renderablePositions;
+        [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+        [ReadOnly] public NativeArray<float4> renderableRadii;
+        [ReadOnly] public NativeArray<float4> colors;
+
+        [NativeDisableParallelForRestriction] public NativeArray<ParticleVertex> vertices;
+        [NativeDisableParallelForRestriction] public NativeArray<int> indices;
+
+        [ReadOnly] public int firstParticle;
+
+        public void Execute(int i)
+        {
+            int p = particleIndices[firstParticle + i];
+            int r = rendererIndices[firstParticle + i];
+
+            ParticleVertex v = new ParticleVertex();
+
+            v.pos = new float4(renderablePositions[p].xyz, 1);
+            v.color = colors[p] * (Vector4)rendererData[r].color;
+            v.b1 = new float4(math.mul(renderableOrientations[p], new float3(1, 0, 0)), renderableRadii[p][0] * renderableRadii[p][3] * rendererData[r].radiusScale);
+            v.b2 = new float4(math.mul(renderableOrientations[p], new float3(0, 1, 0)), renderableRadii[p][1] * renderableRadii[p][3] * rendererData[r].radiusScale);
+            v.b3 = new float4(math.mul(renderableOrientations[p], new float3(0, 0, 1)), renderableRadii[p][2] * renderableRadii[p][3] * rendererData[r].radiusScale);
+
+            v.offset = new float3(1, 1, 0);
+            vertices[i * 4] = v;
+
+            v.offset = new float3(-1, 1, 0);
+            vertices[i * 4 + 1] = v;
+
+            v.offset = new float3(-1, -1, 0);
+            vertices[i * 4 + 2] = v;
+
+            v.offset = new float3(1, -1, 0);
+            vertices[i * 4 + 3] = v;
+
+            indices[i * 6] = (i * 4 + 2);
+            indices[i * 6 + 1] = (i * 4 + 1);
+            indices[i * 6 + 2] = (i * 4);
+
+            indices[i * 6 + 3] = (i * 4 + 3);
+            indices[i * 6 + 4] = (i * 4 + 2);
+            indices[i * 6 + 5] = (i * 4);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta
new file mode 100644
index 000000000..c205bf0f6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BuildParticleMeshDataJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cacb4a3597ee245a6b40358728c300e9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs
new file mode 100644
index 000000000..0b369f2a2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs
@@ -0,0 +1,247 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Collections.Generic;
+
+#if (SRP_UNIVERSAL)
+using UnityEngine.Rendering.Universal;
+#endif
+
+namespace Obi
+{
+
+    public class BurstFoamRenderSystem : ObiFoamRenderSystem
+    {
+        protected NativeArray<float2> sortHandles;
+
+        protected struct SortHandleComparer : IComparer<float2>
+        {
+            public int Compare(float2 a, float2 b)
+            {
+                return b.y.CompareTo(a.y);
+            }
+        }
+
+        protected SortHandleComparer comparer = new SortHandleComparer();
+
+        public BurstFoamRenderSystem(ObiSolver solver) : base(solver)
+        {
+#if (SRP_UNIVERSAL)
+            if (GraphicsSettings.currentRenderPipeline is UniversalRenderPipelineAsset)
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/URP/Fluid/FoamParticlesURP"), new RenderBatchParams(true));
+            else
+#endif
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/Fluid/FoamParticles"), new RenderBatchParams(true));
+            ReallocateRenderBatch();
+        }
+
+        public override void Dispose()
+        {
+            base.Dispose();
+
+            if (sortHandles.IsCreated)
+                sortHandles.Dispose();
+        }
+
+        private void ReallocateRenderBatch()
+        {
+            // in case the amount of particles allocated does not match
+            // the amount requested by the solver, reallocate
+            if (!sortHandles.IsCreated || m_Solver.foamPositions.count * 4 != renderBatch.vertexCount)
+            {
+                renderBatch.Dispose();
+                renderBatch.vertexCount = m_Solver.foamPositions.count * 4;
+                renderBatch.triangleCount = m_Solver.foamPositions.count * 2;
+                renderBatch.Initialize(layout);
+
+                if (sortHandles.IsCreated)
+                    sortHandles.Dispose();
+                sortHandles = new NativeArray<float2>(m_Solver.foamPositions.count, Allocator.Persistent);
+            }
+        }
+
+        public override void Setup()
+        {
+        }
+
+        public override void Step()
+        {
+        }
+
+        public override unsafe void Render()
+        {
+            if (!Application.isPlaying)
+                return;
+
+            var solver = m_Solver.implementation as BurstSolverImpl;
+
+            ReallocateRenderBatch();
+
+            foreach (Camera camera in cameras)
+            {
+                if (camera == null)
+                    continue;
+
+                JobHandle inputDeps = new JobHandle();
+                var sortJob = sortHandles.Slice(0, m_Solver.foamCount[3]).SortJob(comparer);
+
+                //Clear all triangle indices to zero:
+                UnsafeUtility.MemClear(
+                    NativeArrayUnsafeUtility.GetUnsafeBufferPointerWithoutChecks(renderBatch.triangles),
+                    UnsafeUtility.SizeOf<int>() * renderBatch.triangles.Length);
+
+                var projectJob = new ProjectOnSortAxisJob
+                {
+                    inputPositions = solver.abstraction.foamPositions.AsNativeArray<float4>(),
+                    sortHandles = sortHandles,
+                    sortAxis = solver.abstraction.transform.InverseTransformDirection(camera.transform.forward)
+                };
+
+                inputDeps = projectJob.Schedule(m_Solver.foamCount[3], 256, inputDeps);
+
+                inputDeps = sortJob.Schedule(inputDeps);
+
+                var sortParticlesJob = new SortParticles
+                {
+                    sortHandles = sortHandles,
+                    inputPositions = solver.abstraction.foamPositions.AsNativeArray<float4>(),
+                    inputVelocities = solver.abstraction.foamVelocities.AsNativeArray<float4>(),
+                    inputColors = solver.abstraction.foamColors.AsNativeArray<float4>(),
+                    inputAttributes = solver.abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    outputPositions = solver.auxPositions,
+                    outputVelocities = solver.auxVelocities,
+                    outputColors = solver.auxColors,
+                    outputAttributes = solver.auxAttributes
+                }; 
+
+                inputDeps = sortParticlesJob.Schedule(m_Solver.foamCount[3], 256, inputDeps);
+
+                var meshJob = new BuildFoamMeshDataJob
+                {
+                    inputPositions = solver.auxPositions,
+                    inputVelocities = solver.auxVelocities,
+                    inputColors = solver.auxColors,
+                    inputAttributes = solver.auxAttributes,
+
+                    vertices = renderBatch.vertices,
+                    indices = renderBatch.triangles,
+                };
+
+                inputDeps = meshJob.Schedule(m_Solver.foamCount[3], 128, inputDeps);
+
+                inputDeps.Complete();
+
+                renderBatch.mesh.SetVertexBufferData(renderBatch.vertices, 0, 0, renderBatch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+                renderBatch.mesh.SetIndexBufferData(renderBatch.triangles, 0, 0, renderBatch.triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                matProps.SetFloat("_FadeDepth", 0);
+                matProps.SetFloat("_VelocityStretching", m_Solver.maxFoamVelocityStretch);
+                matProps.SetFloat("_RadiusScale", m_Solver.foamRadiusScale);
+                matProps.SetFloat("_FadeIn", m_Solver.foamFade.x);
+                matProps.SetFloat("_FadeOut", m_Solver.foamFade.y);
+                matProps.SetFloat("_ScatterDensity", m_Solver.foamVolumeDensity);
+                matProps.SetFloat("_AmbientDensity", m_Solver.foamAmbientDensity);
+                matProps.SetColor("_ScatterColor", m_Solver.foamScatterColor);
+                matProps.SetColor("_AmbientColor", m_Solver.foamAmbientColor);
+
+                var rp = renderBatch.renderParams;
+                rp.worldBounds = m_Solver.bounds;
+                rp.camera = camera;
+                rp.matProps = matProps;
+
+                Graphics.RenderMesh(rp, renderBatch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+            }
+        }
+
+
+
+        [BurstCompile]
+        unsafe struct ProjectOnSortAxisJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [NativeDisableParallelForRestriction] public NativeArray<float2> sortHandles;
+
+            public float3 sortAxis;
+
+            public void Execute(int i)
+            {
+                sortHandles[i] = new float2(i, math.dot(inputPositions[i].xyz, sortAxis));
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct SortParticles : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float2> sortHandles;
+
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [ReadOnly] public NativeArray<float4> inputVelocities;
+            [ReadOnly] public NativeArray<float4> inputColors;
+            [ReadOnly] public NativeArray<float4> inputAttributes;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+            public void Execute(int i)
+            {
+                int o = (int)sortHandles[i].x;
+                outputPositions[i] = inputPositions[o];
+                outputVelocities[i] = inputVelocities[o];
+                outputColors[i] = inputColors[o];
+                outputAttributes[i] = inputAttributes[o];
+            }
+        }
+
+        [BurstCompile]
+        struct BuildFoamMeshDataJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> inputPositions;
+            [ReadOnly] public NativeArray<float4> inputVelocities;
+            [ReadOnly] public NativeArray<float4> inputColors;
+            [ReadOnly] public NativeArray<float4> inputAttributes;
+
+            [NativeDisableParallelForRestriction] public NativeArray<DiffuseParticleVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> indices;
+
+            public void Execute(int i)
+            {
+                DiffuseParticleVertex v = new DiffuseParticleVertex();
+
+                v.pos = new float4(inputPositions[i].xyz, 1);
+                v.color = inputColors[i];
+                v.velocity = inputVelocities[i];
+                v.attributes = inputAttributes[i];
+
+                v.offset = new float3(1, 1, 0);
+                vertices[i * 4] = v;
+
+                v.offset = new float3(-1, 1, 0);
+                vertices[i * 4 + 1] = v;
+
+                v.offset = new float3(-1, -1, 0);
+                vertices[i * 4 + 2] = v;
+
+                v.offset = new float3(1, -1, 0);
+                vertices[i * 4 + 3] = v;
+
+                indices[i * 6] = (i * 4 + 2);
+                indices[i * 6 + 1] = (i * 4 + 1);
+                indices[i * 6 + 2] = (i * 4);
+
+                indices[i * 6 + 3] = (i * 4 + 3);
+                indices[i * 6 + 4] = (i * 4 + 2);
+                indices[i * 6 + 5] = (i * 4);
+            }
+        }
+
+    }
+}
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta
new file mode 100644
index 000000000..5f9e611de
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 555e1cc2122984a93afc0f6f31fa173b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs
new file mode 100644
index 000000000..3441e2db0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs
@@ -0,0 +1,100 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+    public class BurstInstancedParticleRenderSystem : ObiInstancedParticleRenderSystem
+    {
+
+        public BurstInstancedParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                var instanceTransformsJob = new InstancedParticleTransforms
+                {
+                    activeParticles = activeParticles.AsNativeArray<int>(),
+                    rendererData = rendererData.AsNativeArray<ParticleRendererData>(),
+                    rendererIndex = rendererIndex.AsNativeArray<int>(),
+                    instanceTransforms = instanceTransforms.AsNativeArray<float4x4>(),
+                    instanceColors = instanceColors.AsNativeArray<float4>(),
+
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    renderableRadii = m_Solver.renderableRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    solverToWorld = m_Solver.transform.localToWorldMatrix
+                };
+
+                instanceTransformsJob.Schedule(activeParticles.count, 32).Complete();
+
+                var mpb = new MaterialPropertyBlock();
+
+                //Draw instances:
+                for (int i = 0; i < batchList.Count; i++)
+                {
+                    var batch = batchList[i];
+
+                    if (batch.instanceCount > 0)
+                    {
+                        // workaround for RenderMeshInstanced bug
+                        // (https://forum.unity.com/threads/gpu-instanced-custom-properties-dont-take-unity_baseinstanceid-into-account.1520602/)
+                        // also, no NativeArray<> overload :(
+                        mpb.SetVectorArray("_Colors", instanceColors.AsNativeArray<Vector4>().Slice(batch.firstInstance, batch.instanceCount).ToArray()); 
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        // TODO: use generic overload to pass matrix + instance color.
+                        Graphics.RenderMeshInstanced(rp, batch.mesh, 0, instanceTransforms.AsNativeArray<Matrix4x4>(), batch.instanceCount, batch.firstInstance);
+                    }
+                }
+                
+            }
+        }
+
+        [BurstCompile]
+        struct InstancedParticleTransforms : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> activeParticles;
+            [ReadOnly] public NativeArray<ParticleRendererData> rendererData;
+            [ReadOnly] public NativeArray<int> rendererIndex;
+
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+            [ReadOnly] public NativeArray<float4> renderableRadii;
+            [ReadOnly] public NativeArray<float4> colors;
+            [ReadOnly] public float4x4 solverToWorld;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4x4> instanceTransforms;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> instanceColors;
+
+            public void Execute(int i)
+            {
+                int p = activeParticles[i];
+
+                Matrix4x4 tfrm = float4x4.TRS(renderablePositions[p].xyz,
+                                              renderableOrientations[p],
+                                              renderableRadii[p].xyz * renderableRadii[p][3] * rendererData[rendererIndex[i]].radiusScale);
+
+                instanceTransforms[i] = math.mul(solverToWorld, tfrm);
+
+                instanceColors[i] = colors[p] * (Vector4)rendererData[rendererIndex[i]].color;
+            }
+           
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..2910089fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b3896a2253db543bcaa92126d83a7ba0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs
new file mode 100644
index 000000000..7b1460a3e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs
@@ -0,0 +1,58 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstParticleRenderSystem : ObiParticleRenderSystem
+    {
+        public BurstParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            m_Solver = solver;
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var buildArraysJob = new BuildParticleMeshDataJob
+                    {
+                        particleIndices = activeParticles.AsNativeArray<int>(),
+                        rendererIndices = rendererIndex.AsNativeArray<int>(),
+                        rendererData = rendererData.AsNativeArray<ParticleRendererData>(),
+
+                        renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                        renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                        renderableRadii = m_Solver.renderableRadii.AsNativeArray<float4>(),
+                        colors = m_Solver.colors.AsNativeArray<float4>(),
+
+                        vertices = batch.vertices,
+                        indices = batch.triangles,
+
+                        firstParticle = batch.firstParticle,
+                    };
+
+                    buildArraysJob.Schedule(batch.vertexCount / 4, 32).Complete();
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+
+            }
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..89d3acbbf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/Common/BurstParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d1d1ddc20ab7148e3ac806e3559ba2b8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta
new file mode 100644
index 000000000..0222329ff
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 68fb3be53914247609d4e6da4f249e52
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs
new file mode 100644
index 000000000..2fefee058
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs
@@ -0,0 +1,139 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+
+namespace Obi
+{
+
+    public class BurstChainRopeRenderSystem : ObiChainRopeRenderSystem
+    {
+        protected Matrix4x4[] transformsArray = new Matrix4x4[1023];
+
+        public BurstChainRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                // generate raw frames using parallel transport
+                var instanceTransformsJob = new InstanceTransforms()
+                {
+                    rendererData = rendererData.AsNativeArray<ChainRendererData>(),
+                    chunkData = chunkData.AsNativeArray<ChunkData>(),
+                    modifiers = modifiers.AsNativeArray<ObiRopeChainRenderer.LinkModifier>(),
+                    elements = elements.AsNativeArray<int2>(),
+
+                    instanceTransforms = instanceTransforms.AsNativeArray<float4x4>(),
+                    instanceColors = instanceColors.AsNativeArray<float4>(),
+
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = m_Solver.principalRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    solverToWorld = m_Solver.transform.localToWorldMatrix,
+                };
+
+                instanceTransformsJob.Schedule(chunkData.count, 8).Complete();
+
+                //Draw instances:
+                for (int i = 0; i < batchList.Count; i++)
+                {
+                    var batch = batchList[i];
+
+                    var rp = batch.renderParams;
+                    rp.material = batch.material;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMeshInstanced(rp, batch.mesh, 0, instanceTransforms.AsNativeArray<Matrix4x4>(), batch.instanceCount, batch.firstInstance);
+                }
+                
+            }
+        }
+
+        [BurstCompile]
+        struct InstanceTransforms : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<ChainRendererData> rendererData;
+            [ReadOnly] public NativeArray<ChunkData> chunkData;
+            [ReadOnly] public NativeArray<ObiRopeChainRenderer.LinkModifier> modifiers;
+            [ReadOnly] public NativeArray<int2> elements;
+
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public NativeArray<float4> colors;
+            [ReadOnly] public float4x4 solverToWorld;
+
+            [NativeDisableParallelForRestriction] public NativeArray<float4x4> instanceTransforms;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> instanceColors;
+
+            public void Execute(int i)
+            {
+                int firstIndex = i > 0 ? chunkData[i - 1].offset : 0;
+                int elementCount = chunkData[i].offset - firstIndex;
+
+                var rendererIndex = chunkData[i].rendererIndex;
+                var renderer = rendererData[rendererIndex];
+
+                float3 rendScale = ((float4)renderer.scale).xyz;
+
+                int firstModifier = rendererIndex > 0 ? rendererData[rendererIndex - 1].modifierOffset : 0;
+                int modifierCount = renderer.modifierOffset - firstModifier;
+
+                var modifier = new ObiRopeChainRenderer.LinkModifier();
+                modifier.Clear();
+
+                BurstPathFrame frame = new BurstPathFrame();
+                frame.Reset();
+
+                float twist = -renderer.twist * elementCount * renderer.twistAnchor;
+                frame.SetTwist(twist);
+
+                // parallel transport:
+                for (int m = 0; m < elementCount; ++m)
+                {
+                    if (modifierCount > 0)
+                        modifier = modifiers[firstModifier + m % modifierCount];
+
+                    int index = firstIndex + m;
+                    float4 pos     = renderablePositions[elements[index].x];
+                    float4 nextPos = renderablePositions[elements[index].y];
+                    float4 vector = nextPos - pos;
+                    float3 tangent = math.normalizesafe(vector.xyz);
+
+                    if (renderer.usesOrientedParticles == 1)
+                    {
+                        frame.Transport(nextPos.xyz, tangent, math.rotate(renderableOrientations[elements[index].x], new float3(0, 1, 0)), twist);
+                        twist += renderer.twist;
+                    }
+                    else
+                        frame.Transport(nextPos.xyz, tangent, renderer.twist);
+
+                    var rotation = quaternion.LookRotationSafe(frame.tangent, frame.normal); 
+                    var position = (pos + vector * 0.5f).xyz + math.mul(rotation, modifier.translation);
+                    var scale = principalRadii[elements[index].x].x * 2 * rendScale * modifier.scale;
+
+                    rotation = math.mul(rotation, quaternion.Euler(math.radians(modifier.rotation)));
+
+                    instanceTransforms[index] = math.mul(solverToWorld,float4x4.TRS(position,rotation,scale));
+                    instanceColors[index] = (colors[elements[index].x] + colors[elements[index].y]) * 0.5f;
+                }
+            }
+           
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..ce727dba7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3c63ccd17bfc14b40a403c1c9a0be2c0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs
new file mode 100644
index 000000000..c133f40bb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs
@@ -0,0 +1,215 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstExtrudedRopeRenderSystem : ObiExtrudedRopeRenderSystem
+    {
+        public BurstExtrudedRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, false);
+        }
+
+        public override void Render()
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildExtrudedMesh
+                    {
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        sectionData = sectionData.AsNativeArray<float2>(),
+                        sectionOffsets = sectionOffsets.AsNativeArray<int>(),
+                        sectionIndices = sectionIndices.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+                        triangleOffsets = triangleOffsets.AsNativeArray<int>(),
+                        triangleCounts = triangleCounts.AsNativeArray<int>(),
+
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+                        rendererData = rendererData.AsNativeArray<BurstExtrudedMeshData>(),
+
+                        vertices = batch.vertices,
+                        tris = batch.triangles,
+
+                        firstRenderer = batch.firstRenderer
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildExtrudedMesh : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<float2> sectionData;
+            [ReadOnly] public NativeArray<int> sectionOffsets;
+            [ReadOnly] public NativeArray<int> sectionIndices;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+            [ReadOnly] public NativeArray<int> triangleOffsets;
+            [ReadOnly] public NativeArray<int> triangleCounts;
+
+            [ReadOnly] public NativeArray<BurstExtrudedMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [NativeDisableParallelForRestriction] public NativeArray<ProceduralRopeVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> tris;
+
+            [ReadOnly] public int firstRenderer;
+
+            public void Execute(int u)
+            {
+                int k = firstRenderer + u;
+                int s = pathSmootherIndices[k];
+
+                float3 vertex = float3.zero;
+                float3 normal = float3.zero;
+                float4 texTangent = float4.zero;
+
+                int tri = 0;
+                int sectionIndex = 0;
+                int sectionStart = sectionOffsets[sectionIndices[k]];
+                int sectionSegments = (sectionOffsets[sectionIndices[k] + 1] - sectionStart) - 1;
+                int verticesPerSection = sectionSegments + 1;   // the last vertex in each section must be duplicated, due to uv wraparound.
+
+                float smoothLength = 0;
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                    smoothLength += pathData[i].smoothLength;
+
+                float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+                float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+                int firstVertex = vertexOffsets[k];
+                int firstTriangle = triangleOffsets[k];
+
+                // clear out triangle indices for this rope:
+                for (int i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+                {
+                    int offset = i * 3;
+                    tris[offset] = 0;
+                    tris[offset+1] = 0;
+                    tris[offset+2] = 0;
+                }
+
+                // for each chunk in the rope:
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                {
+                    int firstFrame = frameOffsets[i];
+                    int frameCount = frameCounts[i];
+
+                    for (int f = 0; f < frameCount; ++f)
+                    {
+                        // Calculate previous and next curve indices:
+                        int prevIndex = firstFrame + math.max(f - 1, 0);
+                        int index = firstFrame + f;
+
+                        // advance v texcoord:
+                        vCoord += rendererData[k].uvScale.y * (math.distance(frames[index].position, frames[prevIndex].position) /
+                                                          (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+                        // calculate section thickness and scale the basis vectors by it:
+                        float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+                        // Loop around each segment:
+                        int nextSectionIndex = sectionIndex + 1;
+                        for (int j = 0; j <= sectionSegments; ++j)
+                        {
+                            // make just one copy of the section vertex:
+                            float2 sectionVertex = sectionData[sectionStart + j];
+
+                            // calculate normal using section vertex, curve normal and binormal:
+                            normal.x = (sectionVertex.x * frames[index].normal.x + sectionVertex.y * frames[index].binormal.x) * sectionThickness;
+                            normal.y = (sectionVertex.x * frames[index].normal.y + sectionVertex.y * frames[index].binormal.y) * sectionThickness;
+                            normal.z = (sectionVertex.x * frames[index].normal.z + sectionVertex.y * frames[index].binormal.z) * sectionThickness;
+
+                            // offset curve position by normal:
+                            vertex.x = frames[index].position.x + normal.x;
+                            vertex.y = frames[index].position.y + normal.y;
+                            vertex.z = frames[index].position.z + normal.z;
+
+                            // cross(normal, curve tangent)
+                            texTangent.xyz = math.cross(normal, frames[index].tangent);
+                            texTangent.w = -1;
+
+                            vertices[firstVertex + sectionIndex * verticesPerSection + j] = new ProceduralRopeVertex
+                            {
+                                pos = vertex,
+                                normal = normal,
+                                tangent = texTangent,
+                                color = frames[index].color,
+                                uv = new float2(j / (float)sectionSegments * rendererData[k].uvScale.x, vCoord)
+                            };
+
+                            if (j < sectionSegments && f < frameCount - 1)
+                            {
+                                int offset = firstTriangle * 3;
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + (j + 1));
+
+                                tris[offset + tri++] = (firstVertex + sectionIndex * verticesPerSection + (j + 1));
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + j);
+                                tris[offset + tri++] = (firstVertex + nextSectionIndex * verticesPerSection + (j + 1));
+                            }
+                        }
+                        sectionIndex++;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..0fced1ff8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 10b89fddf68724bc9ad3305774d86ee1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs
new file mode 100644
index 000000000..80dbaf029
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs
@@ -0,0 +1,215 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstLineRopeRenderSystem : ObiLineRopeRenderSystem
+    {
+        public BurstLineRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, false);
+        }
+
+        public override void Render(){}
+
+        public override void RenderFromCamera(Camera camera)
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildLineMesh
+                    {
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+                        triangleOffsets = triangleOffsets.AsNativeArray<int>(),
+                        triangleCounts = triangleCounts.AsNativeArray<int>(),
+
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+                        rendererData = rendererData.AsNativeArray<BurstLineMeshData>(),
+
+                        vertices = batch.vertices,
+                        tris = batch.triangles,
+
+                        firstRenderer = batch.firstRenderer,
+                        localSpaceCamera = m_Solver.transform.InverseTransformPoint(camera.transform.position)
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.vertices, 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+                    batch.mesh.SetIndexBufferData(batch.triangles, 0, 0, batch.triangleCount * 3, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildLineMesh : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+            [ReadOnly] public NativeArray<int> triangleOffsets;
+            [ReadOnly] public NativeArray<int> triangleCounts;
+
+            [ReadOnly] public NativeArray<BurstLineMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [NativeDisableParallelForRestriction] public NativeArray<ProceduralRopeVertex> vertices;
+            [NativeDisableParallelForRestriction] public NativeArray<int> tris;
+
+            [ReadOnly] public int firstRenderer;
+
+            [ReadOnly] public float3 localSpaceCamera;
+
+            public void Execute(int u)
+            {
+                int k = firstRenderer + u;
+                int s = pathSmootherIndices[k];
+
+                float3 vertex = float3.zero;
+                float3 normal = float3.zero;
+                float4 bitangent = float4.zero;
+
+                int tri = 0;
+                int sectionIndex = 0;
+                int firstVertex = vertexOffsets[k];
+                int firstTriangle = triangleOffsets[k];
+
+                float smoothLength = 0;
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                    smoothLength += pathData[i].smoothLength;
+
+                float vCoord = -rendererData[k].uvScale.y * pathData[chunkOffsets[s]].restLength * rendererData[k].uvAnchor;
+                float actualToRestLengthRatio = smoothLength / pathData[chunkOffsets[s]].restLength;
+
+                // clear out triangle indices for this rope:
+                for (int i = firstTriangle; i < firstTriangle + triangleCounts[k]; ++i)
+                {
+                    int offset = i * 3;
+                    tris[offset] = 0;
+                    tris[offset+1] = 0;
+                    tris[offset+2] = 0;
+                }
+
+                // for each chunk in the rope:
+                for (int i = chunkOffsets[s]; i < chunkOffsets[s + 1]; ++i)
+                {
+                    int firstFrame = frameOffsets[i];
+                    int frameCount = frameCounts[i];
+
+                    for (int f = 0; f < frameCount; ++f)
+                    {
+                        // Calculate previous and next curve indices:
+                        int prevIndex = firstFrame + math.max(f - 1, 0);
+                        int index = firstFrame + f;
+
+                        // advance v texcoord:
+                        vCoord += rendererData[k].uvScale.y * (math.distance(frames[index].position, frames[prevIndex].position) /
+                                                          (rendererData[k].normalizeV == 1 ? smoothLength : actualToRestLengthRatio));
+
+                        // calculate section thickness and scale the basis vectors by it:
+                        float sectionThickness = frames[index].thickness * rendererData[k].thicknessScale;
+
+                        normal.x = frames[index].position.x - localSpaceCamera.x;
+                        normal.y = frames[index].position.y - localSpaceCamera.y;
+                        normal.z = frames[index].position.z - localSpaceCamera.z;
+                        normal = math.normalize(normal);
+
+                        bitangent.x = -(normal.y * frames[index].tangent.z - normal.z * frames[index].tangent.y);
+                        bitangent.y = -(normal.z * frames[index].tangent.x - normal.x * frames[index].tangent.z);
+                        bitangent.z = -(normal.x * frames[index].tangent.y - normal.y * frames[index].tangent.x);
+                        bitangent.xyz = math.normalize(bitangent.xyz);
+                        bitangent.w = 1;
+
+                        vertex.x = frames[index].position.x - bitangent.x * sectionThickness;
+                        vertex.y = frames[index].position.y - bitangent.y * sectionThickness;
+                        vertex.z = frames[index].position.z - bitangent.z * sectionThickness;
+
+                        vertices[firstVertex + sectionIndex * 2] = new ProceduralRopeVertex
+                        {
+                            pos = vertex,
+                            normal = -normal,
+                            tangent = bitangent,
+                            color = frames[index].color,
+                            uv = new float2(0, vCoord)
+                        };
+
+                        vertex.x = frames[index].position.x + bitangent.x * sectionThickness;
+                        vertex.y = frames[index].position.y + bitangent.y * sectionThickness;
+                        vertex.z = frames[index].position.z + bitangent.z * sectionThickness;
+
+                        vertices[firstVertex + sectionIndex * 2 + 1] = new ProceduralRopeVertex
+                        {
+                            pos = vertex,
+                            normal = -normal,
+                            tangent = bitangent,
+                            color = frames[index].color,
+                            uv = new float2(1, vCoord)
+                        };
+
+                        if (f < frameCount - 1)
+                        {
+                            int offset = firstTriangle * 3;
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2;
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2 + 1;
+
+                            tris[offset + tri++] = firstVertex + sectionIndex * 2 + 1;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2;
+                            tris[offset + tri++] = firstVertex + (sectionIndex + 1) * 2 + 1;
+                        }
+
+                        sectionIndex++;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..7ab2fc4ea
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5f950cc46a13e4273856e2ec96c59eb9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs
new file mode 100644
index 000000000..3a78845b1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs
@@ -0,0 +1,272 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class BurstMeshRopeRenderSystem : ObiMeshRopeRenderSystem
+    {
+        public BurstMeshRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        protected override void CloseBatches()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(sortedRenderers, meshData, meshIndices, layout, false);
+
+            base.CloseBatches();
+        }
+
+        public override void Render()
+        {
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_RenderMarker.Auto())
+            {
+                var handles = new NativeArray<JobHandle>(batchList.Count, Allocator.Temp);
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    var meshJob = new BuildRopeMeshJob
+                    {
+                        chunkOffsets = pathSmootherSystem.chunkOffsets.AsNativeArray<int>(),
+                        pathSmootherIndices = pathSmootherIndices.AsNativeArray<int>(),
+
+                        frames = pathSmootherSystem.smoothFrames.AsNativeArray<BurstPathFrame>(),
+                        frameOffsets = pathSmootherSystem.smoothFrameOffsets.AsNativeArray<int>(),
+                        frameCounts = pathSmootherSystem.smoothFrameCounts.AsNativeArray<int>(),
+
+                        vertexOffsets = vertexOffsets.AsNativeArray<int>(),
+
+                        meshIndices = meshIndices.AsNativeArray<int>(),
+                        meshData = meshData.meshData.AsNativeArray<MeshDataBatch.MeshData>(),
+
+                        rendererData = rendererData.AsNativeArray<BurstMeshData>(),
+                        pathData = pathSmootherSystem.pathData.AsNativeArray<BurstPathSmootherData>(),
+
+                        sortedIndices = sortedIndices.AsNativeArray<int>(),
+                        sortedOffsets = sortedOffsets.AsNativeArray<int>(),
+
+                        positions = meshData.restPositions.AsNativeArray<float3>(),
+                        normals = meshData.restNormals.AsNativeArray<float3>(),
+                        tangents = meshData.restTangents.AsNativeArray<float4>(),
+                        colors = meshData.restColors.AsNativeArray<float4>(),
+
+                        vertices = batch.dynamicVertexData.AsNativeArray<RopeMeshVertex>(),
+
+                        firstRenderer = batch.firstRenderer
+
+                    };
+                    handles[i] = meshJob.Schedule(batch.rendererCount, 1);
+                }
+
+                JobHandle.CombineDependencies(handles).Complete();
+                handles.Dispose();
+
+                for (int i = 0; i < batchList.Count; ++i)
+                {
+                    var batch = batchList[i];
+
+                    batch.mesh.SetVertexBufferData(batch.dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), 0, 0, batch.vertexCount, 0, MeshUpdateFlags.DontValidateIndices | MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontResetBoneBounds | MeshUpdateFlags.DontNotifyMeshUsers);
+
+                    var rp = batch.renderParams;
+                    rp.worldBounds = m_Solver.bounds;
+
+                    for (int m = 0; m < batch.materials.Length; ++m)
+                    {
+                        rp.material = batch.materials[m];
+                        Graphics.RenderMesh(rp, batch.mesh, m, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+
+                        // Unity bug: Graphics.RenderMesh consistently crashes when existing play mode (seems fixed in 2021.3.4f1)
+                        // https://issuetracker.unity3d.com/issues/the-editor-crashes-on-exit-when-using-graphics-dot-rendermesh
+                        //renderParams.material = batch.materials[m];
+                        //renderParams.camera = null;
+                        //Graphics.RenderMesh(renderParams, batch.mesh, m, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+        [BurstCompile]
+        struct BuildRopeMeshJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> pathSmootherIndices;
+            [ReadOnly] public NativeArray<int> chunkOffsets;
+            [ReadOnly] public NativeArray<BurstPathFrame> frames;
+            [ReadOnly] public NativeArray<int> frameOffsets;
+            [ReadOnly] public NativeArray<int> frameCounts;
+
+            [ReadOnly] public NativeArray<int> vertexOffsets;
+
+            [ReadOnly] public NativeArray<int> meshIndices;
+            [ReadOnly] public NativeArray<MeshDataBatch.MeshData> meshData;
+
+            [ReadOnly] public NativeArray<BurstMeshData> rendererData;
+            [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+            [ReadOnly] public NativeArray<int> sortedIndices;
+            [ReadOnly] public NativeArray<int> sortedOffsets;
+
+            [ReadOnly] public NativeArray<float3> positions;
+            [ReadOnly] public NativeArray<float3> normals;
+            [ReadOnly] public NativeArray<float4> tangents;
+            [ReadOnly] public NativeArray<float4> colors;
+
+            [NativeDisableParallelForRestriction] public NativeArray<RopeMeshVertex> vertices;
+
+            [ReadOnly] public int firstRenderer;
+
+            public void Execute(int i)
+            {
+                int rendererIndex = firstRenderer + i;
+                int pathIndex = pathSmootherIndices[rendererIndex];
+                var renderer = rendererData[rendererIndex];
+
+                // get mesh data:
+                var mesh = meshData[meshIndices[rendererIndex]];
+                var sortedOffset = sortedOffsets[rendererIndex];
+
+                // get index of first output vertex:
+                int firstOutputVertex = vertexOffsets[rendererIndex];
+
+                // get index of first chunk, ignore others (no support for tearing):
+                int chunkIndex = chunkOffsets[pathIndex]; 
+
+                // get first frame and frame count:
+                int firstFrame = frameOffsets[chunkIndex];
+                int lastFrame = firstFrame + frameCounts[chunkIndex] - 1;
+
+                // get mesh deform axis:
+                int axis = (int)renderer.axis;
+
+                // initialize scale vector:
+                float3 actualScale = (Vector3)renderer.scale;
+
+                // calculate stretch ratio:
+                float stretchRatio = renderer.stretchWithRope == 1 ? pathData[chunkIndex].smoothLength / pathData[chunkIndex].restLength : 1;
+
+                // squashing factor, makes mesh thinner when stretched and thicker when compresssed.
+                float squashing = math.clamp(1 + renderer.volumeScaling * (1 / math.max(stretchRatio, 0.01f) - 1), 0.01f, 2);
+
+                // calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
+                if (renderer.spanEntireLength == 1)
+                {
+                    float totalMeshLength = renderer.meshSizeAlongAxis * renderer.instances;
+                    float totalSpacing = renderer.instanceSpacing * (renderer.instances - 1);
+                    actualScale[axis] = pathData[chunkIndex].restLength / (totalMeshLength + totalSpacing);
+                }
+
+                // adjust axis lenght by stretch ratio:
+                actualScale[axis] *= stretchRatio;
+
+                // init loop variables:
+                float lengthAlongAxis = renderer.offset;
+                int index = firstFrame;
+                int nextIndex = firstFrame + 1;
+                int prevIndex = firstFrame;
+                float nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                float prevMagnitude = nextMagnitude;
+
+                for (int k = 0; k < renderer.instances; ++k)
+                {
+                    for (int j = 0; j < mesh.vertexCount; ++j)
+                    {
+                        int currVIndex = mesh.firstVertex + sortedIndices[sortedOffset + j]; 
+                        int prevVIndex = mesh.firstVertex + sortedIndices[sortedOffset + math.max(0,j - 1)];
+
+                        // calculate how much we've advanced in the sort axis since the last vertex:
+                        lengthAlongAxis += (positions[currVIndex][axis] - positions[prevVIndex][axis]) * actualScale[axis];
+
+                        // check if we have moved to a new section of the curve:
+                        BurstPathFrame frame;
+                        if (lengthAlongAxis < 0)
+                        {
+                            while (-lengthAlongAxis > prevMagnitude && index > firstFrame)
+                            {
+                                lengthAlongAxis += prevMagnitude;
+                                index = math.max(index - 1, firstFrame);
+                                nextIndex = math.min(index + 1, lastFrame);
+                                prevIndex = math.max(index - 1, firstFrame);
+                                nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                                prevMagnitude = math.distance(frames[index].position, frames[prevIndex].position);
+                            }
+
+                            var offset = float3.zero;
+                            if (index == prevIndex)
+                            {
+                                offset = frames[index].position - frames[nextIndex].position;
+                                prevMagnitude = math.length(offset);
+                            }
+
+                            frame = InterpolateFrames(frames[index], frames[prevIndex], offset, -lengthAlongAxis / prevMagnitude);
+                        }
+                        else
+                        {
+                            while (lengthAlongAxis > nextMagnitude && index < lastFrame)
+                            {
+                                lengthAlongAxis -= nextMagnitude;
+                                index = math.min(index + 1, lastFrame);
+                                nextIndex = math.min(index + 1, lastFrame);
+                                prevIndex = math.max(index - 1, firstFrame);
+                                nextMagnitude = math.distance(frames[index].position, frames[nextIndex].position);
+                                prevMagnitude = math.distance(frames[index].position, frames[prevIndex].position);
+                            }
+
+                            var offset = float3.zero;
+                            if (index == nextIndex)
+                            {
+                                offset = frames[index].position - frames[prevIndex].position;
+                                nextMagnitude = math.length(offset);
+                            }
+
+                            frame = InterpolateFrames(frames[index], frames[nextIndex], offset, lengthAlongAxis / nextMagnitude);
+                        }
+
+                        // update basis matrix:
+                        var basis = frame.ToMatrix(axis);
+
+                        // calculate vertex offset from curve:
+                        float3 offsetFromCurve = positions[currVIndex] * actualScale * frame.thickness * squashing;
+                        offsetFromCurve[axis] = 0;
+
+                        // write modified vertex data:
+                        vertices[firstOutputVertex + sortedIndices[sortedOffset + j]] = new RopeMeshVertex
+                        {
+                            pos = frame.position + math.mul(basis, offsetFromCurve),
+                            normal = math.mul(basis, normals[currVIndex]),
+                            tangent = new float4(math.mul(basis, tangents[currVIndex].xyz), tangents[currVIndex].w),
+                            color = colors[currVIndex] * frame.color,
+                        };
+                    }
+
+                    firstOutputVertex += mesh.vertexCount;
+                    lengthAlongAxis += renderer.instanceSpacing * actualScale[axis];
+                }
+            }
+
+            BurstPathFrame InterpolateFrames(BurstPathFrame a, BurstPathFrame b, float3 bOffset, float t)
+            {
+                // this offset is used to displace a copy of the first and last frames of the path,
+                // to ensure meshes extrude correctly prior to the first or past the last frame. 
+                b.position += bOffset;
+                var interp = (1 - t) * a + t * b;
+
+                // (no need to renormalize tangent, since offsetFromCurve[axis] = 0)
+                interp.normal = math.normalize(interp.normal);
+                interp.binormal = math.normalize(interp.binormal);
+                return interp;
+            }
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..a4927d494
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1578f081848d045dba76cd147f835e7c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs
new file mode 100644
index 000000000..cbf52794a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs
@@ -0,0 +1,170 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstPathFrame
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2
+        }
+
+        public float3 position;
+        public float3 tangent;
+        public float3 normal;
+        public float3 binormal;
+        public float4 color;
+        public float thickness;
+
+        public BurstPathFrame(float3 position, float3 tangent, float3 normal, float3 binormal, float4 color, float thickness)
+        {
+            this.position = position;
+            this.normal = normal;
+            this.tangent = tangent;
+            this.binormal = binormal;
+            this.color = color;
+            this.thickness = thickness;
+        }
+
+        public void Reset()
+        {
+            position = float3.zero;
+            tangent = new float3(0, 0, 1);
+            normal = new float3(0, 1, 0);
+            binormal = new float3(1, 0, 0);
+            color = new float4(1, 1, 1, 1);
+            thickness = 0;
+        }
+
+        public static BurstPathFrame operator +(BurstPathFrame c1, BurstPathFrame c2)
+        {
+            return new BurstPathFrame(c1.position + c2.position, c1.tangent + c2.tangent, c1.normal + c2.normal, c1.binormal + c2.binormal, c1.color + c2.color, c1.thickness + c2.thickness);
+        }
+
+        public static BurstPathFrame operator *(float f, BurstPathFrame c)
+        {
+            return new BurstPathFrame(c.position * f, c.tangent * f, c.normal * f, c.binormal * f, c.color * f, c.thickness * f);
+        }
+
+        public static void WeightedSum(float w1, float w2, float w3, in BurstPathFrame c1, in BurstPathFrame c2, in BurstPathFrame c3, ref BurstPathFrame sum)
+        {
+            sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
+            sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
+            sum.position.z = c1.position.z * w1 + c2.position.z * w2 + c3.position.z * w3;
+
+            sum.tangent.x = c1.tangent.x * w1 + c2.tangent.x * w2 + c3.tangent.x * w3;
+            sum.tangent.y = c1.tangent.y * w1 + c2.tangent.y * w2 + c3.tangent.y * w3;
+            sum.tangent.z = c1.tangent.z * w1 + c2.tangent.z * w2 + c3.tangent.z * w3;
+
+            sum.normal.x = c1.normal.x * w1 + c2.normal.x * w2 + c3.normal.x * w3;
+            sum.normal.y = c1.normal.y * w1 + c2.normal.y * w2 + c3.normal.y * w3;
+            sum.normal.z = c1.normal.z * w1 + c2.normal.z * w2 + c3.normal.z * w3;
+
+            sum.binormal.x = c1.binormal.x * w1 + c2.binormal.x * w2 + c3.binormal.x * w3;
+            sum.binormal.y = c1.binormal.y * w1 + c2.binormal.y * w2 + c3.binormal.y * w3;
+            sum.binormal.z = c1.binormal.z * w1 + c2.binormal.z * w2 + c3.binormal.z * w3;
+
+            sum.color.x = c1.color.x * w1 + c2.color.x * w2 + c3.color.x * w3;
+            sum.color.y = c1.color.y * w1 + c2.color.y * w2 + c3.color.y * w3;
+            sum.color.z = c1.color.z * w1 + c2.color.z * w2 + c3.color.z * w3;
+            sum.color.w = c1.color.w * w1 + c2.color.w * w2 + c3.color.w * w3;
+
+            sum.thickness = c1.thickness * w1 + c2.thickness * w2 + c3.thickness * w3;
+        }
+
+        public void SetTwist(float twist)
+        {
+            quaternion twistQ = quaternion.AxisAngle(tangent, math.radians(twist));
+            normal = math.mul(twistQ, normal);
+            binormal = math.mul(twistQ, binormal);
+        }
+
+        public static quaternion FromToRotation(float3 aFrom, float3 aTo)
+        {
+            float3 axis = math.cross(aFrom, aTo);
+            float angle = math.acos(math.clamp(math.dot(math.normalize(aFrom), math.normalize(aTo)), -1f, 1f));
+            return quaternion.AxisAngle(math.normalize(axis), angle);
+        }
+
+        public void SetTwistAndTangent(float twist, float3 tangent)
+        {
+            this.tangent = tangent;
+            normal = math.normalize(new float3(tangent.y, tangent.x, 0));
+            binormal = math.cross(normal, tangent);
+
+            quaternion twistQ = quaternion.AxisAngle(tangent, math.radians(twist));
+            normal = math.mul(twistQ, normal);
+            binormal = math.mul(twistQ, binormal);
+        }
+
+        public void Transport(in BurstPathFrame frame, float twist)
+        {
+            // Calculate delta rotation:
+            quaternion rotQ = Quaternion.FromToRotation(tangent, frame.tangent);
+            quaternion twistQ = quaternion.AxisAngle(frame.tangent, math.radians(twist));
+            quaternion finalQ = math.mul(twistQ, rotQ);
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = math.mul(finalQ, normal);
+            binormal = math.mul(finalQ, binormal);
+            tangent = frame.tangent;
+            position = frame.position;
+            thickness = frame.thickness;
+            color = frame.color;
+        }
+
+        public void Transport(float3 newPosition, float3 newTangent, float twist)
+        {
+            // Calculate delta rotation:
+            quaternion rotQ = Quaternion.FromToRotation(tangent, newTangent);
+            quaternion twistQ = quaternion.AxisAngle(newTangent, math.radians(twist));
+            quaternion finalQ = math.mul(twistQ, rotQ);
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = math.mul(finalQ, normal);
+            binormal = math.mul(finalQ, binormal);
+            tangent = newTangent;
+            position = newPosition;
+
+        }
+
+        // Transport, hinting the normal.
+        public void Transport(float3 newPosition, float3 newTangent, float3 newNormal, float twist)
+        {
+            normal = math.mul(quaternion.AxisAngle(newTangent, math.radians(twist)), newNormal);
+            tangent = newTangent;
+            binormal = math.cross(normal, tangent);
+            position = newPosition;
+        }
+
+        public float3x3 ToMatrix(int mainAxis)
+        {
+            float3x3 basis = new float3x3();
+
+            int xo = (mainAxis) % 3;
+            int yo = (mainAxis + 1) % 3;
+            int zo = (mainAxis + 2) % 3;
+
+            basis[xo] = tangent;
+            basis[yo] = binormal;
+            basis[zo] = normal;
+
+            return basis;
+        }
+
+        public void DebugDraw(float size)
+        {
+            Debug.DrawRay(position, binormal * size, Color.red);
+            Debug.DrawRay(position, normal * size, Color.green);
+            Debug.DrawRay(position, tangent * size, Color.blue);
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta
new file mode 100644
index 000000000..284880b92
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4827bd4bd4feb46bfbe458174871b8ee
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs
new file mode 100644
index 000000000..3d1136240
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs
@@ -0,0 +1,63 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public class BurstPathSmootherRenderSystem : ObiPathSmootherRenderSystem
+    {
+        public BurstPathSmootherRenderSystem(ObiSolver solver) : base(solver)
+        {
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                base.Render();
+
+                // generate raw frames using parallel transport
+                var parallelTransportJob = new ParallelTransportJob
+                {
+                    pathFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    frameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    particleIndices = particleIndices.AsNativeArray<int>(),
+                    renderablePositions = m_Solver.renderablePositions.AsNativeArray<float4>(),
+                    renderableOrientations = m_Solver.renderableOrientations.AsNativeArray<quaternion>(),
+                    principalRadii = m_Solver.principalRadii.AsNativeArray<float4>(),
+                    colors = m_Solver.colors.AsNativeArray<float4>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                var handle = parallelTransportJob.Schedule(rawFrameOffsets.count, 4);
+
+                // throw away unneeded frames using decimation
+                var decimationJob = new DecimateChunksJob
+                {
+                    inputFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    inputFrameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    outputFrameCounts = decimatedFrameCounts.AsNativeArray<int>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                handle = decimationJob.Schedule(rawFrameOffsets.count, 4, handle);
+
+                // smooth chunks:
+                var chaikinJob = new ChaikinSmoothChunksJob()
+                {
+                    inputFrames = rawFrames.AsNativeArray<BurstPathFrame>(),
+                    inputFrameOffsets = rawFrameOffsets.AsNativeArray<int>(),
+                    inputFrameCounts = decimatedFrameCounts.AsNativeArray<int>(),
+                    outputFrames = smoothFrames.AsNativeArray<BurstPathFrame>(),
+                    outputFrameOffsets = smoothFrameOffsets.AsNativeArray<int>(),
+                    outputFrameCounts = smoothFrameCounts.AsNativeArray<int>(),
+                    pathData = pathData.AsNativeArray<BurstPathSmootherData>()
+                };
+
+                chaikinJob.Schedule(rawFrameOffsets.count, 4, handle).Complete();
+            }
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta
new file mode 100644
index 000000000..7cf39ab54
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/BurstPathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be61f37ff31ff43ebb9bc8a55bd3edc7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs
new file mode 100644
index 000000000..9a7587f81
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct ChaikinSmoothChunksJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> inputFrames;
+        [ReadOnly] public NativeArray<int> inputFrameOffsets;
+        [ReadOnly] public NativeArray<int> inputFrameCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> outputFrames;
+        [ReadOnly] public NativeArray<int> outputFrameOffsets;
+        [NativeDisableParallelForRestriction] public NativeArray<int> outputFrameCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+            int firstInputIndex = i > 0 ? inputFrameOffsets[i - 1] : 0;
+            int inputFrameCount = inputFrameCounts[i];
+
+            int firstOutputIndex = outputFrameOffsets[i];
+
+            int k = (int)pathData[i].smoothing;
+
+            // No work to do. just copy the input to the output:
+            if (k == 0)
+            {
+                outputFrameCounts[i] = inputFrameCount;
+                for (int j = 0; j < inputFrameCount; ++j)
+                    outputFrames[firstOutputIndex + j] = inputFrames[firstInputIndex + j];
+            }
+            else
+            {
+                // precalculate some quantities:
+                int pCount = (int)math.pow(2, k);
+                int n0 = inputFrameCount - 1;
+                float twoRaisedToMinusKPlus1 = math.pow(2, -(k + 1));
+                float twoRaisedToMinusK = math.pow(2, -k);
+                float twoRaisedToMinus2K = math.pow(2, -2 * k);
+                float twoRaisedToMinus2KMinus1 = math.pow(2, -2 * k - 1);
+
+                outputFrameCounts[i] = (inputFrameCount - 2) * pCount + 2;
+
+                // calculate initial curve points:
+                outputFrames[firstOutputIndex] = (0.5f + twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex] + (0.5f - twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + 1];
+                outputFrames[firstOutputIndex + pCount * n0 - pCount + 1] = (0.5f - twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + n0 - 1] + (0.5f + twoRaisedToMinusKPlus1) * inputFrames[firstInputIndex + n0];
+
+                // calculate internal points:
+                for (int j = 1; j <= pCount; ++j)
+                {
+                    // precalculate coefficients:
+                    float F = 0.5f - twoRaisedToMinusKPlus1 - (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2KMinus1);
+                    float G = 0.5f + twoRaisedToMinusKPlus1 + (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2K);
+                    float H = (j - 1) * j * twoRaisedToMinus2KMinus1;
+
+                    for (int l = 1; l < n0; ++l)
+                    {
+                        BurstPathFrame.WeightedSum(F, G, H,
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l - 1),
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l),
+                                                 in GetElementAsRef(inputFrames, firstInputIndex + l + 1),
+                                                 ref GetElementAsRef(outputFrames, firstOutputIndex + (l - 1) * pCount + j));
+                    }
+                }
+
+                // make first and last curve points coincide with original points:
+                outputFrames[firstOutputIndex] = inputFrames[firstInputIndex];
+                outputFrames[firstOutputIndex + outputFrameCounts[i] - 1] = inputFrames[firstInputIndex + inputFrameCount - 1];
+            }
+
+            var data = pathData[i];
+            data.smoothLength = 0;
+            for (int j = firstOutputIndex + 1; j < firstOutputIndex + outputFrameCounts[i]; ++j)
+                data.smoothLength += math.distance(outputFrames[j - 1].position, outputFrames[j].position);
+
+            pathData[i] = data;
+
+        }
+
+        private static unsafe ref T GetElementAsRef<T>(NativeArray<T> array, int index) where T : unmanaged
+        {
+            return ref UnsafeUtility.ArrayElementAsRef<T>(array.GetUnsafePtr(), index);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta
new file mode 100644
index 000000000..450b2cf70
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ChaikinSmoothChunksJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0b479f3e1bd184363a9259c4d737b611
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs
new file mode 100644
index 000000000..6129c63b1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs
@@ -0,0 +1,79 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct DecimateChunksJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> inputFrameOffsets;
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> inputFrames;
+        [NativeDisableParallelForRestriction] public NativeArray<int> outputFrameCounts;
+
+        [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+
+            int firstInputIndex = i > 0 ? inputFrameOffsets[i - 1] : 0;
+            int inputFrameCount = inputFrameOffsets[i] - firstInputIndex;
+
+            // no decimation, no work to do, just return:
+            if (pathData[i].decimation < 0.00001f || inputFrameCount < 3)
+            {
+                outputFrameCounts[i] = inputFrameCount;
+                return;
+            }
+
+            float scaledThreshold = pathData[i].decimation * pathData[i].decimation * 0.01f;
+
+            int start = 0;
+            int end = inputFrameCount - 1;
+            outputFrameCounts[i] = 0;
+
+            while (start < end)
+            {
+                // add starting point:
+                inputFrames[firstInputIndex + outputFrameCounts[i]++] = inputFrames[firstInputIndex + start];
+
+                var newEnd = end;
+
+                while (true)
+                {
+                    int maxDistanceIndex = 0;
+                    float maxDistance = 0;
+
+                    // find the point that's furthest away from the current segment:
+                    for (int k = start + 1; k < newEnd; k++)
+                    {
+                        var nearest = BurstMath.NearestPointOnEdge(inputFrames[firstInputIndex + start].position,
+                                                                   inputFrames[firstInputIndex + newEnd].position,
+                                                                   inputFrames[firstInputIndex + k].position, out _);
+                        float d = math.lengthsq(nearest - inputFrames[firstInputIndex + k].position);
+
+                        if (d > maxDistance)
+                        {
+                            maxDistanceIndex = k;
+                            maxDistance = d;
+                        }
+                    }
+
+                    if (maxDistance <= scaledThreshold)
+                        break;
+
+                    newEnd = maxDistanceIndex;
+                }
+
+                start = newEnd;
+            }
+
+            // add the last point:
+            inputFrames[firstInputIndex + outputFrameCounts[i]++] = inputFrames[firstInputIndex + end];
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta
new file mode 100644
index 000000000..2fdbac832
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/DecimateChunksJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6e3177e6c6643442db096e939f5d7109
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs
new file mode 100644
index 000000000..bd8390adf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs
@@ -0,0 +1,89 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct ParallelTransportJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstPathFrame> pathFrames;
+        [ReadOnly] public NativeArray<int> frameOffsets;
+        [ReadOnly] public NativeArray<int> particleIndices;
+
+        [ReadOnly] public NativeArray<float4> renderablePositions;
+        [ReadOnly] public NativeArray<quaternion> renderableOrientations;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [ReadOnly] public NativeArray<float4> colors;
+        [ReadOnly] public NativeArray<BurstPathSmootherData> pathData;
+
+        public void Execute(int i)
+        {
+            BurstPathFrame nextFrame = new BurstPathFrame(); 
+            BurstPathFrame currFrame = new BurstPathFrame(); 
+            BurstPathFrame prevFrame = new BurstPathFrame();
+
+            nextFrame.Reset();
+            currFrame.Reset();
+            prevFrame.Reset();
+
+            int firstIndex = i > 0 ? frameOffsets[i - 1] : 0;
+            int frameCount = frameOffsets[i] - firstIndex;
+
+            // initialize current and previous frame:
+            PathFrameFromParticle(ref currFrame, particleIndices[firstIndex], pathData[i].usesOrientedParticles == 1, false);
+            prevFrame = currFrame;
+
+            // parallel transport:
+            for (int m = 1; m <= frameCount; ++m)
+            {
+                int index = firstIndex + math.min(m, frameCount - 1);
+                int pIndex = particleIndices[index];
+
+                // generate curve frame from particle:
+                PathFrameFromParticle(ref nextFrame, pIndex, pathData[i].usesOrientedParticles == 1);
+
+                if (pathData[i].usesOrientedParticles == 1)
+                {
+                    // copy frame directly.
+                    prevFrame = currFrame;
+                }
+                else
+                {
+                    // perform parallel transport, using forward / backward average to calculate tangent.
+                    // if the average is too small, reuse the previous frame tangent.
+                    currFrame.tangent = math.normalizesafe((currFrame.position - prevFrame.position) +
+                                                           (nextFrame.position - currFrame.position), prevFrame.tangent);
+                    prevFrame.Transport(currFrame, pathData[i].twist);
+                }
+
+                // advance current frame:
+                currFrame = nextFrame;
+                pathFrames[firstIndex + m - 1] = prevFrame;
+            }
+
+        }
+
+        private void PathFrameFromParticle(ref BurstPathFrame frame, int particleIndex, bool useOrientedParticles, bool interpolateOrientation = false)
+        {
+            // Update current frame values from particles:
+            frame.position = renderablePositions[particleIndex].xyz;
+            frame.thickness = principalRadii[particleIndex][0];
+            frame.color = colors[particleIndex];
+
+            // Use particle orientation if possible:
+            if (useOrientedParticles)
+            {
+                quaternion current = renderableOrientations[particleIndex];
+                quaternion previous = renderableOrientations[math.max(0, particleIndex - 1)];
+                float4x4 average = (interpolateOrientation ? math.slerp(current, previous, 0.5f) : current).toMatrix();
+                frame.normal = average.c1.xyz;
+                frame.binormal = average.c0.xyz;
+                frame.tangent = average.c2.xyz;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta
new file mode 100644
index 000000000..b07ca0faf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Rendering/RopeAndRod/ParallelTransportJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7c4018fb5d53646be9ef6c91f07c7eb6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
index fa1cc8e1a..ab3d68e66 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
@@ -24,8 +24,12 @@ namespace Obi
 		[ReadOnly] public float worldAngularInertiaScale;
 
         [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> wind;
 
         [ReadOnly] public float deltaTime;
+        [ReadOnly] public float4 ambientWind;
+        [ReadOnly] public BurstInertialFrame inertialFrame;
+        [ReadOnly] public bool inertialWind;
 
         public void Execute(int index)
         {
@@ -40,6 +44,14 @@ namespace Obi
 
 				velocities[i] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
 			}
+
+            wind[i] = ambientWind;
+
+            if (inertialWind)
+            {
+                float4 wsPos = inertialFrame.frame.TransformPoint(positions[i]);
+                wind[i] -= inertialFrame.frame.InverseTransformVector(inertialFrame.VelocityAtPoint(wsPos));
+            }
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
index 89da4b413..f6ec1072b 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
@@ -10,18 +10,52 @@ using System.Collections;
 namespace Obi
 {
     [BurstCompile]
-    struct ParticleToBoundsJob : IJobParallelFor
+    struct CalculateSimplexBoundsJob : IJobParallelFor
     {
-        [ReadOnly] public NativeArray<int> activeParticles;
-        [ReadOnly] public NativeArray<float4> positions;
         [ReadOnly] public NativeArray<float4> radii;
+        [ReadOnly] public NativeArray<float4> fluidMaterials;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> velocities;
 
-        public NativeArray<BurstAabb> bounds;
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [ReadOnly] public NativeArray<int> particleMaterialIndices;
+        [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+        public NativeArray<BurstAabb> simplexBounds;
+        public NativeArray<BurstAabb> reducedBounds;
+
+        [ReadOnly] public Oni.SolverParameters parameters;
+        [ReadOnly] public float dt;
 
         public void Execute(int i)
         {
-            int p = activeParticles[i];
-            bounds[i] = new BurstAabb(positions[p] - radii[p].x, positions[p] + radii[p].x);
+            int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
+
+            var sxBounds = new BurstAabb(float.MaxValue, float.MinValue);
+            var soBounds = new BurstAabb(float.MaxValue, float.MinValue);
+
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                int p = simplices[simplexStart + j];
+
+                int m = particleMaterialIndices[p];
+                float solidRadius = radii[p].x + (m >= 0 ? collisionMaterials[m].stickDistance : 0);
+
+                // Expand simplex bounds, using both the particle's original position and its velocity.
+                // Add collision margin for both fluid neighborhood too (prevents explosions at high pressures due to neighborhood deficiency)
+                sxBounds.EncapsulateParticle(positions[p],
+                                             BurstIntegration.IntegrateLinear(positions[p], velocities[p], dt * parameters.particleCCD),
+                                             math.max(solidRadius, fluidMaterials[p].x * 0.5f) + parameters.collisionMargin);
+
+                soBounds.EncapsulateParticle(positions[p],
+                                             BurstIntegration.IntegrateLinear(positions[p], velocities[p], dt),
+                                             solidRadius);
+            }
+
+            simplexBounds[i] = sxBounds;
+            reducedBounds[i] = soBounds;
         }
     }
 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs
deleted file mode 100644
index d8931f228..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs
+++ /dev/null
@@ -1,55 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Jobs;
-using Unity.Collections;
-using Unity.Mathematics;
-using Unity.Burst;
-using System;
-using System.Collections;
-
-namespace Obi
-{
-
-    [BurstCompile]
-    struct BuildSimplexAabbs : IJobParallelFor
-    {
-        [ReadOnly] public NativeArray<float4> radii;
-        [ReadOnly] public NativeArray<float> fluidRadii;
-        [ReadOnly] public NativeArray<float4> positions;
-        [ReadOnly] public NativeArray<float4> velocities;
-
-        // simplex arrays:
-        [ReadOnly] public NativeArray<int> simplices;
-        [ReadOnly] public SimplexCounts simplexCounts;
-
-        [ReadOnly] public NativeArray<int> particleMaterialIndices;
-        [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
-        [ReadOnly] public float collisionMargin;
-        [ReadOnly] public float continuousCollisionDetection;
-        [ReadOnly] public float dt;
-
-        public NativeArray<BurstAabb> simplexBounds;
-
-        public void Execute(int i)
-        {
-            int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
-
-            var bounds = new BurstAabb(float.MaxValue, float.MinValue);
-            for (int j = 0; j < simplexSize; ++j)
-            {
-                int p = simplices[simplexStart + j];
-
-                // Find this particle's stick distance:
-                int m = particleMaterialIndices[p];
-                float stickDistance = m >= 0 ? collisionMaterials[m].stickDistance : 0;
-
-                // Expand simplex bounds, using both the particle's original position and its velocity:
-                bounds.EncapsulateParticle(positions[p], positions[p] + velocities[p] * continuousCollisionDetection * dt,
-                                            math.max(radii[p].x + stickDistance, fluidRadii[p] * 0.5f) + collisionMargin);
-            }
-
-            simplexBounds[i] = bounds;
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
index 309143c7e..3a3f2766a 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
@@ -1,970 +1,339 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Jobs;
-using Unity.Mathematics;
-using Unity.Collections;
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using UnityEngine;
using Unity.Jobs;
using Unity.Mathematics;
using Unity.Collections;
 
-namespace Obi
-{
-    public class BurstSolverImpl : ISolverImpl
-    {
-        ObiSolver m_Solver;
+namespace Obi
{
    public class BurstSolverImpl : ISolverImpl
    {
        public ObiSolver abstraction { get; }

        public int particleCount
        {
            get { return abstraction.positions.count; }
        }

        public int activeParticleCount
        {
            get { return abstraction.activeParticles.count; }
        }

        public BurstInertialFrame inertialFrame
        {
            get { return m_InertialFrame; }
        }

        public BurstAffineTransform solverToWorld
        {
            get { return m_InertialFrame.frame; }
        }

        public BurstAffineTransform worldToSolver
        {
            get { return m_InertialFrame.frame.Inverse(); }
        }

        public uint activeFoamParticleCount { private set; get; }

        private const int maxBatches = 17;

        private ConstraintBatcher<ContactProvider> collisionConstraintBatcher;
        private ConstraintBatcher<FluidInteractionProvider> fluidConstraintBatcher;

        // Per-type constraints array:
        private IBurstConstraintsImpl[] constraints;

        // Per-type iteration padding array:
        private int[] padding = new int[Oni.ConstraintTypeCount];

        // job handle:
        private BurstJobHandle jobHandle;

        // particle contact generation:
        public ParticleGrid particleGrid;
        public NativeArray<BatchData> particleBatchData;

        // fluid interaction generation:
        public NativeArray<FluidInteraction> fluidInteractions;
        public NativeArray<BatchData> fluidBatchData;

        // collider contact generation:
        private BurstColliderWorld colliderGrid;

        // deformable triangles:
        private NativeArray<int> deformableTriangles;
        private NativeArray<float2> deformableUVs;

        // deformable edges:
        private NativeArray<int> deformableEdges;
 
-        public ObiSolver abstraction
-        {
-            get { return m_Solver; }
-        }
-
-        public int particleCount
-        {
-            get { return m_Solver.positions.count; }
-        }
-
-        public int activeParticleCount
-        {
-            get { return abstraction.activeParticles.count; }
-        }
-
-        public BurstInertialFrame inertialFrame
-        {
-            get { return m_InertialFrame; }
-        }
-
-        public BurstAffineTransform solverToWorld
-        {
-            get { return m_InertialFrame.frame; }
-        }
-
-        public BurstAffineTransform worldToSolver
-        {
-            get { return m_InertialFrame.frame.Inverse(); }
-        }
-
-        private const int maxBatches = 17;
-
-        private ConstraintBatcher<ContactProvider> collisionConstraintBatcher;
-        private ConstraintBatcher<FluidInteractionProvider> fluidConstraintBatcher;
-
-        // Per-type constraints array:
-        private IBurstConstraintsImpl[] constraints;
-
-        // Per-type iteration padding array:
-        private int[] padding = new int[Oni.ConstraintTypeCount];
-
-        // Pool job handles to avoid runtime alloc:
-        private JobHandlePool<BurstJobHandle> jobHandlePool;
-
-        // particle contact generation:
-        public ParticleGrid particleGrid;
-        public NativeArray<BurstContact> particleContacts;
-        public NativeArray<BatchData> particleBatchData;
-
-        // fluid interaction generation:
-        public NativeArray<FluidInteraction> fluidInteractions;
-        public NativeArray<BatchData> fluidBatchData;
-
-        // collider contact generation:
-        private BurstColliderWorld colliderGrid;
-        public NativeArray<BurstContact> colliderContacts;
-
-        // misc data:
-        public NativeArray<int> activeParticles;
-        private NativeList<int> deformableTriangles;
-
-        public NativeArray<int> simplices;
-        public SimplexCounts simplexCounts;
-
-        private BurstInertialFrame m_InertialFrame; // local to world inertial frame.
-        private int scheduledJobCounter = 0;
+        // simplices:
+        public NativeArray<int> simplices;
        public SimplexCounts simplexCounts;

        private BurstInertialFrame m_InertialFrame; // local to world inertial frame.
        private int scheduledJobCounter = 0;
 
         // cached particle data arrays (just wrappers over raw unmanaged data held by the abstract solver)
-        public NativeArray<float4> positions;
-        public NativeArray<float4> restPositions;
-        public NativeArray<float4> prevPositions;
-        public NativeArray<float4> renderablePositions;
+        public NativeArray<int> activeParticles;
        public NativeArray<int> deadParticles;
        public NativeArray<float4> positions;
        public NativeArray<float4> restPositions;
        public NativeArray<float4> prevPositions;
        public NativeArray<float4> renderablePositions;

        public NativeArray<quaternion> orientations;
        public NativeArray<quaternion> restOrientations;
        public NativeArray<quaternion> prevOrientations;
        public NativeArray<quaternion> renderableOrientations;

        public NativeArray<float4> velocities;
        public NativeArray<float4> angularVelocities;

        public NativeArray<float> invMasses;
        public NativeArray<float> invRotationalMasses;

        public NativeArray<float4> externalForces;
        public NativeArray<float4> externalTorques;
        public NativeArray<float4> wind;

        public NativeArray<float4> positionDeltas;
        public NativeArray<quaternion> orientationDeltas;
        public NativeArray<int> positionConstraintCounts;
        public NativeArray<int> orientationConstraintCounts;

        public NativeArray<float4> colors;
        public NativeArray<int> collisionMaterials;
        public NativeArray<int> phases;
        public NativeArray<int> filters;
        public NativeArray<float4> renderableRadii;
        public NativeArray<float4> principalRadii;
        public NativeArray<float4> normals;
        private NativeArray<float4> tangents;

        public NativeArray<float> life;
        public NativeArray<float4> fluidData;
        public NativeArray<float4> userData;
        public NativeArray<float4> fluidInterface;
        public NativeArray<float4> fluidMaterials;
+        public NativeArray<float4> fluidMaterials2;
+        public NativeArray<float4x4> anisotropies;
 
-        public NativeArray<quaternion> orientations;
-        public NativeArray<quaternion> restOrientations;
-        public NativeArray<quaternion> prevOrientations;
-        public NativeArray<quaternion> renderableOrientations;
-
-        public NativeArray<float4> velocities;
-        public NativeArray<float4> angularVelocities;
-
-        public NativeArray<float> invMasses;
-        public NativeArray<float> invRotationalMasses;
-        public NativeArray<float4> invInertiaTensors;
-
-        public NativeArray<float4> externalForces;
-        public NativeArray<float4> externalTorques;
-        public NativeArray<float4> wind;
-
-        public NativeArray<float4> positionDeltas;
-        public NativeArray<quaternion> orientationDeltas;
-        public NativeArray<int> positionConstraintCounts;
-        public NativeArray<int> orientationConstraintCounts;
-
-        public NativeArray<int> collisionMaterials;
-        public NativeArray<int> phases;
-        public NativeArray<int> filters;
-        public NativeArray<float4> anisotropies;
-        public NativeArray<float4> principalRadii;
-        public NativeArray<float4> normals;
-
-        public NativeArray<float4> vorticities;
-        public NativeArray<float4> fluidData;
-        public NativeArray<float4> userData;
-        public NativeArray<float> smoothingRadii;
-        public NativeArray<float> buoyancies;
-        public NativeArray<float> restDensities;
-        public NativeArray<float> viscosities;
-        public NativeArray<float> surfaceTension;
-        public NativeArray<float> vortConfinement;
-        public NativeArray<float> athmosphericDrag;
-        public NativeArray<float> athmosphericPressure;
-        public NativeArray<float> diffusion;
-
-        public NativeArray<int4> cellCoords;
-        public NativeArray<BurstAabb> simplexBounds;
-
-        private ConstraintSorter<BurstContact> contactSorter;
-
-        public BurstSolverImpl(ObiSolver solver)
-        {
-            this.m_Solver = solver;
-
-            jobHandlePool = new JobHandlePool<BurstJobHandle>(4);
-            contactSorter = new ConstraintSorter<BurstContact>();
-
-            // Initialize collision world:
-            GetOrCreateColliderWorld();
-            colliderGrid.IncreaseReferenceCount();
-
-            deformableTriangles = new NativeList<int>(64, Allocator.Persistent);
+        // aux foam data:
+        public NativeArray<float4> auxPositions;
+        public NativeArray<float4> auxVelocities;
+        public NativeArray<float4> auxColors;
+        public NativeArray<float4> auxAttributes;
+
        public NativeArray<int4> cellCoords;
        public NativeArray<BurstAabb> simplexBounds;
+        public NativeArray<BurstAabb> reducedBounds;

        public BurstAabb solverBounds;

        private ConstraintSorter<BurstContact> contactSorter;

        public BurstSolverImpl(ObiSolver solver)
        {
            this.abstraction = solver;

            jobHandle = new BurstJobHandle();
            contactSorter = new ConstraintSorter<BurstContact>();

            // Initialize collision world:
            GetOrCreateColliderWorld();
            colliderGrid.IncreaseReferenceCount();
 
             // Initialize contact generation acceleration structure:
-            particleGrid = new ParticleGrid();
+            particleGrid = new ParticleGrid();

            // Initialize constraint batcher:
            collisionConstraintBatcher = new ConstraintBatcher<ContactProvider>(maxBatches);
            fluidConstraintBatcher = new ConstraintBatcher<FluidInteractionProvider>(maxBatches);

            // Initialize constraint arrays:
            constraints = new IBurstConstraintsImpl[Oni.ConstraintTypeCount];
            constraints[(int)Oni.ConstraintType.Tether] = new BurstTetherConstraints(this);
            constraints[(int)Oni.ConstraintType.Volume] = new BurstVolumeConstraints(this);
            constraints[(int)Oni.ConstraintType.Chain] = new BurstChainConstraints(this);
            constraints[(int)Oni.ConstraintType.Bending] = new BurstBendConstraints(this);
            constraints[(int)Oni.ConstraintType.Distance] = new BurstDistanceConstraints(this);
            constraints[(int)Oni.ConstraintType.ShapeMatching] = new BurstShapeMatchingConstraints(this);
            constraints[(int)Oni.ConstraintType.BendTwist] = new BurstBendTwistConstraints(this);
            constraints[(int)Oni.ConstraintType.StretchShear] = new BurstStretchShearConstraints(this);
            constraints[(int)Oni.ConstraintType.Pin] = new BurstPinConstraints(this);
            constraints[(int)Oni.ConstraintType.ParticleCollision] = new BurstParticleCollisionConstraints(this);
            constraints[(int)Oni.ConstraintType.Density] = new BurstDensityConstraints(this);
            constraints[(int)Oni.ConstraintType.Collision] = new BurstColliderCollisionConstraints(this);
            constraints[(int)Oni.ConstraintType.Skin] = new BurstSkinConstraints(this);
            constraints[(int)Oni.ConstraintType.Aerodynamics] = new BurstAerodynamicConstraints(this);
            constraints[(int)Oni.ConstraintType.Stitch] = new BurstStitchConstraints(this);
            constraints[(int)Oni.ConstraintType.ParticleFriction] = new BurstParticleFrictionConstraints(this);
            constraints[(int)Oni.ConstraintType.Friction] = new BurstColliderFrictionConstraints(this);
            constraints[(int)Oni.ConstraintType.Pinhole] = new BurstPinholeConstraints(this);

            var c = constraints[(int)Oni.ConstraintType.Collision] as BurstColliderCollisionConstraints;
            c.CreateConstraintsBatch();

            var f = constraints[(int)Oni.ConstraintType.Friction] as BurstColliderFrictionConstraints;
            f.CreateConstraintsBatch();
        }

        public void Destroy()
        {
            for (int i = 0; i < constraints.Length; ++i)
                if (constraints[i] != null)
                    constraints[i].Dispose();

            // Get rid of particle and collider grids:
            particleGrid.Dispose();

            if (colliderGrid != null)
                colliderGrid.DecreaseReferenceCount();

            collisionConstraintBatcher.Dispose();
            fluidConstraintBatcher.Dispose();

            if (simplexBounds.IsCreated)
                simplexBounds.Dispose();
            if (reducedBounds.IsCreated)
                reducedBounds.Dispose();

            if (tangents.IsCreated)
                tangents.Dispose();

            if (particleBatchData.IsCreated)
                particleBatchData.Dispose();
            if (fluidInteractions.IsCreated)
                fluidInteractions.Dispose();
            if (fluidBatchData.IsCreated)
                fluidBatchData.Dispose();

            if (auxPositions.IsCreated)
                auxPositions.Dispose();
            if (auxVelocities.IsCreated)
                auxVelocities.Dispose();
            if (auxColors.IsCreated)
                auxColors.Dispose();
            if (auxAttributes.IsCreated)
                auxAttributes.Dispose();
        }

        // Utility function to count scheduled jobs. Call it once per job.
        // Will JobHandle.ScheduleBatchedJobs once there's a good bunch of scheduled jobs.
        public void ScheduleBatchedJobsIfNeeded()
        {
            if (scheduledJobCounter++ > 16)
            {
                scheduledJobCounter = 0;
                JobHandle.ScheduleBatchedJobs();
            }
        }
  
        private void GetOrCreateColliderWorld()
        {
            colliderGrid = GameObject.FindObjectOfType<BurstColliderWorld>();
            if (colliderGrid == null)
            {
                var world = new GameObject("BurstCollisionWorld", typeof(BurstColliderWorld));
                colliderGrid = world.GetComponent<BurstColliderWorld>();
            }
        }

        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
        {
            m_InertialFrame = new BurstInertialFrame(translation, scale, rotation);
        } 

        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
        {
            m_InertialFrame.Update(translation, scale, rotation, deltaTime);
        }

        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
        {
            // inverse linear part:
            float4x4 linear = float4x4.TRS(float3.zero, inertialFrame.frame.rotation, math.rcp(inertialFrame.frame.scale.xyz));
            float4x4 linearInv = math.transpose(linear);

            // non-inertial frame accelerations:
            float4 angularVel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularVelocity.xyz), linear)).diagonal();
            float4 eulerAccel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularAcceleration.xyz), linear)).diagonal();
            float4 inertialAccel = math.mul(linearInv, inertialFrame.acceleration);

            var applyInertialForces = new ApplyInertialForcesJob
            {
                activeParticles = activeParticles,
                positions = positions,
                velocities = velocities,
                invMasses = invMasses,
                angularVel = angularVel,
                inertialAccel = inertialAccel,
                eulerAccel = eulerAccel,
                worldLinearInertiaScale = worldLinearInertiaScale,
                worldAngularInertiaScale = worldAngularInertiaScale,
                wind = wind,
                ambientWind = new float4(abstraction.parameters.ambientWind, 0),
                inertialFrame = inertialFrame,
                deltaTime = deltaTime,
                inertialWind = abstraction.windSpace == Space.World
            };

            jobHandle.jobHandle = applyInertialForces.Schedule(activeParticleCount, 64);

            return jobHandle;
        }

        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
        {
            deformableTriangles = indices.AsNativeArray<int>();
            deformableUVs = uvs.AsNativeArray<float2>();
        }

        public void SetDeformableEdges(ObiNativeIntList indices)
        {
            deformableEdges = indices.AsNativeArray<int>();
        }

        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
        {
            this.simplices = simplices.AsNativeArray<int>();
            this.simplexCounts = counts;
 
-            // Initialize constraint batcher:
-            collisionConstraintBatcher = new ConstraintBatcher<ContactProvider>(maxBatches);
-            fluidConstraintBatcher = new ConstraintBatcher<FluidInteractionProvider>(maxBatches);
+            cellCoords = abstraction.cellCoords.AsNativeArray<int4>();

            if (simplexBounds.IsCreated)
                simplexBounds.Dispose();

            simplexBounds = new NativeArray<BurstAabb>(counts.simplexCount, Allocator.Persistent);
 
-            // Initialize constraint arrays:
-            constraints = new IBurstConstraintsImpl[Oni.ConstraintTypeCount];
-            constraints[(int)Oni.ConstraintType.Tether] = new BurstTetherConstraints(this);
-            constraints[(int)Oni.ConstraintType.Volume] = new BurstVolumeConstraints(this);
-            constraints[(int)Oni.ConstraintType.Chain] = new BurstChainConstraints(this);
-            constraints[(int)Oni.ConstraintType.Bending] = new BurstBendConstraints(this);
-            constraints[(int)Oni.ConstraintType.Distance] = new BurstDistanceConstraints(this);
-            constraints[(int)Oni.ConstraintType.ShapeMatching] = new BurstShapeMatchingConstraints(this);
-            constraints[(int)Oni.ConstraintType.BendTwist] = new BurstBendTwistConstraints(this);
-            constraints[(int)Oni.ConstraintType.StretchShear] = new BurstStretchShearConstraints(this);
-            constraints[(int)Oni.ConstraintType.Pin] = new BurstPinConstraints(this);
-            constraints[(int)Oni.ConstraintType.ParticleCollision] = new BurstParticleCollisionConstraints(this);
-            constraints[(int)Oni.ConstraintType.Density] = new BurstDensityConstraints(this);
-            constraints[(int)Oni.ConstraintType.Collision] = new BurstColliderCollisionConstraints(this);
-            constraints[(int)Oni.ConstraintType.Skin] = new BurstSkinConstraints(this);
-            constraints[(int)Oni.ConstraintType.Aerodynamics] = new BurstAerodynamicConstraints(this);
-            constraints[(int)Oni.ConstraintType.Stitch] = new BurstStitchConstraints(this);
-            constraints[(int)Oni.ConstraintType.ParticleFriction] = new BurstParticleFrictionConstraints(this);
-            constraints[(int)Oni.ConstraintType.Friction] = new BurstColliderFrictionConstraints(this);
+            if (reducedBounds.IsCreated)
                reducedBounds.Dispose();
 
-            var c = constraints[(int)Oni.ConstraintType.Collision] as BurstColliderCollisionConstraints;
-            c.CreateConstraintsBatch();
+            reducedBounds = new NativeArray<BurstAabb>(counts.simplexCount, Allocator.Persistent);
        }

        public void SetActiveParticles(ObiNativeIntList activeIndices)
        {
            activeParticles = activeIndices.AsNativeArray<int>();
        }

        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
        {
+            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;
 
-            var f = constraints[(int)Oni.ConstraintType.Friction] as BurstColliderFrictionConstraints;
-            f.CreateConstraintsBatch();
-        }
-
-        public void Destroy()
-        {
-            for (int i = 0; i < constraints.Length; ++i)
-                if (constraints[i] != null)
-                    constraints[i].Dispose();
-
-            // Get rid of particle and collider grids:
-            particleGrid.Dispose();
-
-            if (colliderGrid != null)
-                colliderGrid.DecreaseReferenceCount();
-
-            collisionConstraintBatcher.Dispose();
-            fluidConstraintBatcher.Dispose();
-
-            if (deformableTriangles.IsCreated)
-                deformableTriangles.Dispose();
-            if (simplexBounds.IsCreated)
-                simplexBounds.Dispose();
-
-            if (particleContacts.IsCreated)
-                particleContacts.Dispose();
-            if (particleBatchData.IsCreated)
-                particleBatchData.Dispose();
-            if (fluidInteractions.IsCreated)
-                fluidInteractions.Dispose();
-            if (fluidBatchData.IsCreated)
-                fluidBatchData.Dispose();
-            if (colliderContacts.IsCreated)
-                colliderContacts.Dispose();
-
-        }
-
-        public void ReleaseJobHandles()
-        {
-            jobHandlePool.ReleaseAll();
-        }
-
-        // Utility function to count scheduled jobs. Call it once per job.
-        // Will JobHandle.ScheduleBatchedJobs once there's a good bunch of scheduled jobs.
-        public void ScheduleBatchedJobsIfNeeded()
-        {
-            if (scheduledJobCounter++ > 16)
+            // calculate bounding boxes for all simplices:
+            var boundsJob = new CalculateSimplexBoundsJob()
             {
-                scheduledJobCounter = 0;
-                JobHandle.ScheduleBatchedJobs();
-            }
-        }
-  
-        private void GetOrCreateColliderWorld()
-        {
-            colliderGrid = GameObject.FindObjectOfType<BurstColliderWorld>();
-            if (colliderGrid == null)
-            {
-                var world = new GameObject("BurstCollisionWorld", typeof(BurstColliderWorld));
-                colliderGrid = world.GetComponent<BurstColliderWorld>();
-            }
-        }
-
-        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
-        {
-            m_InertialFrame = new BurstInertialFrame(translation, scale, rotation);
-        } 
-
-        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
-        {
-            m_InertialFrame.Update(translation, scale, rotation, deltaTime);
-        }
-
-        public void ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
-        {
-            // inverse linear part:
-            float4x4 linear = float4x4.TRS(float3.zero, inertialFrame.frame.rotation, math.rcp(inertialFrame.frame.scale.xyz));
-            float4x4 linearInv = math.transpose(linear);
-
-            // non-inertial frame accelerations:
-            float4 angularVel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularVelocity.xyz), linear)).diagonal();
-            float4 eulerAccel = math.mul(linearInv, math.mul(float4x4.Scale(inertialFrame.angularAcceleration.xyz), linear)).diagonal();
-            float4 inertialAccel = math.mul(linearInv, inertialFrame.acceleration);
-
-            var applyInertialForces = new ApplyInertialForcesJob()
-            {
-                activeParticles = activeParticles,
+                radii = principalRadii,
+                fluidMaterials = fluidMaterials,
                 positions = positions,
                 velocities = velocities,
-                invMasses = invMasses,
-                angularVel = angularVel,
-                inertialAccel = inertialAccel,
-                eulerAccel = eulerAccel,
-                worldLinearInertiaScale = worldLinearInertiaScale,
-                worldAngularInertiaScale = worldAngularInertiaScale,
-                deltaTime = deltaTime,
+                simplices = simplices,
+                simplexCounts = simplexCounts,
+                particleMaterialIndices = collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                parameters = abstraction.parameters,
+                simplexBounds = simplexBounds,
+                reducedBounds = reducedBounds,
+                dt = stepTime
             };
 
-            applyInertialForces.Schedule(activeParticleCount, 64).Complete();
-        }
-
-        public int GetDeformableTriangleCount()
-        {
-            return deformableTriangles.Length / 3;
-        }
-
-        public void SetDeformableTriangles(int[] indices, int num, int destOffset)
-        {
-            if (destOffset + num >= deformableTriangles.Length / 3)
-                deformableTriangles.ResizeUninitialized((destOffset + num) * 3);
-            for (int i = 0; i < num * 3; ++i)
-                deformableTriangles[i + destOffset * 3] = indices[i];
-        }
-
-        public int RemoveDeformableTriangles(int num, int sourceOffset)
-        {
-            if (deformableTriangles.IsCreated)
-            {
-                int amount = deformableTriangles.Length / 3;
-
-                if (num < 0)
-                {
-                    deformableTriangles.Clear();
-                    return amount;
-                }
-
-                int set = ClampArrayAccess(amount, num, sourceOffset);
-                int end = sourceOffset + set;
-
-                // TODO: replace by built in method in 0.9.0
-                deformableTriangles.RemoveRangeBurst(sourceOffset * 3, (end - sourceOffset) * 3 );
-
-                return set;
-            }
-            return 0;
-        }
-
-        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
-        {
-            this.simplices = simplices.AsNativeArray<int>();
-            this.simplexCounts = counts;
-
-            if (simplexBounds.IsCreated)
-                simplexBounds.Dispose();
-
-            simplexBounds = new NativeArray<BurstAabb>(counts.simplexCount, Allocator.Persistent);
-            cellCoords = abstraction.cellCoords.AsNativeArray<int4>();
-        }
-
-        public void SetActiveParticles(ObiNativeIntList indices)
-        {
-            activeParticles = indices.AsNativeArray<int>();
-        }
-
-        int ClampArrayAccess(int size, int num, int offset)
-        {
-            return math.min(num, math.max(0, size - offset));
-        }
-
-        public JobHandle RecalculateInertiaTensors(JobHandle inputDeps)
-        {
-            var updateInertiaTensors = new UpdateInertiaTensorsJob()
-            {
-                activeParticles = activeParticles,
-                inverseMasses = abstraction.invMasses.AsNativeArray<float>(),
-                inverseRotationalMasses = abstraction.invRotationalMasses.AsNativeArray<float>(),
-                principalRadii = abstraction.principalRadii.AsNativeArray<float4>(),
-                inverseInertiaTensors = abstraction.invInertiaTensors.AsNativeArray<float4>(),
-            };
-
-            return updateInertiaTensors.Schedule(activeParticleCount, 128, inputDeps);
-        }
-
-        public void GetBounds(ref Vector3 min, ref Vector3 max)
-        {
-            int chunkSize = 4;
-            NativeArray<BurstAabb> bounds = new NativeArray<BurstAabb>(activeParticleCount, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
-
-            var particleBoundsJob = new ParticleToBoundsJob()
-            {
-                activeParticles = activeParticles,
-                positions = positions,
-                radii = principalRadii,
-                bounds = bounds
-            };
-
-            JobHandle reduction = particleBoundsJob.Schedule(activeParticles.Length, 64);
+            burstHandle.jobHandle = boundsJob.Schedule(simplexCounts.simplexCount, 64, burstHandle.jobHandle);
 
             // parallel reduction:
-            int chunks = bounds.Length;
-            int stride = 1;
-
-            while (chunks > 1)
+            int chunkSize = 4;
            int chunks = simplexCounts.simplexCount;
            int stride = 1;
            while (chunks > 1)
            {
                var reductionJob = new BoundsReductionJob()
                {
                    bounds = reducedBounds,
                    stride = stride,
                    size = chunkSize,
                };
                burstHandle.jobHandle = reductionJob.Schedule(chunks, 1, burstHandle.jobHandle);

                chunks = (int)math.ceil(chunks / (float)chunkSize);
                stride *= chunkSize;
            }
+
+            var countRef = abstraction.deadParticles.GetCountReference(Allocator.TempJob);
+            var lifetimeJob = new UpdateParticleLifetimesJob
             {
-                var reductionJob = new BoundsReductionJob()
-                {
-                    bounds = bounds,
-                    stride = stride,
-                    size = chunkSize,
-                };
-                reduction = reductionJob.Schedule(chunks, 1, reduction);
+                activeParticles = activeParticles,
+                life = life,
+                deadParticles = deadParticles,
+                deadParticleCount = countRef,
+                dt = stepTime,
+            };
 
-                chunks = (int)math.ceil(chunks / (float)chunkSize);
-                stride *= chunkSize;
-            }
+            burstHandle.jobHandle = lifetimeJob.Schedule(activeParticleCount, 64, burstHandle.jobHandle);
+            burstHandle.jobHandle.Complete();
 
-            reduction.Complete();
-
-            // the parallel reduction leaves the final bounds in the first entry:
-            if (bounds.Length > 0)
-            {
-                min = bounds[0].min.xyz;
-                max = bounds[0].max.xyz;
-            }
-
-            bounds.Dispose();
-        }
-
-        public void ResetForces()
+            abstraction.deadParticles.count = countRef.Value;
+            countRef.Dispose();

            return burstHandle;
        }

        public void GetBounds(ref Vector3 min, ref Vector3 max)
         {
+            // update solver bounds struct:
+            if (reducedBounds.IsCreated && reducedBounds.Length > 0)
+            {
+                solverBounds.min = reducedBounds[0].min;
+                solverBounds.max = reducedBounds[0].max;
+            }
+
+            min = solverBounds.min.xyz;
+            max = solverBounds.max.xyz;
+        }

        public int GetConstraintCount(Oni.ConstraintType type)
        {
            if ((int)type > 0 && (int)type < constraints.Length)
                return constraints[(int)type].GetConstraintCount();
            return 0;
        }

        public void SetParameters(Oni.SolverParameters parameters)
        {
+
        }

        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
        {
            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
        }

        public void ParticleCountChanged(ObiSolver solver)
        {
            deadParticles = abstraction.deadParticles.AsNativeArray<int>(abstraction.deadParticles.capacity);
            positions = abstraction.positions.AsNativeArray<float4>();
            restPositions = abstraction.restPositions.AsNativeArray<float4>();
            prevPositions = abstraction.prevPositions.AsNativeArray<float4>();
            renderablePositions = abstraction.renderablePositions.AsNativeArray<float4>();

            orientations = abstraction.orientations.AsNativeArray<quaternion>();
            restOrientations = abstraction.restOrientations.AsNativeArray<quaternion>();
            prevOrientations = abstraction.prevOrientations.AsNativeArray<quaternion>();
            renderableOrientations = abstraction.renderableOrientations.AsNativeArray<quaternion>();

            colors = abstraction.colors.AsNativeArray<float4>();
            velocities = abstraction.velocities.AsNativeArray<float4>();
            angularVelocities = abstraction.angularVelocities.AsNativeArray<float4>();

            invMasses = abstraction.invMasses.AsNativeArray<float>(); 
            invRotationalMasses = abstraction.invRotationalMasses.AsNativeArray<float>();

            externalForces = abstraction.externalForces.AsNativeArray<float4>();
            externalTorques = abstraction.externalTorques.AsNativeArray<float4>();
            wind = abstraction.wind.AsNativeArray<float4>();

            positionDeltas = abstraction.positionDeltas.AsNativeArray<float4>();
            orientationDeltas = abstraction.orientationDeltas.AsNativeArray<quaternion>();
            positionConstraintCounts = abstraction.positionConstraintCounts.AsNativeArray<int>();
            orientationConstraintCounts = abstraction.orientationConstraintCounts.AsNativeArray<int>();

            collisionMaterials = abstraction.collisionMaterials.AsNativeArray<int>();
            phases = abstraction.phases.AsNativeArray<int>();
            filters = abstraction.filters.AsNativeArray<int>();
            renderableRadii = abstraction.renderableRadii.AsNativeArray<float4>();
            principalRadii = abstraction.principalRadii.AsNativeArray<float4>();
            normals = abstraction.normals.AsNativeArray<float4>();

            life = abstraction.life.AsNativeArray<float>();
            fluidData = abstraction.fluidData.AsNativeArray<float4>();
            userData = abstraction.userData.AsNativeArray<float4>();
            fluidInterface = abstraction.fluidInterface.AsNativeArray<float4>();
            fluidMaterials = abstraction.fluidMaterials.AsNativeArray<float4>();
+            fluidMaterials2 = abstraction.fluidMaterials2.AsNativeArray<float4>();
            anisotropies = abstraction.anisotropies.AsNativeArray<float4x4>();

            cellCoords = abstraction.cellCoords.AsNativeArray<int4>();

            if (tangents.IsCreated)
                tangents.Dispose();
            tangents = new NativeArray<float4>(normals.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
        }

        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+            if (auxPositions.IsCreated)
+                auxPositions.Dispose();
+            if (auxVelocities.IsCreated)
+                auxVelocities.Dispose();
+            if (auxColors.IsCreated)
+                auxColors.Dispose();
+            if (auxAttributes.IsCreated)
+                auxAttributes.Dispose();
+
+            auxPositions = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxVelocities = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxColors = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+            auxAttributes = new NativeArray<float4>((int)abstraction.maxFoamParticles, Allocator.Persistent);
+        }

        public void SetRigidbodyArrays(ObiSolver solver)
        {
            // No need to implement. This backend grabs arrays from the abstraction when it needs them.
        }

        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type)
        {
            return constraints[(int)type].CreateConstraintsBatch();
        }

        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
        {
            if (batch != null)
                constraints[(int)batch.constraintType].RemoveBatch(batch);
        }

        public void FinishSimulation()
        {
+            // Wipe all forces to zero. However we can't wipe wind here, since we
+            // need wind values during interpolation to calculate rope normals.
             abstraction.externalForces.WipeToZero();
             abstraction.externalTorques.WipeToZero();
-            abstraction.wind.WipeToZero();
 
-            // We're at the end of a whole step (not a substep), so dispose of contact buffers:
-            if (particleContacts.IsCreated)
-                particleContacts.Dispose();
-            if (particleBatchData.IsCreated)
-                particleBatchData.Dispose();
-            if (colliderContacts.IsCreated)
-                colliderContacts.Dispose();
+            // store current end positions as the start positions for the next step.
+            abstraction.startPositions.CopyFrom(abstraction.endPositions);
+            abstraction.startOrientations.CopyFrom(abstraction.endOrientations);
+            abstraction.endPositions.CopyFrom(abstraction.positions);
            abstraction.endOrientations.CopyFrom(abstraction.orientations);
        }
+
+        public void PushData()
+        {
         }
 
-        public int GetConstraintCount(Oni.ConstraintType type)
+        public void RequestReadback()
         {
-            if ((int)type > 0 && (int)type < constraints.Length)
-                return constraints[(int)type].GetConstraintCount();
-            return 0;
-        }
+        }

        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
        {
            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;
 
-        public void GetCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-            NativeArray<Oni.Contact>.Copy(colliderContacts.Reinterpret<Oni.Contact>(),0, contacts,0,count);
-        }
-
-        public void GetParticleCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-            NativeArray<Oni.Contact>.Copy(particleContacts.Reinterpret<Oni.Contact>(),0, contacts,0,count);
-        }
-
-        public void SetParameters(Oni.SolverParameters parameters)
-        {
-            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
-        }
-
-        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
-        {
-            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
-        }
-
-        public void ParticleCountChanged(ObiSolver solver)
-        {
-            positions = abstraction.positions.AsNativeArray<float4>();
-            restPositions = abstraction.restPositions.AsNativeArray<float4>();
-            prevPositions = abstraction.prevPositions.AsNativeArray<float4>();
-            renderablePositions = abstraction.renderablePositions.AsNativeArray<float4>();
-
-            orientations = abstraction.orientations.AsNativeArray<quaternion>();
-            restOrientations = abstraction.restOrientations.AsNativeArray<quaternion>();
-            prevOrientations = abstraction.prevOrientations.AsNativeArray<quaternion>();
-            renderableOrientations = abstraction.renderableOrientations.AsNativeArray<quaternion>();
-
-            velocities = abstraction.velocities.AsNativeArray<float4>();
-            angularVelocities = abstraction.angularVelocities.AsNativeArray<float4>();
-
-            invMasses = abstraction.invMasses.AsNativeArray<float>();
-            invRotationalMasses = abstraction.invRotationalMasses.AsNativeArray<float>();
-            invInertiaTensors = abstraction.invInertiaTensors.AsNativeArray<float4>();
-
-            externalForces = abstraction.externalForces.AsNativeArray<float4>();
-            externalTorques = abstraction.externalTorques.AsNativeArray<float4>();
-            wind = abstraction.wind.AsNativeArray<float4>();
-
-            positionDeltas = abstraction.positionDeltas.AsNativeArray<float4>();
-            orientationDeltas = abstraction.orientationDeltas.AsNativeArray<quaternion>();
-            positionConstraintCounts = abstraction.positionConstraintCounts.AsNativeArray<int>();
-            orientationConstraintCounts = abstraction.orientationConstraintCounts.AsNativeArray<int>();
-
-            collisionMaterials = abstraction.collisionMaterials.AsNativeArray<int>();
-            phases = abstraction.phases.AsNativeArray<int>();
-            filters = abstraction.filters.AsNativeArray<int>();
-            anisotropies = abstraction.anisotropies.AsNativeArray<float4>();
-            principalRadii = abstraction.principalRadii.AsNativeArray<float4>();
-            normals = abstraction.normals.AsNativeArray<float4>();
-
-            vorticities = abstraction.vorticities.AsNativeArray<float4>();
-            fluidData = abstraction.fluidData.AsNativeArray<float4>();
-            userData = abstraction.userData.AsNativeArray<float4>();
-            smoothingRadii = abstraction.smoothingRadii.AsNativeArray<float>();
-            buoyancies = abstraction.buoyancies.AsNativeArray<float>();
-            restDensities = abstraction.restDensities.AsNativeArray<float>();
-            viscosities = abstraction.viscosities.AsNativeArray<float>();
-            surfaceTension = abstraction.surfaceTension.AsNativeArray<float>();
-            vortConfinement = abstraction.vortConfinement.AsNativeArray<float>();
-            athmosphericDrag = abstraction.atmosphericDrag.AsNativeArray<float>();
-            athmosphericPressure = abstraction.atmosphericPressure.AsNativeArray<float>();
-            diffusion = abstraction.diffusion.AsNativeArray<float>();
-        }
-
-        public void SetRigidbodyArrays(ObiSolver solver)
-        {
-            // No need to implement. This backend grabs arrays from the abstraction when it needs them.
-        }
-
-        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type)
-        {
-            return constraints[(int)type].CreateConstraintsBatch();
-        }
-
-        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
-        {
-            if (batch != null)
-                constraints[(int)batch.constraintType].RemoveBatch(batch);
-        }
-
-        public IObiJobHandle CollisionDetection(float stepTime)
-        {
-            var fluidHandle = FindFluidParticles();
-
-            var inertiaUpdate = RecalculateInertiaTensors(fluidHandle);
-
-            return jobHandlePool.Borrow().SetHandle(GenerateContacts(inertiaUpdate, stepTime));
-        }
-
-        protected JobHandle FindFluidParticles()
-        {
-            var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
-
-            // Update positions:
-            var findFluidJob = new FindFluidParticlesJob()
-            {
-                activeParticles = activeParticles,
-                phases = m_Solver.phases.AsNativeArray<int>(),
-                fluidParticles = d.fluidParticles,
-            };
-
-            return findFluidJob.Schedule();
-        }
-
-        protected JobHandle UpdateSimplexBounds(JobHandle inputDeps, float deltaTime)
-        {
-            var buildAabbs = new BuildSimplexAabbs
-            {
-                radii = principalRadii,
-                fluidRadii = smoothingRadii,
-                positions = positions,
-                velocities = velocities,
-
-                simplices = simplices,
-                simplexCounts = simplexCounts,
-                simplexBounds = simplexBounds,
-
-                particleMaterialIndices = abstraction.collisionMaterials.AsNativeArray<int>(),
-                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
-                collisionMargin = abstraction.parameters.collisionMargin,
-                continuousCollisionDetection = abstraction.parameters.continuousCollisionDetection,
-                dt = deltaTime,
-            };
-            return buildAabbs.Schedule(simplexCounts.simplexCount, 32, inputDeps);
-        }
-
-        protected JobHandle GenerateContacts(JobHandle inputDeps, float deltaTime)
-        {
-            // Dispose of previous fluid interactions.
-            // We need fluid data during interpolation, for anisotropic fluid particles. For this reason,
-            // we can't dispose of these arrays in ResetForces() at the end of each full step. They must use persistent allocation.
-
-            if (fluidInteractions.IsCreated)
-                fluidInteractions.Dispose();
-            if (fluidBatchData.IsCreated)
-                fluidBatchData.Dispose();
+            burstHandle.jobHandle = FindFluidParticles(burstHandle.jobHandle);

            burstHandle.jobHandle = GenerateContacts(burstHandle.jobHandle, stepTime);

            return burstHandle; 
        }

        protected JobHandle FindFluidParticles(JobHandle inputDeps)
        {
            var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;

            // Update positions:
            var findFluidJob = new FindFluidParticlesJob()
            {
                activeParticles = activeParticles,
                phases = phases,
                fluidParticles = d.fluidParticles,
            };

            return findFluidJob.Schedule(inputDeps);
        }

        protected JobHandle GenerateContacts(JobHandle inputDeps, float deltaTime)
        {
            // Dispose of previous fluid interactions.
            // We need fluid data during interpolation, for anisotropic fluid particles. For this reason,
            // we can't dispose of these arrays in ResetForces() at the end of each full step. They must use persistent allocation.

            if (fluidInteractions.IsCreated)
                fluidInteractions.Dispose();
            if (fluidBatchData.IsCreated)
                fluidBatchData.Dispose();
+            if (particleBatchData.IsCreated)
                particleBatchData.Dispose();
 
             // get constraint parameters for constraint types that depend on broadphases:
-            var collisionParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Collision);
-            var particleCollisionParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
-            var densityParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
-
-            // if no enabled constraints that require broadphase info, skip it entirely.
-            if (collisionParameters.enabled ||
-                particleCollisionParameters.enabled ||
-                densityParameters.enabled)
-            {
-                // update the bounding box of each simplex:
-                inputDeps = UpdateSimplexBounds(inputDeps, deltaTime);
-
-
+            var collisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            var particleCollisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);

            // if no enabled constraints that require broadphase info, skip it entirely.
            if (collisionParameters.enabled ||
                particleCollisionParameters.enabled ||
                densityParameters.enabled)
            {
                 // generate particle-particle and particle-collider interactions in parallel:
-                JobHandle generateParticleInteractionsHandle = inputDeps, generateContactsHandle = inputDeps;
+                JobHandle generateParticleInteractionsHandle = inputDeps, generateContactsHandle = inputDeps;

                // particle-particle interactions (contacts, fluids)
                if (particleCollisionParameters.enabled || densityParameters.enabled)
                {
                    particleGrid.Update(this, inputDeps);
                    generateParticleInteractionsHandle = particleGrid.GenerateContacts(this, deltaTime);
                }

                // particle-collider interactions (contacts)
                if (collisionParameters.enabled)
                {
                    generateContactsHandle = colliderGrid.GenerateContacts(this, deltaTime, inputDeps);
                }

                JobHandle.CombineDependencies(generateParticleInteractionsHandle, generateContactsHandle).Complete();
 
-                // particle-particle interactions (contacts, fluids)
-                if (particleCollisionParameters.enabled || densityParameters.enabled)
-                {
-                    particleGrid.Update(this, deltaTime, inputDeps);
-                    generateParticleInteractionsHandle = particleGrid.GenerateContacts(this, deltaTime);
-                }
+                // allocate arrays for interactions and batch data:
                particleBatchData = new NativeArray<BatchData>(maxBatches, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);

                fluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
                fluidBatchData = new NativeArray<BatchData>(maxBatches, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
 
-                // particle-collider interactions (contacts)
-                if (collisionParameters.enabled)
-                {
-                    generateContactsHandle = colliderGrid.GenerateContacts(this, deltaTime, inputDeps);
-                }
-
-                JobHandle.CombineDependencies(generateParticleInteractionsHandle, generateContactsHandle).Complete();
-
-                // allocate arrays for interactions and batch data:
-                particleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
-                particleBatchData = new NativeArray<BatchData>(maxBatches, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
-
-                fluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
-                fluidBatchData = new NativeArray<BatchData>(maxBatches, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
-
-                colliderContacts = new NativeArray<BurstContact>(colliderGrid.colliderContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
+                // allocate effective mass arrays:
+                abstraction.contactEffectiveMasses.ResizeUninitialized(colliderGrid.colliderContactQueue.Count);
+                abstraction.particleContactEffectiveMasses.ResizeUninitialized(particleGrid.particleContactQueue.Count);
 
                 // dequeue contacts/interactions into temporary arrays:
-                var rawParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
-                var sortedParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
-                var rawFluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
+                var rawParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
                var sortedParticleContacts = new NativeArray<BurstContact>(particleGrid.particleContactQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
                var rawFluidInteractions = new NativeArray<FluidInteraction>(particleGrid.fluidInteractionQueue.Count, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
 
-                DequeueIntoArrayJob<BurstContact> dequeueParticleContacts = new DequeueIntoArrayJob<BurstContact>()
-                {
-                    InputQueue = particleGrid.particleContactQueue,
-                    OutputArray = rawParticleContacts
-                };
+                abstraction.particleContacts.ResizeUninitialized(particleGrid.particleContactQueue.Count);
                DequeueIntoArrayJob<BurstContact> dequeueParticleContacts = new DequeueIntoArrayJob<BurstContact>
                {
                    InputQueue = particleGrid.particleContactQueue,
                    OutputArray = rawParticleContacts
                };
 
-                DequeueIntoArrayJob<FluidInteraction> dequeueFluidInteractions = new DequeueIntoArrayJob<FluidInteraction>()
-                {
-                    InputQueue = particleGrid.fluidInteractionQueue,
-                    OutputArray = rawFluidInteractions
-                };
+                abstraction.colliderContacts.ResizeUninitialized(colliderGrid.colliderContactQueue.Count);
                DequeueIntoArrayJob<BurstContact> dequeueColliderContacts = new DequeueIntoArrayJob<BurstContact>
                {
                    InputQueue = colliderGrid.colliderContactQueue,
                    OutputArray = abstraction.colliderContacts.AsNativeArray<BurstContact>()
                };

                DequeueIntoArrayJob<FluidInteraction> dequeueFluidInteractions = new DequeueIntoArrayJob<FluidInteraction>
                {
                    InputQueue = particleGrid.fluidInteractionQueue,
                    OutputArray = rawFluidInteractions
                };

                var dequeueHandle = JobHandle.CombineDependencies(dequeueParticleContacts.Schedule(), dequeueFluidInteractions.Schedule(), dequeueColliderContacts.Schedule());

                // Sort contacts for jitter-free gauss-seidel (sequential) solving:
                dequeueHandle = contactSorter.SortConstraints(simplexCounts.simplexCount, rawParticleContacts, ref sortedParticleContacts, dequeueHandle); 

                ContactProvider contactProvider = new ContactProvider()
                {
                    contacts = sortedParticleContacts,
                    sortedContacts = abstraction.particleContacts.AsNativeArray<BurstContact>(),
                    simplices = simplices,
                    simplexCounts = simplexCounts
                };

                FluidInteractionProvider fluidProvider = new FluidInteractionProvider()
                {
                    interactions = rawFluidInteractions,
                    sortedInteractions = fluidInteractions,
                };

                // batch particle contacts:
                var activeParticleBatchCount = new NativeArray<int>(1, Allocator.TempJob);
                var particleBatchHandle = collisionConstraintBatcher.BatchConstraints(ref contactProvider, particleCount, ref particleBatchData, ref activeParticleBatchCount, dequeueHandle);

                // batch fluid interactions:
                var activeFluidBatchCount = new NativeArray<int>(1, Allocator.TempJob);
                var fluidBatchHandle = fluidConstraintBatcher.BatchConstraints(ref fluidProvider, particleCount, ref fluidBatchData, ref activeFluidBatchCount, dequeueHandle);

                JobHandle.CombineDependencies(particleBatchHandle, fluidBatchHandle).Complete();

                // Generate particle contact/friction batches:
                var pc = constraints[(int)Oni.ConstraintType.ParticleCollision] as BurstParticleCollisionConstraints;
                var pf = constraints[(int)Oni.ConstraintType.ParticleFriction] as BurstParticleFrictionConstraints;

                for (int i = 0; i < pc.batches.Count; ++i)
                    pc.batches[i].enabled = false;

                for (int i = 0; i < pf.batches.Count; ++i)
                    pf.batches[i].enabled = false;

                for (int i = 0; i < activeParticleBatchCount[0]; ++i)
                {
                    // create extra batches if not enough:
                    if (i == pc.batches.Count)
                    {
                        pc.CreateConstraintsBatch();
                        pf.CreateConstraintsBatch();
                    }

                    pc.batches[i].enabled = true;
                    pf.batches[i].enabled = true;

                    (pc.batches[i] as BurstParticleCollisionConstraintsBatch).batchData = particleBatchData[i];
                    (pf.batches[i] as BurstParticleFrictionConstraintsBatch ).batchData = particleBatchData[i];
                }

                // Generate fluid interaction batches:
                var dc = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;

                for (int i = 0; i < dc.batches.Count; ++i)
                    dc.batches[i].enabled = false;

                for (int i = 0; i < activeFluidBatchCount[0]; ++i)
                {
                    // create extra batches if not enough:
                    if (i == dc.batches.Count)
                        dc.CreateConstraintsBatch();

                    dc.batches[i].enabled = true;

                    (dc.batches[i] as BurstDensityConstraintsBatch).batchData = fluidBatchData[i];
                }

                // dispose of temporary buffers:
                rawParticleContacts.Dispose();
                rawFluidInteractions.Dispose();
                sortedParticleContacts.Dispose();
                activeParticleBatchCount.Dispose();
                activeFluidBatchCount.Dispose();

                inputDeps = colliderGrid.ApplyForceZones(this, deltaTime, inputDeps);
            }

            return inputDeps;
        }

        public IObiJobHandle Substep(IObiJobHandle handle, float stepTime, float substepTime, int steps, float timeLeft)
        {
            BurstJobHandle burstHandle = handle as BurstJobHandle;
            if (burstHandle == null)
                return handle;
 
-                DequeueIntoArrayJob<BurstContact> dequeueColliderContacts = new DequeueIntoArrayJob<BurstContact>()
-                {
-                    InputQueue = colliderGrid.colliderContactQueue,
-                    OutputArray = colliderContacts
-                };
-
-                var dequeueHandle = JobHandle.CombineDependencies(dequeueParticleContacts.Schedule(), dequeueFluidInteractions.Schedule(), dequeueColliderContacts.Schedule());
-
-                // Sort contacts for jitter-free gauss-seidel (sequential) solving:
-                dequeueHandle = contactSorter.SortConstraints(simplexCounts.simplexCount, rawParticleContacts, ref sortedParticleContacts, dequeueHandle);
-
-                ContactProvider contactProvider = new ContactProvider()
-                {
-                    contacts = sortedParticleContacts,
-                    sortedContacts = particleContacts,
-                    simplices = simplices,
-                    simplexCounts = simplexCounts
-                };
-
-                FluidInteractionProvider fluidProvider = new FluidInteractionProvider()
-                {
-                    interactions = rawFluidInteractions,
-                    sortedInteractions = fluidInteractions,
-                };
-
-                // batch particle contacts:
-                var activeParticleBatchCount = new NativeArray<int>(1, Allocator.TempJob);
-                var particleBatchHandle = collisionConstraintBatcher.BatchConstraints(ref contactProvider, particleCount, ref particleBatchData, ref activeParticleBatchCount, dequeueHandle);
-
-                // batch fluid interactions:
-                var activeFluidBatchCount = new NativeArray<int>(1, Allocator.TempJob);
-                var fluidBatchHandle = fluidConstraintBatcher.BatchConstraints(ref fluidProvider, particleCount, ref fluidBatchData, ref activeFluidBatchCount, dequeueHandle);
-
-                JobHandle.CombineDependencies(particleBatchHandle, fluidBatchHandle).Complete();
-
-                // Generate particle contact/friction batches:
-                var pc = constraints[(int)Oni.ConstraintType.ParticleCollision] as BurstParticleCollisionConstraints;
-                var pf = constraints[(int)Oni.ConstraintType.ParticleFriction] as BurstParticleFrictionConstraints;
-
-                for (int i = 0; i < pc.batches.Count; ++i)
-                    pc.batches[i].enabled = false;
-
-                for (int i = 0; i < pf.batches.Count; ++i)
-                    pf.batches[i].enabled = false;
-
-                for (int i = 0; i < activeParticleBatchCount[0]; ++i)
-                {
-                    // create extra batches if not enough:
-                    if (i == pc.batches.Count)
-                    {
-                        pc.CreateConstraintsBatch();
-                        pf.CreateConstraintsBatch();
-                    }
-
-                    pc.batches[i].enabled = true;
-                    pf.batches[i].enabled = true;
-
-                    (pc.batches[i] as BurstParticleCollisionConstraintsBatch).batchData = particleBatchData[i];
-                    (pf.batches[i] as BurstParticleFrictionConstraintsBatch ).batchData = particleBatchData[i];
-                }
-
-                // Generate fluid interaction batches:
-                var dc = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
-
-                for (int i = 0; i < dc.batches.Count; ++i)
-                    dc.batches[i].enabled = false;
-
-                for (int i = 0; i < activeFluidBatchCount[0]; ++i)
-                {
-                    // create extra batches if not enough:
-                    if (i == dc.batches.Count)
-                        dc.CreateConstraintsBatch();
-
-                    dc.batches[i].enabled = true;
-
-                    (dc.batches[i] as BurstDensityConstraintsBatch).batchData = fluidBatchData[i];
-                }
-
-                // dispose of temporary buffers:
-                rawParticleContacts.Dispose();
-                rawFluidInteractions.Dispose();
-                sortedParticleContacts.Dispose();
-                activeParticleBatchCount.Dispose();
-                activeFluidBatchCount.Dispose();
-
-            }
-
-            return inputDeps;
-        }
-
-        public IObiJobHandle Substep(float stepTime, float substepTime, int substeps)
-        {
             // Apply aerodynamics
-            JobHandle aerodynamicsHandle = constraints[(int)Oni.ConstraintType.Aerodynamics].Project(new JobHandle(), stepTime, substepTime, substeps);
+            burstHandle.jobHandle = constraints[(int)Oni.ConstraintType.Aerodynamics].Project(burstHandle.jobHandle, stepTime, substepTime, steps, timeLeft);
 
             // Predict positions:
-            var predictPositions = new PredictPositionsJob()
-            {
-                activeParticles = activeParticles,
-                phases = phases,
-                buoyancies = buoyancies,
-
-                externalForces = externalForces,
-                inverseMasses = invMasses,
-                positions = positions,
-                previousPositions = prevPositions,
-                velocities = velocities,
-
-                externalTorques = externalTorques,
-                inverseRotationalMasses = invRotationalMasses,
-                orientations = orientations,
-                previousOrientations = prevOrientations,
-                angularVelocities = angularVelocities,
-
-                gravity = new float4(m_Solver.parameters.gravity, 0),
-                deltaTime = substepTime,
-                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
-            };
-
-            JobHandle predictPositionsHandle = predictPositions.Schedule(activeParticles.Length, 128, aerodynamicsHandle);
+            var predictPositions = new PredictPositionsJob()
            {
                activeParticles = activeParticles,
                phases = phases,
                buoyancies = fluidInterface,

                externalForces = externalForces,
                inverseMasses = invMasses,
                positions = positions,
                previousPositions = prevPositions,
                velocities = velocities,

                externalTorques = externalTorques,
                inverseRotationalMasses = invRotationalMasses,
                orientations = orientations,
                previousOrientations = prevOrientations,
                angularVelocities = angularVelocities,

                gravity = new float4(abstraction.parameters.gravity, 0),
                deltaTime = substepTime,
                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
            };

            burstHandle.jobHandle = predictPositions.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);
 
             // Project position constraints:
-            JobHandle projectionHandle = ApplyConstraints(predictPositionsHandle, stepTime, substepTime, substeps);
+            burstHandle.jobHandle = ApplyConstraints(burstHandle.jobHandle, stepTime, substepTime, steps, timeLeft);
 
-            // Update velocities:
-            var updateVelocitiesJob = new UpdateVelocitiesJob()
-            {
-                activeParticles = activeParticles,
+            // Enforce solver boundary limits:
+            burstHandle.jobHandle = EnforceLimits(burstHandle.jobHandle);

            // Update velocities:
            var updateVelocitiesJob = new UpdateVelocitiesJob
            {
                activeParticles = activeParticles,

                inverseMasses = invMasses,
                previousPositions = prevPositions,
                positions = positions,
                velocities = velocities,

                inverseRotationalMasses = invRotationalMasses,
                previousOrientations = prevOrientations,
                orientations = orientations,
                angularVelocities = angularVelocities,

                deltaTime = substepTime,
                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
            };

            burstHandle.jobHandle = updateVelocitiesJob.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);
 
-                inverseMasses = invMasses,
-                previousPositions = prevPositions,
-                positions = positions,
-                velocities = velocities,
+            // calculate particle velocity correction:
+            burstHandle.jobHandle = CalculateVelocityCorrections(burstHandle.jobHandle, substepTime);
 
-                inverseRotationalMasses = invRotationalMasses,
-                previousOrientations = prevOrientations,
-                orientations = orientations,
-                angularVelocities = angularVelocities,
+            // Update diffuse particles:
+            int substepsLeft = (int)math.round(timeLeft / substepTime);
+            int foamPadding = (int)math.ceil(abstraction.substeps / (float)abstraction.foamSubsteps);
 
-                deltaTime = substepTime,
-                is2D = abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D
-            };
+            if (substepsLeft % foamPadding == 0)
+                burstHandle.jobHandle = UpdateDiffuseParticles(burstHandle.jobHandle, substepTime * foamPadding);
 
-            JobHandle updateVelocitiesHandle = updateVelocitiesJob.Schedule(activeParticles.Length, 128, projectionHandle);
-
-            // velocity constraints:
-            JobHandle velocityCorrectionsHandle = ApplyVelocityCorrections(updateVelocitiesHandle, substepTime);
-
-            // Update positions:
-            var updatePositionsJob = new UpdatePositionsJob()
-            {
-                activeParticles = activeParticles,
-                positions = positions,
-                previousPositions = prevPositions,
-                velocities = velocities,
-                orientations = orientations,
-                previousOrientations = prevOrientations,
-                angularVelocities = angularVelocities,
-                velocityScale = math.pow(1 - math.clamp(m_Solver.parameters.damping, 0, 1), substepTime),
-                sleepThreshold = m_Solver.parameters.sleepThreshold
-            };
-
-            JobHandle updatePositionsHandle = updatePositionsJob.Schedule(activeParticles.Length, 128, velocityCorrectionsHandle);
-
-            return jobHandlePool.Borrow().SetHandle(updatePositionsHandle);
-        }
-
-        private JobHandle ApplyVelocityCorrections(JobHandle inputDeps, float deltaTime)
+            // correct particle velocities:
+            burstHandle.jobHandle = ApplyVelocityCorrections(burstHandle.jobHandle, substepTime);

            // update particle positions:
            var updatePositionsJob = new UpdatePositionsJob
            {
                activeParticles = activeParticles,
                positions = positions,
                previousPositions = prevPositions,
                velocities = velocities,
                orientations = orientations,
                previousOrientations = prevOrientations,
                angularVelocities = angularVelocities,
                velocityScale = math.pow(1 - math.saturate(abstraction.parameters.damping), substepTime),
                sleepThreshold = abstraction.parameters.sleepThreshold,
                maxVelocity = abstraction.parameters.maxVelocity,
                maxAngularVelocity = abstraction.parameters.maxAngularVelocity
            };

            burstHandle.jobHandle = updatePositionsJob.Schedule(activeParticles.Length, 128, burstHandle.jobHandle);

            return burstHandle;
        }

        private JobHandle CalculateVelocityCorrections(JobHandle inputDeps, float deltaTime)
        {
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);

            if (densityParameters.enabled)
            {
                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
                if (d != null)
                {
                    return d.CalculateVelocityCorrections(inputDeps, deltaTime);
                }
            }
            return inputDeps;
        }

        private JobHandle ApplyVelocityCorrections(JobHandle inputDeps, float deltaTime)
        {
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);

            if (densityParameters.enabled)
            {
                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
                if (d != null)
                {
                    return d.ApplyVelocityCorrections(inputDeps, deltaTime);
                }
            }
            return inputDeps;
        }

        private JobHandle ApplyConstraints(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
        {

            // calculate max amount of iterations required, and initialize constraints..
            int maxIterations = 0;
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled)
                {
                    maxIterations = math.max(maxIterations, parameters.iterations);
                    inputDeps = constraints[i].Initialize(inputDeps, stepTime, substepTime, steps, timeLeft);
                }
            }

            // calculate iteration paddings:
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled && parameters.iterations > 0)
                    padding[i] = (int)math.ceil(maxIterations / (float)parameters.iterations);
                else
                    padding[i] = maxIterations;
            }

            // perform projection iterations:
            for (int i = 1; i < maxIterations; ++i)
            {
                for (int j = 0; j < Oni.ConstraintTypeCount; ++j)
                {
                    if (j != (int)Oni.ConstraintType.Aerodynamics)
                    {
                        var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)j);
                        if (parameters.enabled && i % padding[j] == 0)
                            inputDeps = constraints[j].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
                    }
                }
            }

            // final iteration, all groups together:
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                if (i != (int)Oni.ConstraintType.Aerodynamics)
                {
                    var parameters = abstraction.GetConstraintParameters((Oni.ConstraintType)i);
                    if (parameters.enabled && parameters.iterations > 0)
                        inputDeps = constraints[i].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
                }
            }

            // Despite friction constraints being applied after collision (since coulomb friction depends on normal impulse)
            // we perform a collision iteration right at the end to ensure the final state meets the Signorini-Fichera conditions.
            var param = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            if (param.enabled && param.iterations > 0)
                inputDeps = constraints[(int)Oni.ConstraintType.ParticleCollision].Project(inputDeps, stepTime, substepTime, steps, timeLeft);
            param = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            if (param.enabled && param.iterations > 0)
                inputDeps = constraints[(int)Oni.ConstraintType.Collision].Project(inputDeps, stepTime, substepTime, steps, timeLeft);

            return inputDeps;
        }

        private JobHandle EnforceLimits(JobHandle inputDeps)
         {
-            var densityParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
+            if (!abstraction.useLimits) return inputDeps;
 
-            if (densityParameters.enabled)
-            {
-                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
-                if (d != null)
-                {
-                    return d.ApplyVelocityCorrections(inputDeps, deltaTime);
-                }
-            }
-            return inputDeps;
-        }
+            var boundaryLimits = new EnforceLimitsJob
            {
                activeParticles = activeParticles,
                positions = positions,
                prevPositions = prevPositions,
                life = life,
                phases = phases,
                boundaryLimits = new BurstAabb(new float4(abstraction.boundaryLimits.min, 0), new float4(abstraction.boundaryLimits.max, 0)),
                killOffLimits = abstraction.killOffLimitsParticles
            };

            return boundaryLimits.Schedule(activeParticleCount, 64, inputDeps);
+        }

        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
        {
            if (inputDeps == null)
                inputDeps = new BurstJobHandle();

            BurstJobHandle burstHandle = inputDeps as BurstJobHandle;
            if (burstHandle == null)
                return inputDeps;

            // Interpolate particle positions and orientations.
            var interpolate = new InterpolationJob
            {
                positions = positions,
                endPositions = abstraction.endPositions.AsNativeArray<float4>(),
                startPositions = startPositions.AsNativeArray<float4>(),
                renderablePositions = renderablePositions,

                orientations = orientations,
                endOrientations = abstraction.endOrientations.AsNativeArray<quaternion>(),
                startOrientations = startOrientations.AsNativeArray<quaternion>(),
                renderableOrientations = renderableOrientations,

                principalRadii = principalRadii,
                renderableRadii = renderableRadii,
 
-        private JobHandle ApplyConstraints(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+                blendFactor = stepTime > 0 ? unsimulatedTime / stepTime : 0,
                interpolationMode = abstraction.parameters.interpolation
            };

            burstHandle.jobHandle = interpolate.Schedule(abstraction.positions.count, 128, burstHandle.jobHandle);

            // Update deformable triangle normals
            var resetNormals = new ResetNormals()
            {
                phases = phases,
                normals = normals,
                tangents = tangents
            };

            burstHandle.jobHandle = resetNormals.Schedule(normals.Length, 128, burstHandle.jobHandle);

            // Update deformable triangle normals
            var updateTriNormals = new UpdateTriangleNormalsJob()
            {
                renderPositions = renderablePositions,
                deformableTriangles = deformableTriangles,
                deformableTriangleUVs = deformableUVs,
                normals = normals,
                tangents = tangents
            };

            burstHandle.jobHandle = updateTriNormals.Schedule(deformableTriangles.Length / 3, 1, burstHandle.jobHandle);
+
+            // Update deformable edge normals
+            var updateEdgeNormals = new UpdateEdgeNormalsJob()
            {
                renderPositions = renderablePositions,
                velocities = velocities,
                deformableEdges = deformableEdges,
                wind = wind,
                normals = normals,
            };

            burstHandle.jobHandle = updateEdgeNormals.Schedule(deformableEdges.Length / 2, 1, burstHandle.jobHandle);
+
+            // Update deformable triangle orientations
+            var updateOrientations = new RenderableOrientationFromNormals()
            {
                phases = phases,
                normals = normals,
                tangents = tangents,
                renderableOrientations = renderableOrientations
            };

            burstHandle.jobHandle = updateOrientations.Schedule(normals.Length, 128, burstHandle.jobHandle);
+
+            // project renderable position/orientation of pinned particles:
+            var pinparam = abstraction.GetConstraintParameters(Oni.ConstraintType.Pin);
            if (pinparam.enabled && pinparam.iterations > 0)
+            {
+                var d = constraints[(int)Oni.ConstraintType.Pin] as BurstPinConstraints;
+                if (Application.isPlaying && d != null)
+                    burstHandle.jobHandle = d.ProjectRenderablePositions(burstHandle.jobHandle);
            }
+
+            //make sure density constraints are enabled, otherwise particles have no neighbors and neighbor lists will be uninitialized.
+            var param = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);
            if (param.enabled && param.iterations > 0)
+            {
+                // Fluid laplacian/anisotropy (only if we're in play mode, in-editor we have no particlegrid/sorted data).
+                var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
+                if (Application.isPlaying && d != null)
+                    burstHandle.jobHandle = d.CalculateAnisotropyLaplacianSmoothing(burstHandle.jobHandle);
            }

            return burstHandle;
        }

        private unsafe JobHandle UpdateDiffuseParticles(JobHandle inputDeps, float deltaTime)
         {
-
-            // calculate max amount of iterations required, and initialize constraints..
-            int maxIterations = 0;
-            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as BurstFoamRenderSystem;
+            if (system != null)
             {
-                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
-                if (parameters.enabled)
+                int* dispatchPtr = (int*)abstraction.foamCount.AddressOfElement(0);
+
+                for (int i = 0; i < system.renderers.Count; ++i)
                 {
-                    maxIterations = math.max(maxIterations, parameters.iterations);
-                    inputDeps = constraints[i].Initialize(inputDeps, substepTime);
-                }
-            }
+                    float seed = Time.frameCount % 16535 + UnityEngine.Random.value;
 
-            // calculate iteration paddings:
-            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
-            {
-                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
-                if (parameters.enabled && parameters.iterations > 0)
-                    padding[i] = (int)math.ceil(maxIterations / (float)parameters.iterations);
-                else
-                    padding[i] = maxIterations;
-            }
-
-            // perform projection iterations:
-            for (int i = 1; i < maxIterations; ++i)
-            {
-                for (int j = 0; j < Oni.ConstraintTypeCount; ++j)
-                {
-                    if (j != (int)Oni.ConstraintType.Aerodynamics)
+                    if (system.renderers[i] is ObiFoamEmitter)
                     {
-                        var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)j);
-                        if (parameters.enabled && i % padding[j] == 0)
-                            inputDeps = constraints[j].Project(inputDeps, stepTime, substepTime, substeps);
+                        var emitter = system.renderers[i] as ObiFoamEmitter;
+                        int particlesToEmit = emitter.GetParticleNumberToEmit(deltaTime);
+
+                        var emitJob = new EmitParticlesJob
+                        {
+                            outputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                            outputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                            outputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                            outputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                            dispatchBuffer = abstraction.foamCount.AsNativeArray<int>(),
+
+                            emitterShape = (uint)emitter.shape,
+                            emitterPosition = new float4(emitter.shapeTransform != null ? abstraction.transform.InverseTransformPoint(emitter.shapeTransform.position) : Vector3.zero,0),
+                            emitterRotation = emitter.shapeTransform != null ? emitter.shapeTransform.rotation * Quaternion.Inverse(abstraction.transform.rotation) : Quaternion.identity,
+                            emitterSize = new float4(emitter.shapeSize,0),
+
+                            randomSeed = seed,
+                            buoyancy = system.renderers[i].buoyancy,
+                            drag = system.renderers[i].drag,
+                            airdrag = math.pow(1 - math.saturate(system.renderers[i].atmosphericDrag), deltaTime),
+                            airAging = system.renderers[i].airAging,
+                            particleSize = system.renderers[i].size,
+                            sizeRandom = system.renderers[i].sizeRandom,
+                            lifetime = system.renderers[i].lifetime,
+                            lifetimeRandom = system.renderers[i].lifetimeRandom,
+                            foamColor = (Vector4)system.renderers[i].color,
+
+                            deltaTime = deltaTime
+                        };
+
+                        inputDeps = emitJob.Schedule(particlesToEmit, 128, inputDeps);
+                    }
+                    else
+                    {
+                        var emitJob = new GenerateParticlesJob
+                        {
+                            // when the actor gets removed from solver, solverIndices is destroyed and
+                            // this job may still be running. As a solution, create a temporary copy of the array.
+                            activeParticles = new NativeArray<int>(system.renderers[i].actor.solverIndices.AsNativeArray<int>(), Allocator.TempJob),
+                            positions = positions,
+                            velocities = velocities,
+                            angularVelocities = angularVelocities,
+                            principalRadii = principalRadii,
+                            fluidData = fluidData,
+
+                            outputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                            outputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                            outputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                            outputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                            dispatchBuffer = abstraction.foamCount.AsNativeArray<int>(),
+
+                            randomSeed = seed,
+                            vorticityRange = system.renderers[i].vorticityRange,
+                            velocityRange = system.renderers[i].velocityRange,
+                            foamGenerationRate = system.renderers[i].foamGenerationRate,
+                            potentialIncrease = system.renderers[i].foamPotential,
+                            potentialDiffusion = math.pow(1 - math.saturate(system.renderers[i].foamPotentialDiffusion), deltaTime),
+                            buoyancy = system.renderers[i].buoyancy,
+                            drag = system.renderers[i].drag,
+                            airdrag = math.pow(1 - math.saturate(system.renderers[i].atmosphericDrag), deltaTime),
+                            isosurface = system.renderers[i].isosurface,
+                            airAging = system.renderers[i].airAging,
+                            particleSize = system.renderers[i].size,
+                            sizeRandom = system.renderers[i].sizeRandom,
+                            lifetime = system.renderers[i].lifetime,
+                            lifetimeRandom = system.renderers[i].lifetimeRandom,
+                            foamColor = (Vector4)system.renderers[i].color,
+
+                            deltaTime = deltaTime
+                        };
+
+                        inputDeps = emitJob.Schedule(system.renderers[i].actor.activeParticleCount, 128, inputDeps);
                     }
                 }
-            }
 
-            // final iteration, all groups together:
-            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
-            {
-                if (i != (int)Oni.ConstraintType.Aerodynamics)
+                var updateJob = new UpdateParticlesJob
                 {
-                    var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
-                    if (parameters.enabled && parameters.iterations > 0)
-                        inputDeps = constraints[i].Project(inputDeps, stepTime, substepTime, substeps);
-                }
+                    positions = positions,
+                    orientations = renderableOrientations,
+                    principalRadii = renderableRadii,
+                    velocities = velocities,
+                    angularVelocities = angularVelocities,
+                    fluidData = fluidData,
+                    fluidMaterial = fluidMaterials,
+
+                    simplices = simplices,
+                    simplexCounts = simplexCounts,
+
+                    grid = particleGrid.grid,
+                    gridLevels = particleGrid.grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                    densityKernel = new Poly6Kernel(abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+
+                    inputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                    inputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                    inputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                    inputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    outputPositions = auxPositions,
+                    outputVelocities = auxVelocities,
+                    outputColors = auxColors,
+                    outputAttributes = auxAttributes,
+
+                    dispatchBuffer = abstraction.foamCount.AsNativeArray<int>(),
+
+                    parameters = abstraction.parameters,
+
+                    agingOverPopulation = new Vector3(abstraction.foamAccelAgingRange.x, abstraction.foamAccelAgingRange.y, abstraction.foamAccelAging),
+                    minFluidNeighbors = abstraction.foamMinNeighbors,
+                    currentAliveParticles = dispatchPtr[3],
+                    deltaTime = deltaTime
+                };
+
+                inputDeps = IJobParallelForDeferExtensions.Schedule(updateJob, &dispatchPtr[3], 64, inputDeps);
+
+                var copyJob = new CopyJob
+                {
+                    inputPositions = auxPositions,
+                    inputVelocities = auxVelocities,
+                    inputColors = auxColors,
+                    inputAttributes = auxAttributes,
+
+                    outputPositions = abstraction.foamPositions.AsNativeArray<float4>(),
+                    outputVelocities = abstraction.foamVelocities.AsNativeArray<float4>(),
+                    outputColors = abstraction.foamColors.AsNativeArray<float4>(),
+                    outputAttributes = abstraction.foamAttributes.AsNativeArray<float4>(),
+
+                    dispatchBuffer = abstraction.foamCount.AsNativeArray<int>()
+                };
+
+                inputDeps = IJobParallelForDeferExtensions.Schedule(copyJob, &dispatchPtr[7], 256, inputDeps);
+
+                activeFoamParticleCount = (uint)dispatchPtr[3];
             }
-
-            // Despite friction constraints being applied after collision (since coulomb friction depends on normal impulse)
-            // we perform a collision iteration right at the end to ensure the final state meets the Signorini-Fichera conditions.
-            var param = m_Solver.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
-            if (param.enabled && param.iterations > 0)
-                inputDeps = constraints[(int)Oni.ConstraintType.ParticleCollision].Project(inputDeps, stepTime, substepTime, substeps);
-            param = m_Solver.GetConstraintParameters(Oni.ConstraintType.Collision);
-            if (param.enabled && param.iterations > 0)
-                inputDeps = constraints[(int)Oni.ConstraintType.Collision].Project(inputDeps, stepTime, substepTime, substeps);
-
             return inputDeps;
-        }
+        }

        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
        {
            var resultsQueue = new NativeQueue<BurstQueryResult>(Allocator.Persistent);

            particleGrid.SpatialQuery(this,
                                      shapes.AsNativeArray<BurstQueryShape>(),
                                      transforms.AsNativeArray<BurstAffineTransform>(),
                                      resultsQueue).Complete();

            int count = resultsQueue.Count;
            results.ResizeUninitialized(count);

            var dequeueQueryResults = new DequeueIntoArrayJob<BurstQueryResult>()
            {
                InputQueue = resultsQueue,
                OutputArray = results.AsNativeArray<BurstQueryResult>()
            };

            dequeueQueryResults.Schedule().Complete();

            resultsQueue.Dispose();
        }

        public int GetParticleGridSize()
        {
            return particleGrid.grid.usedCells.Length;
        }
        public void GetParticleGrid(ObiNativeAabbList cells)
        {
            particleGrid.GetCells(cells);
        }
    }
}


+#endif
 
-        public void ApplyInterpolation(ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
-        {
 
-            // Interpolate particle positions and orientations.
-            var interpolate = new InterpolationJob()
-            {
-                positions = positions,
-                startPositions = startPositions.AsNativeArray<float4>(),
-                renderablePositions = renderablePositions,
-
-                orientations = orientations,
-                startOrientations = startOrientations.AsNativeArray<quaternion>(),
-                renderableOrientations = renderableOrientations,
-
-                deltaTime = stepTime,
-                unsimulatedTime = unsimulatedTime,
-                interpolationMode = m_Solver.parameters.interpolation
-            };
-
-            JobHandle jobHandle = interpolate.Schedule(m_Solver.positions.count, 128);
-
-            // Update deformable triangle normals
-            var updateNormals = new UpdateNormalsJob()
-            {
-                renderPositions = renderablePositions,
-                deformableTriangles = deformableTriangles,
-                normals = normals
-            };
-
-            jobHandle = updateNormals.Schedule(jobHandle);
-
-            // fluid laplacian/anisotropy:
-            var d = constraints[(int)Oni.ConstraintType.Density] as BurstDensityConstraints;
-            if (d != null)
-                jobHandle = d.CalculateAnisotropyLaplacianSmoothing(jobHandle);
-
-            // update axis:
-            var updatePrincipalAxis = new UpdatePrincipalAxisJob()
-            {
-                activeParticles = activeParticles,
-                renderableOrientations = renderableOrientations,
-                phases = phases,
-                principalRadii = principalRadii,
-                principalAxis = anisotropies,
-            };
-
-            jobHandle = updatePrincipalAxis.Schedule(activeParticles.Length, 128, jobHandle);
-
-            jobHandle.Complete();
-
-        }
-
-        public void InterpolateDiffuseProperties(ObiNativeVector4List properties,
-                                          ObiNativeVector4List diffusePositions,
-                                          ObiNativeVector4List diffuseProperties,
-                                          ObiNativeIntList neighbourCount,
-                                          int diffuseCount)
-        {
-            particleGrid.InterpolateDiffuseProperties(this,
-                                                      properties.AsNativeArray<float4>(),
-                                                      diffusePositions.AsNativeArray<float4>(),
-                                                      diffuseProperties.AsNativeArray<float4>(),
-                                                      neighbourCount.AsNativeArray<int>(),
-                                                      diffuseCount).Complete();
-        }
-
-        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
-        {
-            var resultsQueue = new NativeQueue<BurstQueryResult>(Allocator.Persistent);
-
-            particleGrid.SpatialQuery(this,
-                                      shapes.AsNativeArray<BurstQueryShape>(),
-                                      transforms.AsNativeArray<BurstAffineTransform>(),
-                                      resultsQueue).Complete();
-
-            int count = resultsQueue.Count;
-            results.ResizeUninitialized(count);
-
-            var dequeueQueryResults = new DequeueIntoArrayJob<BurstQueryResult>()
-            {
-                InputQueue = resultsQueue,
-                OutputArray = results.AsNativeArray<BurstQueryResult>()
-            };
-
-            var dequeueHandle = dequeueQueryResults.Schedule();
-
-            var distanceJob = new CalculateQueryDistances()
-            {
-                prevPositions = prevPositions,
-                prevOrientations = prevOrientations,
-                radii = principalRadii,
-                simplices = simplices,
-                simplexCounts = simplexCounts,
-                queryResults = results.AsNativeArray<BurstQueryResult>()
-            };
-
-            distanceJob.Schedule(count, 16, dequeueHandle).Complete();
-
-            resultsQueue.Dispose();
-        }
-
-        public int GetParticleGridSize()
-        {
-            return particleGrid.grid.usedCells.Length;
-        }
-        public void GetParticleGrid(ObiNativeAabbList cells)
-        {
-            particleGrid.GetCells(cells);
-        }
-    }
-}
-#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs
new file mode 100644
index 000000000..b1b57c39a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs
@@ -0,0 +1,42 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct EnforceLimitsJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> prevPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float> life;
+        [ReadOnly] public NativeArray<int> phases;
+
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public bool killOffLimits;
+
+        [ReadOnly] public BurstAabb boundaryLimits;
+
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            float4 pos = positions[i];
+            float4 prevPos = prevPositions[i];
+
+            bool outside = math.any(math.step(pos, boundaryLimits.min).xyz + math.step(boundaryLimits.max, pos).xyz);
+
+            if ((phases[i] & (int)ObiUtils.ParticleFlags.Isolated) != 0)
+                life[i] = outside && killOffLimits ? 0 : life[i];
+
+            pos.xyz = math.clamp(pos, boundaryLimits.min, boundaryLimits.max).xyz;
+            prevPos.xyz = math.clamp(prevPos, boundaryLimits.min, boundaryLimits.max).xyz;
+
+            positions[i] = pos;
+            prevPositions[i] = prevPos;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs.meta
new file mode 100644
index 000000000..5e27e1ea8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/EnforceLimitsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 354e2117ba6e94ad8afbfe95160a553b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs
new file mode 100644
index 000000000..aeb42e47d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs
@@ -0,0 +1,361 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Threading;
+
+namespace Obi
+{
+    [BurstCompile]
+    unsafe struct EmitParticlesJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        public uint emitterShape;
+        public float4 emitterPosition;
+        public quaternion emitterRotation;
+        public float4 emitterSize;
+
+        public float lifetime;
+        public float lifetimeRandom;
+        public float particleSize;
+        public float sizeRandom;
+        public float buoyancy;
+        public float drag;
+        public float airdrag;
+        public float airAging;
+        public float isosurface;
+        public float4 foamColor;
+
+        public float randomSeed;
+        public float deltaTime;
+
+        public void Execute(int i)
+        {
+            int* dispatch = (int*)dispatchBuffer.GetUnsafePtr();
+
+            // atomically increment alive particle counter:
+            int count = Interlocked.Add(ref dispatch[3], 1) - 1;
+
+            if (count < outputPositions.Length)
+            {
+                // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+                float3 radialVelocity;
+                float4 pos;
+
+                if (emitterShape == 0)
+                    BurstMath.RandomInCylinder(randomSeed + i, -new float4(0, 1, 0, 0) * emitterSize.y * 0.5f, new float4(0, 1, 0, 0), emitterSize.y, math.max(emitterSize.x, emitterSize.z) * 0.5f, out pos, out radialVelocity);
+                else
+                    BurstMath.RandomInBox(randomSeed + i, float4.zero, emitterSize, out pos, out radialVelocity);
+
+                float2 random = BurstMath.Hash21(randomSeed - i);
+
+                // calculate initial life/size/color:
+                float initialLife = math.max (0, lifetime - lifetime * random.x * lifetimeRandom);
+                float initialSize = particleSize - particleSize * random.y * sizeRandom;
+
+                outputPositions[count] = new float4(emitterPosition.xyz + math.rotate(emitterRotation, pos.xyz), 0);
+                outputVelocities[count] = new float4(0,0,0, buoyancy);
+                outputColors[count] = foamColor;
+                outputAttributes[count] = new float4(1, 1 / initialLife, initialSize, BurstMath.PackFloatRGBA(new float4(airAging / 50.0f, airdrag, drag, isosurface)));
+            }
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct GenerateParticlesJob : IJobParallelFor
+    {
+        [ReadOnly] [DeallocateOnJobCompletion] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [ReadOnly] public NativeArray<float4> fluidData;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        public float2 vorticityRange;
+        public float2 velocityRange;
+        public float potentialIncrease;
+        public float potentialDiffusion;
+        public float foamGenerationRate;
+
+        public float lifetime;
+        public float lifetimeRandom;
+        public float particleSize;
+        public float sizeRandom;
+        public float buoyancy;
+        public float drag;
+        public float airdrag;
+        public float airAging;
+        public float isosurface;
+        public float4 foamColor;
+
+        public float randomSeed;
+        public float deltaTime;
+
+        public void Execute(int i)
+        {
+            int* dispatch = (int*)dispatchBuffer.GetUnsafePtr();
+
+            int p = activeParticles[i];
+
+            float4 angVel = angularVelocities[p];
+            float2 potential = BurstMath.UnpackFloatRG(angVel.w);
+
+            // calculate foam potential increase:
+            float vorticityPotential = BurstMath.Remap01(fluidData[p].z, vorticityRange.x, vorticityRange.y);
+            float velocityPotential = BurstMath.Remap01(math.length(velocities[p].xyz), velocityRange.x, velocityRange.y);
+            float potentialDelta = velocityPotential * vorticityPotential * deltaTime * potentialIncrease;
+
+            // update foam potential:
+            potential.y = math.saturate(potential.y * potentialDiffusion + potentialDelta);
+
+            // calculate amount of emitted particles
+            potential.x += foamGenerationRate * potential.y * deltaTime;
+            int emitCount = (int)potential.x;
+            potential.x -= emitCount; 
+
+            for (int j = 0; j < emitCount; ++j)
+            {
+                // atomically increment alive particle counter:
+                int count = Interlocked.Add(ref dispatch[3], 1) - 1;
+
+                if (count < outputPositions.Length) 
+                {
+                    // initialize foam particle in a random position inside the cylinder spawned by fluid particle:
+                    float3 radialVelocity;
+                    float4 pos;
+                    BurstMath.RandomInCylinder(randomSeed + p + j, positions[p], math.normalizesafe(velocities[p]), math.length(velocities[p]) * deltaTime, principalRadii[p].x, out pos, out radialVelocity);
+
+                    float2 random = BurstMath.Hash21(randomSeed - p - j);
+
+                    // calculate initial life/size/color:
+                    float initialLife = velocityPotential * (lifetime - lifetime * random.x * lifetimeRandom);
+                    float initialSize = particleSize - particleSize * random.y * sizeRandom;
+
+                    outputPositions[count] = pos;
+                    outputVelocities[count] = velocities[p] + new float4(radialVelocity, buoyancy);
+                    outputColors[count] = foamColor;
+                    outputAttributes[count] = new float4(1, 1/initialLife, initialSize, BurstMath.PackFloatRGBA(new float4(airAging/50.0f, airdrag, drag, isosurface))); 
+                }
+            }
+
+            angVel.w = BurstMath.PackFloatRG(potential);
+            angularVelocities[p] = angVel;
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct UpdateParticlesJob : IJobParallelForDefer
+    {
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> angularVelocities;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [ReadOnly] public NativeArray<float4> fluidData;
+        [ReadOnly] public NativeArray<float4> fluidMaterial;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [ReadOnly] public NativeMultilevelGrid<int> grid;
+        [DeallocateOnJobCompletion]
+        [ReadOnly] public NativeArray<int> gridLevels;
+
+        [ReadOnly] public Poly6Kernel densityKernel;
+
+        [ReadOnly] public NativeArray<float4> inputPositions;
+        [ReadOnly] public NativeArray<float4> inputVelocities;
+        [ReadOnly] public NativeArray<float4> inputColors;
+        [ReadOnly] public NativeArray<float4> inputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        public float3 agingOverPopulation;
+        public int minFluidNeighbors;
+        public float deltaTime;
+        public int currentAliveParticles;
+
+        static readonly int4[] offsets =
+        {
+                new int4(0, 0, 0, 1),
+                new int4(1, 0, 0, 1),
+                new int4(0, 1, 0, 1),
+                new int4(1, 1, 0, 1),
+                new int4(0, 0, 1, 1),
+                new int4(1, 0, 1, 1),
+                new int4(0, 1, 1, 1),
+                new int4(1, 1, 1, 1)
+            };
+
+        public void Execute(int i)
+        {
+            int* dispatch = (int*)dispatchBuffer.GetUnsafePtr();
+            int count = Interlocked.Add(ref dispatch[3], -1);
+
+            if (count < inputPositions.Length && inputAttributes[count].x > 0)
+            {
+                int aliveCount = Interlocked.Add(ref dispatch[7], 1) - 1;
+
+                float4 attributes = inputAttributes[count];
+                float4 packedData = BurstMath.UnpackFloatRGBA(attributes.w);
+
+                int offsetCount = ((int)parameters.mode == 1) ? 4 : 8;
+                float4 advectedVelocity = float4.zero;
+                float4 advectedAngVelocity = float4.zero;
+                float kernelSum = -packedData.w;
+                uint neighbourCount = 0;
+
+                float4 diffusePos = inputPositions[count];
+
+                for (int k = 0; k < gridLevels.Length; ++k)
+                {
+                    int l = gridLevels[k];
+                    float radius = NativeMultilevelGrid<int>.CellSizeOfLevel(l);
+                    float interactionDist = radius * 0.5f;
+
+                    float4 cellCoords = math.floor(diffusePos / radius);
+
+                    cellCoords[3] = 0;
+                    if ((int)parameters.mode == 1)
+                        cellCoords[2] = 0;
+
+                    float4 posInCell = diffusePos - (cellCoords * radius + new float4(interactionDist));
+                    int4 quadrant = (int4)math.sign(posInCell);
+
+                    quadrant[3] = l;
+
+                    for (int o = 0; o < offsetCount; ++o)
+                    {
+                        int cellIndex;
+                        if (grid.TryGetCellIndex((int4)cellCoords + offsets[o] * quadrant, out cellIndex))
+                        {
+                            var cell = grid.usedCells[cellIndex];
+                            for (int n = 0; n < cell.Length; ++n)
+                            {
+                                int simplexStart = simplexCounts.GetSimplexStartAndSize(cell[n], out int simplexSize);
+
+                                for (int a = 0; a < simplexSize; ++a)
+                                {
+                                    int p = simplices[simplexStart + a];
+                                    float4 normal = diffusePos - positions[p];
+
+                                    normal[3] = 0;
+                                    if ((int)parameters.mode == 1)
+                                        normal[2] = 0;
+
+                                    float d = math.length(normal);
+                                    if (d <= interactionDist)
+                                    {
+                                        float3 radii = fluidMaterial[p].x * (principalRadii[p].xyz / principalRadii[p].x);
+
+                                        float4 angVel = new float4(math.cross(angularVelocities[p].xyz, normal.xyz), 0);
+                                        advectedAngVelocity += angVel * densityKernel.W(d, radii.x) / densityKernel.W(0, radii.x);
+
+                                        normal.xyz = math.mul(math.conjugate(orientations[p]), normal.xyz) / radii;
+                                        d = math.length(normal) * radii.x;
+
+                                        // scale by volume (* 1 / normalized density)
+                                        float w = densityKernel.W(d, radii.x) / fluidData[p].x;
+
+                                        kernelSum += w;
+                                        advectedVelocity += velocities[p] * w;
+                                        neighbourCount++;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+
+                float4 forces = float4.zero;
+                float velocityScale = 1;
+                float agingScale = 1 + BurstMath.Remap01(currentAliveParticles / (float)inputPositions.Length, agingOverPopulation.x, agingOverPopulation.y) * (agingOverPopulation.z - 1);
+
+                // foam/bubble particle:
+                if (kernelSum > BurstMath.epsilon && neighbourCount >= minFluidNeighbors)
+                {
+                    // advection: 
+                    forces = packedData.z / deltaTime * (advectedVelocity / (kernelSum + packedData.w) + advectedAngVelocity - inputVelocities[count]);
+
+                    // buoyancy:
+                    forces -= new float4(parameters.gravity * parameters.foamGravityScale * inputVelocities[count].w * math.saturate(kernelSum), 0);
+
+                }
+                else // ballistic:
+                {
+                    // gravity:
+                    forces += new float4(parameters.gravity * parameters.foamGravityScale, 0);
+
+                    // atmospheric drag/aging:
+                    velocityScale = packedData.y;
+                    agingScale *= packedData.x * 50;
+                }
+
+                // don't change 4th component, as its used to store buoyancy control parameter.
+                forces[3] = 0;
+
+                // update particle data:
+                attributes.x -= attributes.y * deltaTime * agingScale;
+                outputAttributes[aliveCount] = attributes;
+                outputColors[aliveCount] = inputColors[count];
+
+                // integrate:
+                outputVelocities[aliveCount] = (inputVelocities[count] + forces * deltaTime) * velocityScale;
+                outputPositions[aliveCount] = new float4((inputPositions[count] + outputVelocities[aliveCount] * deltaTime).xyz,neighbourCount);
+            }
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct CopyJob : IJobParallelForDefer
+    {
+        [ReadOnly] public NativeArray<float4> inputPositions;
+        [ReadOnly] public NativeArray<float4> inputVelocities;
+        [ReadOnly] public NativeArray<float4> inputColors;
+        [ReadOnly] public NativeArray<float4> inputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputColors;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> outputAttributes;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> dispatchBuffer;
+
+        public void Execute(int i)
+        {
+            if (i == 0)
+            {
+                dispatchBuffer[3] = dispatchBuffer[7];
+                dispatchBuffer[7] = 0;
+            }
+
+            outputPositions[i] = inputPositions[i];
+            outputVelocities[i] = inputVelocities[i];
+            outputColors[i] = inputColors[i];
+            outputAttributes[i] = inputAttributes[i];
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta
new file mode 100644
index 000000000..bdd0b48ee
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FoamParticlesJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 54f132d8cdea34935be3c33b0d1ca4d1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs
index 02625fce0..63fdcd543 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs
@@ -3,38 +3,49 @@ using Unity.Jobs;
 using Unity.Collections;
 using Unity.Mathematics;
 using Unity.Burst;
+using UnityEngine;
 
 namespace Obi
 {
     [BurstCompile]
     struct InterpolationJob : IJobParallelFor
     {
-        [ReadOnly] public NativeArray<float4> startPositions;
         [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> startPositions;
+        [ReadOnly] public NativeArray<float4> endPositions;
         [WriteOnly] public NativeArray<float4> renderablePositions;
 
-        [ReadOnly] public NativeArray<quaternion> startOrientations;
         [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<quaternion> startOrientations;
+        [ReadOnly] public NativeArray<quaternion> endOrientations;
         [WriteOnly] public NativeArray<quaternion> renderableOrientations;
 
-        [ReadOnly] public float deltaTime;
-        [ReadOnly] public float unsimulatedTime;
+        [ReadOnly] public NativeArray<float4> principalRadii;
+        [WriteOnly] public NativeArray<float4> renderableRadii;
+
+        [ReadOnly] public float blendFactor;
         [ReadOnly] public Oni.SolverParameters.Interpolation interpolationMode;
 
         // The code actually running on the job
         public void Execute(int i)
         {
-            if (interpolationMode == Oni.SolverParameters.Interpolation.Interpolate && deltaTime > 0)
+            if (interpolationMode == Oni.SolverParameters.Interpolation.Interpolate)
             {
-                float alpha = unsimulatedTime / deltaTime;
-
-                renderablePositions[i] = math.lerp(startPositions[i], positions[i], alpha);
-                renderableOrientations[i] = math.normalize(math.slerp(startOrientations[i], orientations[i], alpha));
+                renderablePositions[i] = math.lerp(startPositions[i], endPositions[i], blendFactor);
+                renderableOrientations[i] = math.normalize(math.slerp(startOrientations[i], endOrientations[i], blendFactor));
+                renderableRadii[i] = principalRadii[i];
+            }
+            else if (interpolationMode == Oni.SolverParameters.Interpolation.Extrapolate)
+            {
+                renderablePositions[i] = math.lerp(endPositions[i], positions[i], blendFactor);
+                renderableOrientations[i] = math.normalize(math.slerp(endOrientations[i], orientations[i], blendFactor));
+                renderableRadii[i] = principalRadii[i];
             }
             else
             {
-                renderablePositions[i] = positions[i];
-                renderableOrientations[i] = math.normalize(orientations[i]);
+                renderablePositions[i] = endPositions[i];
+                renderableOrientations[i] = math.normalize(endOrientations[i]);
+                renderableRadii[i] = principalRadii[i];
             }
         }
     }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
index 4c204d7b0..106fa3877 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
@@ -14,7 +14,7 @@ namespace Obi
     {
         [ReadOnly] public NativeArray<int> activeParticles;
         [ReadOnly] public NativeArray<int> phases;
-        [ReadOnly] public NativeArray<float> buoyancies;
+        [ReadOnly] public NativeArray<float4> buoyancies;
 
         // linear/position properties:
         [ReadOnly] public NativeArray<float4> externalForces;
@@ -48,7 +48,7 @@ namespace Obi
 
                 // Adjust gravity for buoyant fluid particles:
                 if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) != 0)
-                    effectiveGravity *= -buoyancies[i];
+                    effectiveGravity *= -buoyancies[i].z;
 
                 // apply external forces and gravity:
                 float4 vel = velocities[i] + (inverseMasses[i] * externalForces[i] + effectiveGravity) * deltaTime; 
@@ -63,13 +63,13 @@ namespace Obi
             if (inverseRotationalMasses[i] > 0)
             {
                 // apply external torques (simplification: we don't use full inertia tensor here)
-                float4 angularVel = angularVelocities[i] + inverseRotationalMasses[i] * externalTorques[i] * deltaTime;
+                float3 angularVel = angularVelocities[i].xyz + inverseRotationalMasses[i] * externalTorques[i].xyz * deltaTime;
 
                 // project angular velocity to 2D plane normal if needed:
                 if (is2D)
-                    angularVel = angularVel.project(new float4(0, 0, 1, 0));
+                    angularVel = angularVel.project(new float3(0, 0, 1));
 
-                angularVelocities[i] = angularVel;
+                angularVelocities[i] = new float4(angularVel, angularVelocities[i].w);
             }
 
             // integrate velocities:
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs
deleted file mode 100644
index 90cfe23db..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs
+++ /dev/null
@@ -1,38 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Jobs;
-using Unity.Collections;
-using Unity.Mathematics;
-using Unity.Burst;
-using System;
-using System.Collections;
-
-namespace Obi
-{
-    [BurstCompile]
-    struct UpdateInertiaTensorsJob : IJobParallelFor
-    {
-        [ReadOnly] public NativeArray<int> activeParticles;
-
-        [ReadOnly] public NativeArray<float> inverseMasses;
-        [ReadOnly] public NativeArray<float> inverseRotationalMasses;
-        [ReadOnly] public NativeArray<float4> principalRadii;
-
-        [NativeDisableParallelForRestriction]
-        public NativeArray<float4> inverseInertiaTensors;
-
-        public void Execute(int index)
-        {
-            int i = activeParticles[index];
-
-            float4 sqrRadii = principalRadii[i] * principalRadii[i];
-
-            inverseInertiaTensors[i] = 5 * inverseRotationalMasses[i] * new float4(
-                                        1 / math.max(sqrRadii[1] + sqrRadii[2], BurstMath.epsilon),
-                                        1 / math.max(sqrRadii[0] + sqrRadii[2], BurstMath.epsilon),
-                                        1 / math.max(sqrRadii[0] + sqrRadii[1], BurstMath.epsilon),
-                                        0);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
index a9594ef29..5b568c508 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
@@ -1,43 +1,122 @@
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
 using Unity.Jobs;
 using Unity.Collections;
 using Unity.Mathematics;
 using Unity.Burst;
-using System;
-using System.Collections;
+using UnityEngine;
 
 namespace Obi
 {
+
     [BurstCompile]
-    struct UpdateNormalsJob : IJob
+    struct ResetNormals : IJobParallelFor
     {
-        [ReadOnly] public NativeList<int> deformableTriangles;
-        [ReadOnly] public NativeArray<float4> renderPositions;
+        [ReadOnly] public NativeArray<int> phases;
         public NativeArray<float4> normals;
+        [WriteOnly] public NativeArray<float4> tangents;
 
-        public void Execute()
+        public void Execute(int i)
         {
-            for (int i = 0; i < normals.Length; ++i)
-                normals[i] = float4.zero;
-
-            // Accumulate normals:
-            for (int i = 0; i < deformableTriangles.Length; i += 3)
+            // leave fluid and softbody normals intact.
+            if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) == 0 && normals[i].w >= 0)
             {
-                float4 v1 = renderPositions[deformableTriangles[i]];
-                float4 v2 = renderPositions[deformableTriangles[i + 1]];
-                float4 v3 = renderPositions[deformableTriangles[i + 2]];
+                normals[i] = float4.zero;
+                tangents[i] = float4.zero;
+            }
+        }
+    }
 
-                float4 n = new float4(math.cross((v2 - v1).xyz, (v3 - v1).xyz), 0);
+    [BurstCompile]
+    unsafe struct UpdateTriangleNormalsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> deformableTriangles;
+        [ReadOnly] public NativeArray<float2> deformableTriangleUVs;
+        [ReadOnly] public NativeArray<float4> renderPositions;
 
-                normals[deformableTriangles[i]] += n;
-                normals[deformableTriangles[i + 1]] += n;
-                normals[deformableTriangles[i + 2]] += n;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> tangents;
+
+        public void Execute(int i)
+        {
+            int p1 = deformableTriangles[i*3];
+            int p2 = deformableTriangles[i*3 + 1];
+            int p3 = deformableTriangles[i*3 + 2];
+
+            float3 m1 = (renderPositions[p2] - renderPositions[p1]).xyz;
+            float3 m2 = (renderPositions[p3] - renderPositions[p1]).xyz;
+
+            float2 s = deformableTriangleUVs[i * 3 + 1] - deformableTriangleUVs[i * 3];
+            float2 t = deformableTriangleUVs[i * 3 + 2] - deformableTriangleUVs[i * 3];
+
+            float4 normal  = new float4(math.cross(m1, m2), 0);
+            float4 tangent = float4.zero;
+
+            float area = s.x * t.y - t.x * s.y;
+
+            if (math.abs(area) > BurstMath.epsilon)
+            {
+                tangent = new float4(t.y * m1.x - s.y * m2.x,
+                                     t.y * m1.y - s.y * m2.y,
+                                     t.y * m1.z - s.y * m2.z, 0) / area;
             }
 
-            for (int i = 0; i < normals.Length; ++i)
+            BurstMath.AtomicAdd(normals, p1, normal);
+            BurstMath.AtomicAdd(normals, p2, normal);
+            BurstMath.AtomicAdd(normals, p3, normal);
+
+            BurstMath.AtomicAdd(tangents, p1, tangent);
+            BurstMath.AtomicAdd(tangents, p2, tangent);
+            BurstMath.AtomicAdd(tangents, p3, tangent);
+        }
+    }
+
+    [BurstCompile]
+    unsafe struct UpdateEdgeNormalsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> deformableEdges;
+        [ReadOnly] public NativeArray<float4> velocities;
+        [ReadOnly] public NativeArray<float4> wind;
+        [ReadOnly] public NativeArray<float4> renderPositions;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+
+        public void Execute(int i)
+        {
+            int p1 = deformableEdges[i * 2];
+            int p2 = deformableEdges[i * 2 + 1];
+
+            float4 edge = renderPositions[p2] - renderPositions[p1];
+            float4 avgWind = (velocities[p1] + velocities[p2]) * 0.5f - (wind[p1] + wind[p2]) * 0.5f;
+            float4 normal = avgWind - math.projectsafe(avgWind, edge);
+
+            BurstMath.AtomicAdd(normals, p1, normal);
+            BurstMath.AtomicAdd(normals, p2, normal);
+        }
+    }
+
+    [BurstCompile]
+    struct RenderableOrientationFromNormals : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> phases;
+
+        public NativeArray<float4> normals;
+        public NativeArray<float4> tangents;
+
+        [WriteOnly] public NativeArray<quaternion> renderableOrientations;
+
+        public void Execute(int i)
+        {
+            if (((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) == 0 && normals[i].w >= 0) && // not fluid or softbody (no SDF stored)
+                math.lengthsq(normals[i]) > BurstMath.epsilon &&
+                math.lengthsq(tangents[i]) > BurstMath.epsilon)
+            {
                 normals[i] = math.normalizesafe(normals[i]);
+                tangents[i] = math.normalizesafe(tangents[i]);
+
+                // particle orientation from normal/tangent:
+                renderableOrientations[i] = quaternion.LookRotation(normals[i].xyz, tangents[i].xyz);
+            }
         }
     }
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs
new file mode 100644
index 000000000..dd65527ab
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs
@@ -0,0 +1,41 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+using System.Threading;
+
+namespace Obi
+{
+    [BurstCompile]
+    unsafe struct UpdateParticleLifetimesJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [NativeDisableParallelForRestriction] public NativeArray<float> life;
+
+        [NativeDisableParallelForRestriction] public NativeArray<int> deadParticles;
+        [NativeDisableContainerSafetyRestriction] public NativeReference<int> deadParticleCount;
+
+        [ReadOnly] public float dt;
+
+        public void Execute(int i)
+        {
+            int p = activeParticles[i];
+
+            life[p] -= dt;
+
+            if (life[p] <= 0)
+            {
+                int* countRef = (int*)deadParticleCount.GetUnsafePtr();
+                int count = Interlocked.Increment(ref countRef[0]) - 1;
+                deadParticles[count] = p;
+                life[p] = 0;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs.meta
new file mode 100644
index 000000000..460f21027
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateParticleLifetimesJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e2ac6f480787440e7bd2610e4545bd9e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
index ff7d6590a..9401d9bc9 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
@@ -26,25 +26,42 @@ namespace Obi
 
         [ReadOnly] public float velocityScale;
         [ReadOnly] public float sleepThreshold;
+        [ReadOnly] public float maxVelocity;
+        [ReadOnly] public float maxAngularVelocity;
 
         // The code actually running on the job
         public void Execute(int index)
         {
             int i = activeParticles[index];
 
+            float4 velocity = velocities[i];
+            float4 angVelocity = angularVelocities[i];
+
             // damp velocities:
-            velocities[i] *= velocityScale;
-            angularVelocities[i] *= velocityScale;
+            velocity *= velocityScale;
+            angVelocity.xyz *= velocityScale;
+
+            // clamp velocities:
+            float velMagnitude = math.length(velocity);
+            float angularVelMagnitude = math.length(angVelocity.xyz);
+
+            if (velMagnitude > BurstMath.epsilon)
+                velocity *= math.min(maxVelocity, velMagnitude) / velMagnitude;
+
+            if (angularVelMagnitude > BurstMath.epsilon)
+                angVelocity.xyz *= math.min(maxAngularVelocity, angularVelMagnitude) / angularVelMagnitude;
 
             // if the kinetic energy is below the sleep threshold, keep the particle at its previous position.
-            if (math.lengthsq(velocities[i]) * 0.5f + math.lengthsq(angularVelocities[i]) * 0.5f <= sleepThreshold)
+            if (velMagnitude * velMagnitude * 0.5f + angularVelMagnitude * angularVelMagnitude * 0.5f <= sleepThreshold)
             {
                 positions[i] = previousPositions[i];
                 orientations[i] = previousOrientations[i];
-                velocities[i] = float4.zero;
-                angularVelocities[i] = float4.zero;
+                velocity = float4.zero;
+                angVelocity.xyz = float3.zero;
             }
 
+            velocities[i] = velocity;
+            angularVelocities[i] = angVelocity;
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs
deleted file mode 100644
index 09a537194..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs
+++ /dev/null
@@ -1,50 +0,0 @@
-#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
-using UnityEngine;
-using Unity.Jobs;
-using Unity.Collections;
-using Unity.Mathematics;
-using Unity.Burst;
-using System;
-using System.Collections;
-
-namespace Obi
-{
-    [BurstCompile]
-    struct UpdatePrincipalAxisJob : IJobParallelFor
-    {
-        [ReadOnly] public NativeArray<int> activeParticles;
-        [ReadOnly] public NativeArray<quaternion> renderableOrientations;
-        [ReadOnly] public NativeArray<int> phases;
-        [ReadOnly] public NativeArray<float4> principalRadii;
-
-        [NativeDisableParallelForRestriction]
-        public NativeArray<float4> principalAxis;
-
-        public void Execute(int index)
-        {
-            int i = activeParticles[index];
-
-            // fluid particles get their principal axes from the neighborhood matrix, so skip them.
-            if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) == 0)
-            {
-                int i3 = i * 3;
-                float4x4 rot = renderableOrientations[i].toMatrix();
-
-                // set axis direction:
-                float4 pAxis1 = rot.c0;
-                float4 pAxis2 = rot.c1;
-                float4 pAxis3 = rot.c2;
-
-                // set axis length:
-                pAxis1[3] = principalRadii[i][0];
-                pAxis2[3] = principalRadii[i][1];
-                pAxis3[3] = principalRadii[i][2];
-
-                principalAxis[i3] = pAxis1;
-                principalAxis[i3+1] = pAxis2;
-                principalAxis[i3+2] = pAxis3;
-            }
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs.meta
deleted file mode 100644
index 711a4fc8c..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 22028834877974573b3b29b8a2b8f6cc
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
index 1d6159fca..32a189640 100644
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
@@ -24,7 +24,7 @@ namespace Obi
         [ReadOnly] public NativeArray<float> inverseRotationalMasses;
         [ReadOnly] public NativeArray<quaternion> previousOrientations;
         [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
-        [NativeDisableParallelForRestriction] [WriteOnly] public NativeArray<float4> angularVelocities;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
 
         [ReadOnly] public float deltaTime;
         [ReadOnly] public bool is2D;
@@ -49,7 +49,7 @@ namespace Obi
                 velocities[i] = float4.zero;
 
             if (inverseRotationalMasses[i] > 0)
-                angularVelocities[i] = BurstIntegration.DifferentiateAngular(orientations[i], previousOrientations[i], deltaTime);
+                angularVelocities[i] = new float4(BurstIntegration.DifferentiateAngular(orientations[i], previousOrientations[i], deltaTime).xyz, angularVelocities[i].w);
             else
                 angularVelocities[i] = float4.zero;
         }
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute.meta b/Assets/Obi/Scripts/Common/Backends/Compute.meta
new file mode 100644
index 000000000..18db0ca74
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4e491460f88fa4ee49cdb796a0b8a923
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta
new file mode 100644
index 000000000..bd5f862e3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1816ef976b3b64da7bf7a71a91e97d0f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs
new file mode 100644
index 000000000..c79f40e3c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBox
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeBox()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoxShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Box); 
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta
new file mode 100644
index 000000000..d5d5809e7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeBox.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 669f5cb47192b4a08864250bd4ba3872
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs
new file mode 100644
index 000000000..576fe40e6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeCapsule
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeCapsule()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/CapsuleShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Capsule);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta
new file mode 100644
index 000000000..13e33af82
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeCapsule.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b8577fc7696f14a5bad666ce7bdbd424
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs
new file mode 100644
index 000000000..96b57bd12
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs
@@ -0,0 +1,479 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderWorld : MonoBehaviour, IColliderWorldImpl
+    {
+        public int referenceCount { get; private set; } = 0;
+
+        public int colliderCount { get; private set; } = 0;
+        public int rigidbodyCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+        public int forceZoneCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+        public int materialCount { get; private set; } = -1; // make sure the buffer is created even if there's 0.
+
+        public int triangleMeshCount { get; private set; } = -1;
+        public int edgeMeshCount { get; private set; } = -1;
+        public int distanceFieldCount { get; private set; } = -1;
+        public int heightFieldCount { get; private set; } = -1;
+
+        private ComputePrefixSum prefixSum;
+
+        private ComputeShader gridShader;
+        private int buildKernel;
+        private int gridPopulationKernel;
+        private int sortKernel;
+        private int contactsKernel;
+        private int clearKernel;
+        private int prefixSumPairsKernel;
+        private int sortPairsKernel;
+        private int applyForceZonesKernel;
+        private int writeForceZoneResultsKernel;
+
+        public GraphicsBuffer materialsBuffer;
+        public GraphicsBuffer aabbsBuffer;
+        public GraphicsBuffer transformsBuffer;
+        public GraphicsBuffer shapesBuffer;
+        public GraphicsBuffer forceZonesBuffer;
+        public GraphicsBuffer rigidbodiesBuffer;
+        public GraphicsBuffer sortedColliderIndicesBuffer;
+
+        public GraphicsBuffer cellIndicesBuffer;     //for each collider, the IDs of the 8 cells it covers.
+        public GraphicsBuffer cellOffsetsBuffer;     //for each cell, start offset in the sorted span indices buffer.
+
+        public GraphicsBuffer cellCountsBuffer;      // for each cell, how many colliders in it.
+        public GraphicsBuffer offsetInCells; // for each collider, its offset in each of the 8 cells.
+        public GraphicsBuffer levelPopulation;      // buffer storing amount of entries in each grid level
+
+        private GraphicsBuffer colliderTypeCounts;   // amount of contacts against each collider type.
+        public GraphicsBuffer unsortedContactPairs;  // unsorted contact pairs.
+        public GraphicsBuffer contactPairs;          // list of contact pairs.
+        public GraphicsBuffer contactOffsetsPerType; // offset in the contact pairs array for each collider type.
+
+        public GraphicsBuffer dispatchBuffer;        // dispatch info for iterating trough contacts.
+
+        public GraphicsBuffer heightFieldHeaders;
+        public GraphicsBuffer heightFieldSamples;
+
+        public GraphicsBuffer distanceFieldHeaders;
+        public GraphicsBuffer dfNodes;
+
+        public GraphicsBuffer edgeMeshHeaders;
+        public GraphicsBuffer edgeBihNodes;
+        public GraphicsBuffer edges;
+        public GraphicsBuffer edgeVertices;
+
+        public GraphicsBuffer triangleMeshHeaders;
+        public GraphicsBuffer bihNodes;
+        public GraphicsBuffer triangles;
+        public GraphicsBuffer vertices;
+
+        public const int maxContacts = 512 * 512;
+        public const int maxCells = 512 * 512;
+        public const int cellsPerCollider = 8;
+        private const int maxGridLevels = 24;
+        private uint[] colliderCountClear = new uint[Oni.ColliderShapeTypeCount];
+        private uint[] dispatchClear = { 0, 1, 1, 0, // contacts
+                                         0, 1, 1, 0, // pairs
+                                         0, 1, 1, 0, // spheres
+                                         0, 1, 1, 0, // boxes
+                                         0, 1, 1, 0, // capsules
+                                         0, 1, 1, 0, // heighmaps
+                                         0, 1, 1, 0, // tri mesh
+                                         0, 1, 1, 0, // edge mesh 
+                                         0, 1, 1, 0, // distance field
+                                        };
+
+        private ComputeSphere spheres;
+        private ComputeBox boxes;
+        private ComputeCapsule capsules;
+        private ComputeTriangleMesh triangleMeshes;
+        private ComputeEdgeMesh edgeMeshes;
+        private ComputeDistanceField distanceFields;
+        private ComputeHeightField heightFields;
+
+        // for each particle in parallel:
+        // determine its cell span in the collider grid.
+        // iterate over all of them, generating contacts.
+
+        // we just need to get collider indices from each cell.
+        // sort by cell, store offset for each cell.
+
+        // each collider keeps track of 8 uints: IDs of the cells it overlaps. unused are invalid.
+        // each collider must know offset within each cell: another 8 units per collider.
+        // we can keep using the same system as we did with particles.
+
+
+        public void Awake()
+        {
+            ObiColliderWorld.GetInstance().RegisterImplementation(this);
+
+            prefixSum = new ComputePrefixSum(maxCells);
+
+            gridShader = Resources.Load<ComputeShader>("Compute/ColliderGrid");
+            buildKernel = gridShader.FindKernel("BuildUnsortedList");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortKernel = gridShader.FindKernel("SortList");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+            clearKernel = gridShader.FindKernel("Clear");
+            prefixSumPairsKernel = gridShader.FindKernel("PrefixSumColliderCounts");
+            sortPairsKernel = gridShader.FindKernel("SortContactPairs");
+            applyForceZonesKernel = gridShader.FindKernel("ApplyForceZones");
+            writeForceZoneResultsKernel = gridShader.FindKernel("WriteForceZoneResults");
+
+            gridShader.SetInt("shapeTypeCount", Oni.ColliderShapeTypeCount);
+            gridShader.SetInt("maxContacts", maxContacts);
+            gridShader.SetInt("colliderCount", colliderCount);
+            gridShader.SetInt("cellsPerCollider", cellsPerCollider);
+            gridShader.SetInt("maxCells", maxCells);
+
+            cellOffsetsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            cellCountsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+
+            // first entry is amount of non-empty levels in the grid.
+            // next maxGridLevels entries hold the indices of the non-empty levels. 
+            // final maxGridLevels entries hold the population of each level.
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+
+            colliderTypeCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.ColliderShapeTypeCount, 4);
+            contactOffsetsPerType = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.ColliderShapeTypeCount + 1, 4);
+            unsortedContactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxContacts, 8);
+
+            contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxContacts, 8);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, dispatchClear.Length, sizeof(uint));
+
+            spheres = new ComputeSphere();
+            boxes = new ComputeBox();
+            capsules = new ComputeCapsule();
+            triangleMeshes = new ComputeTriangleMesh();
+            edgeMeshes = new ComputeEdgeMesh();
+            distanceFields = new ComputeDistanceField();
+            heightFields = new ComputeHeightField();
+        }
+
+        public void OnDestroy()
+        {
+            ObiColliderWorld.GetInstance().UnregisterImplementation(this);
+
+            prefixSum.Dispose();
+
+            cellOffsetsBuffer.Dispose();
+            cellCountsBuffer.Dispose();
+            levelPopulation.Dispose();
+
+            contactPairs.Dispose();
+            dispatchBuffer.Dispose();
+
+            colliderTypeCounts.Dispose();
+            contactOffsetsPerType.Dispose();
+            unsortedContactPairs.Dispose();
+
+            if (cellIndicesBuffer != null)
+                cellIndicesBuffer.Dispose();
+            if (offsetInCells != null)
+                offsetInCells.Dispose();
+            if (sortedColliderIndicesBuffer != null)
+                sortedColliderIndicesBuffer.Dispose();
+        }
+
+        public void IncreaseReferenceCount()
+        {
+            referenceCount++;
+        }
+        public void DecreaseReferenceCount()
+        {
+            if (--referenceCount <= 0 && gameObject != null)
+                DestroyImmediate(gameObject);
+        }
+
+        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
+        {
+            if (colliderCount != shapes.count || aabbsBuffer == null || !aabbsBuffer.IsValid())
+                aabbsBuffer = bounds.AsComputeBuffer<Aabb>();
+            else
+                bounds.Upload();
+
+            if (colliderCount != shapes.count || shapesBuffer == null || !shapesBuffer.IsValid())
+                shapesBuffer = shapes.AsComputeBuffer<ColliderShape>();
+            else
+                shapes.Upload();
+
+            if (colliderCount != shapes.count || transformsBuffer == null || !transformsBuffer.IsValid())
+                transformsBuffer = transforms.AsComputeBuffer<AffineTransform>();
+            else
+                transforms.Upload();
+
+            // Only update in case the amount of colliders has changed:
+            if (colliderCount != shapes.count)
+            {
+                colliderCount = shapes.count;
+                gridShader.SetInt("colliderCount", colliderCount); 
+
+                if (cellIndicesBuffer != null)
+                {
+                    cellIndicesBuffer.Release();
+                    cellIndicesBuffer = null;
+                }
+                if (offsetInCells != null)
+                {
+                    offsetInCells.Release();
+                    offsetInCells = null;
+                }
+                if (sortedColliderIndicesBuffer != null)
+                {
+                    sortedColliderIndicesBuffer.Release();
+                    sortedColliderIndicesBuffer = null;
+                }
+
+                if (colliderCount > 0)
+                {
+                    cellIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                    offsetInCells = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                    sortedColliderIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, colliderCount * cellsPerCollider, 4);
+                }
+            }
+        }
+
+        public void SetForceZones(ObiNativeForceZoneList forceZones)
+        {
+            // Changing the count of a NativeList should not invalidate compute buffer. Only need to invalidate if *capacity* changes, it's up to the user to 
+            // regenerate the compute buffer in case it is needed, or Uplodad() the new data in case it is not (because our compute buffer maps full capacity, instead of only up to count)
+            if (forceZoneCount != forceZones.count || forceZonesBuffer == null || !forceZonesBuffer.IsValid())
+            {
+                forceZoneCount = forceZones.count;
+                forceZonesBuffer = forceZones.SafeAsComputeBuffer<ForceZone>();
+            }
+            else
+                forceZones.Upload();
+        }
+
+        public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
+        {
+            if (rigidbodyCount != rigidbody.count || rigidbodiesBuffer == null || !rigidbodiesBuffer.IsValid())
+            {
+                rigidbodyCount = rigidbody.count;
+                rigidbodiesBuffer = rigidbody.SafeAsComputeBuffer<ColliderRigidbody>();
+            }
+            else
+                rigidbody.Upload();
+        }
+
+        public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
+        {
+            if (materialCount != materials.count || materialsBuffer == null || !materialsBuffer.IsValid())
+            {
+                materialCount = materials.count;
+                materialsBuffer = materials.SafeAsComputeBuffer<CollisionMaterial>();
+            }
+            else
+                materials.Upload();
+        }
+
+        public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
+        {
+            if (triangleMeshCount != headers.count || triangleMeshHeaders == null || !triangleMeshHeaders.IsValid())
+            {
+                triangleMeshCount = headers.count;
+                triangleMeshHeaders = headers.SafeAsComputeBuffer<TriangleMeshHeader>();
+                bihNodes = nodes.SafeAsComputeBuffer<BIHNode>();
+                this.triangles = triangles.SafeAsComputeBuffer<Triangle>();
+                this.vertices = vertices.SafeAsComputeBuffer<Vector3>();
+            }
+        }
+
+        public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
+        {
+            if (edgeMeshCount != headers.count || edgeMeshHeaders == null || !edgeMeshHeaders.IsValid())
+            {
+                edgeMeshCount = headers.count;
+                edgeMeshHeaders = headers.SafeAsComputeBuffer<EdgeMeshHeader>();
+                edgeBihNodes = nodes.SafeAsComputeBuffer<BIHNode>();
+                this.edges = edges.SafeAsComputeBuffer<Edge>();
+                edgeVertices = vertices.SafeAsComputeBuffer<Vector2>();
+            }
+        }
+
+        public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes)
+        {
+            if (distanceFieldCount != headers.count || distanceFieldHeaders == null || !distanceFieldHeaders.IsValid())
+            {
+                distanceFieldCount = headers.count;
+                distanceFieldHeaders = headers.SafeAsComputeBuffer<DistanceFieldHeader>();
+                dfNodes = nodes.SafeAsComputeBuffer<DFNode>();
+            }
+        }
+
+        public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples)
+        {
+            if (heightFieldCount != headers.count || heightFieldHeaders == null || !heightFieldHeaders.IsValid())
+            {
+                heightFieldCount = headers.count;
+                heightFieldHeaders = headers.SafeAsComputeBuffer<HeightFieldHeader>();
+                heightFieldSamples = samples.SafeAsComputeBuffer<float>();
+            }
+        }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+
+                int colliderThreadGroups = ComputeMath.ThreadGroupCount(colliderCount, 128);
+                int capacityThreadGroups = ComputeMath.ThreadGroupCount(colliderCount * 8, 128);
+                int cellThreadGroups = ComputeMath.ThreadGroupCount(maxCells, 128);
+
+                // clear grid:
+                gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsetsBuffer);
+                gridShader.SetBuffer(clearKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(clearKernel, "cellCounts", cellCountsBuffer);
+                gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(clearKernel, Mathf.Max(cellThreadGroups, capacityThreadGroups), 1, 1);
+
+                // build cell list:
+                gridShader.SetBuffer(buildKernel, "aabbs", aabbsBuffer);
+                gridShader.SetBuffer(buildKernel, "shapes", shapesBuffer);
+                gridShader.SetBuffer(buildKernel, "rigidbodies", rigidbodiesBuffer);
+                gridShader.SetBuffer(buildKernel, "collisionMaterials", materialsBuffer);
+                gridShader.SetBuffer(buildKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(buildKernel, "cellCounts", cellCountsBuffer);
+                gridShader.SetBuffer(buildKernel, "offsetInCells", offsetInCells);
+                gridShader.SetBuffer(buildKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(buildKernel, colliderThreadGroups, 1, 1);
+
+                // find populated grid levels:
+                gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+                // prefix sum: 
+                prefixSum.Sum(cellCountsBuffer, cellOffsetsBuffer);
+
+                // sort particle indices:
+                gridShader.SetBuffer(sortKernel, "sortedColliderIndices", sortedColliderIndicesBuffer);
+                gridShader.SetBuffer(sortKernel, "offsetInCells", offsetInCells);
+                gridShader.SetBuffer(sortKernel, "cellIndices", cellIndicesBuffer);
+                gridShader.SetBuffer(sortKernel, "cellOffsets", cellOffsetsBuffer);
+                gridShader.Dispatch(sortKernel, capacityThreadGroups, 1, 1);
+            }
+        }
+
+        public void ApplyForceZones(ComputeSolverImpl solver, float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+                if (solver.activeParticlesBuffer != null && solver.simplices != null && forceZonesBuffer != null)
+                {
+                    gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                    gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                    gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                    gridShader.SetFloat("deltaTime", deltaTime);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "simplices", solver.simplices);
+                    gridShader.SetBuffer(applyForceZonesKernel, "positions", solver.positionsBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "velocities", solver.velocitiesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "colors", solver.colorsBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "invMasses", solver.invMassesBuffer);
+
+                    gridShader.SetBuffer(applyForceZonesKernel, "transforms", transformsBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "forceZones", forceZonesBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "deltasAsInt", solver.positionDeltasIntBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "orientationDeltasAsInt", solver.orientationDeltasIntBuffer);
+                    gridShader.SetBuffer(applyForceZonesKernel, "worldToSolver", solver.worldToSolverBuffer);
+
+                    gridShader.DispatchIndirect(applyForceZonesKernel, dispatchBuffer);
+
+                    int threadGroups = ComputeMath.ThreadGroupCount(solver.activeParticleCount, 128);
+                    gridShader.SetInt("particleCount", solver.activeParticleCount);
+
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "activeParticles", solver.activeParticlesBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "externalForces", solver.externalForcesBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "life", solver.lifeBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "wind", solver.windBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "deltasAsInt", solver.positionDeltasIntBuffer);
+                    gridShader.SetBuffer(writeForceZoneResultsKernel, "orientationDeltasAsInt", solver.orientationDeltasIntBuffer);
+
+                    gridShader.Dispatch(writeForceZoneResultsKernel, threadGroups, 1, 1);
+                }
+            }
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, float deltaTime)
+        {
+            if (colliderCount > 0)
+            {
+                int particleThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                colliderTypeCounts.SetData(colliderCountClear);
+                dispatchBuffer.SetData(dispatchClear);
+
+                if (solver.activeParticlesBuffer != null && solver.simplices != null)
+                {
+                    solver.abstraction.colliderContacts.computeBuffer.SetCounterValue(0);
+
+                    gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                    gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                    gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+
+                    gridShader.SetFloat("colliderCCD", solver.abstraction.parameters.colliderCCD);
+                    gridShader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                    gridShader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                    gridShader.SetInt("mode", (int)solver.abstraction.parameters.mode);
+                    gridShader.SetFloat("deltaTime", deltaTime);
+
+                    gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+                    gridShader.SetBuffer(contactsKernel, "simplexBounds", solver.simplexBounds);
+                    gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+                    gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+                    gridShader.SetBuffer(contactsKernel, "sortedColliderIndices", sortedColliderIndicesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "aabbs", aabbsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "transforms", transformsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "rigidbodies", rigidbodiesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "collisionMaterials", materialsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "collisionMaterialIndices", solver.collisionMaterialIndexBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellIndices", cellIndicesBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellOffsets", cellOffsetsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "cellCounts", cellCountsBuffer);
+                    gridShader.SetBuffer(contactsKernel, "levelPopulation", levelPopulation);
+
+                    gridShader.SetBuffer(contactsKernel, "solverToWorld", solver.solverToWorldBuffer);
+                    gridShader.SetBuffer(contactsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(contactsKernel, "unsortedContactPairs", unsortedContactPairs);
+                    gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.Dispatch(contactsKernel, particleThreadGroups, 1, 1);
+
+                    gridShader.SetBuffer(prefixSumPairsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(prefixSumPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+                    gridShader.SetBuffer(prefixSumPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.Dispatch(prefixSumPairsKernel, 1, 1, 1);
+
+                    gridShader.SetBuffer(sortPairsKernel, "shapes", shapesBuffer);
+                    gridShader.SetBuffer(sortPairsKernel, "unsortedContactPairs", unsortedContactPairs);
+                    gridShader.SetBuffer(sortPairsKernel, "contactPairs", contactPairs);
+                    gridShader.SetBuffer(sortPairsKernel, "colliderTypeCounts", colliderTypeCounts);
+                    gridShader.SetBuffer(sortPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+                    gridShader.SetBuffer(sortPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+                    gridShader.DispatchIndirect(sortPairsKernel, dispatchBuffer, 16);
+
+                    boxes.GenerateContacts(solver, this);
+                    spheres.GenerateContacts(solver, this);
+                    capsules.GenerateContacts(solver, this);
+                    triangleMeshes.GenerateContacts(solver, this, deltaTime);
+                    edgeMeshes.GenerateContacts(solver, this, deltaTime);
+                    distanceFields.GenerateContacts(solver, this, deltaTime);
+                    heightFields.GenerateContacts(solver, this, deltaTime);
+                }
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta
new file mode 100644
index 000000000..54b57c22d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ce0ddc77554954cd78643d83b0505396
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs
new file mode 100644
index 000000000..2c6214afa
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs
@@ -0,0 +1,50 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceField
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeDistanceField()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DistanceFieldShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.distanceFieldHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "distanceFieldHeaders", world.distanceFieldHeaders);
+                shader.SetBuffer(kernel, "dfNodes", world.dfNodes);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.SignedDistanceField);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta
new file mode 100644
index 000000000..578a29d2d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e43826d84a91b447c88f6d65a6e329ac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs
new file mode 100644
index 000000000..c36045c54
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeEdgeMesh
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeEdgeMesh()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/EdgeMeshShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.edgeMeshHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "edgeMeshHeaders", world.edgeMeshHeaders);
+                shader.SetBuffer(kernel, "edgeBihNodes", world.edgeBihNodes);
+                shader.SetBuffer(kernel, "edges", world.edges);
+                shader.SetBuffer(kernel, "edgeVertices", world.edgeVertices);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.EdgeMesh);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta
new file mode 100644
index 000000000..a2552e67d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeEdgeMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6191dad6170694a7c8f9eca0cd733e7a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs
new file mode 100644
index 000000000..2e8cd1442
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs
@@ -0,0 +1,51 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeHeightField
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeHeightField()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/HeightfieldShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.heightFieldHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "heightFieldHeaders", world.heightFieldHeaders);
+                shader.SetBuffer(kernel, "heightFieldSamples", world.heightFieldSamples);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Heightmap);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta
new file mode 100644
index 000000000..f97c873ae
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeHeightField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c209374faec0f47adacedb911e8582fd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs
new file mode 100644
index 000000000..aa4a272ae
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSphere
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeSphere()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SphereShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+            shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.Sphere); 
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta
new file mode 100644
index 000000000..3a907d4a4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeSphere.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8994093c1331f405b92c10a6401791d3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs
new file mode 100644
index 000000000..5dd29a772
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTriangleMesh
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeTriangleMesh()
+        { 
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/TriangleMeshShape"));
+            kernel = shader.FindKernel("GenerateContacts");
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver, ComputeColliderWorld world, float deltaTime)
+        {
+            if (world.triangleMeshHeaders != null)
+            {
+                shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+                shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+                shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+                shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                shader.SetFloat("deltaTime", deltaTime);
+
+                shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+                shader.SetBuffer(kernel, "simplices", solver.simplices);
+                shader.SetBuffer(kernel, "simplexBounds", solver.simplexBounds);
+                shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+                shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+                shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+                shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+                shader.SetBuffer(kernel, "transforms", world.transformsBuffer);
+                shader.SetBuffer(kernel, "shapes", world.shapesBuffer);
+                shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+                shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+                shader.SetBuffer(kernel, "contacts", solver.abstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+
+                shader.SetBuffer(kernel, "triangleMeshHeaders", world.triangleMeshHeaders);
+                shader.SetBuffer(kernel, "bihNodes", world.bihNodes);
+                shader.SetBuffer(kernel, "triangles", world.triangles);
+                shader.SetBuffer(kernel, "vertices", world.vertices);
+
+                shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)Oni.ShapeType.TriangleMesh);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta
new file mode 100644
index 000000000..5de323c83
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/ComputeTriangleMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f52cda7e406964ef4bf980e6ff1f91ec
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs
new file mode 100644
index 000000000..2f93cc574
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs
@@ -0,0 +1,245 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class SpatialQueries
+    {
+        private ComputePrefixSum prefixSum;
+
+        private ComputeShader gridShader;
+        private int buildKernel;
+        private int gridPopulationKernel;
+        private int sortKernel;
+        private int contactsKernel;
+        private int clearKernel;
+        private int prefixSumPairsKernel;
+        private int sortPairsKernel;
+
+        public GraphicsBuffer sortedShapeIndicesBuffer;
+
+        public GraphicsBuffer cellIndicesBuffer;     //for each collider, the IDs of the 8 cells it covers.
+        public GraphicsBuffer cellOffsetsBuffer;     //for each cell, start offset in the sorted span indices buffer.
+
+        public GraphicsBuffer cellCountsBuffer;      // for each cell, how many colliders in it.
+        public GraphicsBuffer offsetInCells; // for each collider, its offset in each of the 8 cells.
+        public GraphicsBuffer levelPopulation;      // buffer storing the lowest and highest populated level.
+
+        private GraphicsBuffer queryTypeCounts;   // amount of contacts against each collider type.
+        public GraphicsBuffer unsortedContactPairs;  // unsorted contact pairs.
+        public GraphicsBuffer contactPairs;          // list of contact pairs.
+        public GraphicsBuffer contactOffsetsPerType; // offset in the contact pairs array for each collider type.
+
+        public GraphicsBuffer dispatchBuffer;        // dispatch info for iterating trough contacts.
+
+        private const int maxCells = 512 * 512;
+        private const int cellsPerShape = 8;
+        private const int maxGridLevels = 24;
+        private uint[] queryCountClear = new uint[Oni.QueryTypeCount];
+        private uint[] dispatchClear = { 0, 1, 1, 0, // contacts
+                                         0, 1, 1, 0, // pairs
+                                         0, 1, 1, 0, // spheres
+                                         0, 1, 1, 0, // boxes
+                                         0, 1, 1, 0 // rays
+                                        };
+
+        private ComputeSphereQuery spheres;
+        private ComputeBoxQuery boxes;
+        private ComputeRayQuery rays;
+
+        public SpatialQueries(uint capacity)
+        {
+            gridShader = Resources.Load<ComputeShader>("Compute/SpatialQueries");
+            buildKernel = gridShader.FindKernel("BuildUnsortedList");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortKernel = gridShader.FindKernel("SortList");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+            clearKernel = gridShader.FindKernel("Clear");
+            prefixSumPairsKernel = gridShader.FindKernel("PrefixSumColliderCounts");
+            sortPairsKernel = gridShader.FindKernel("SortContactPairs");
+
+            gridShader.SetInt("shapeTypeCount", Oni.QueryTypeCount);
+            gridShader.SetInt("cellsPerShape", cellsPerShape);
+            gridShader.SetInt("maxCells", (int)maxCells);
+
+            cellOffsetsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            cellCountsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxCells, 4);
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, dispatchClear.Length, sizeof(uint));
+
+            queryTypeCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.QueryTypeCount, 4);
+            contactOffsetsPerType = new GraphicsBuffer(GraphicsBuffer.Target.Structured, Oni.QueryTypeCount + 1, 4);
+
+            prefixSum = new ComputePrefixSum(maxCells);
+            spheres = new ComputeSphereQuery();
+            boxes = new ComputeBoxQuery();
+            rays = new ComputeRayQuery();
+
+            SetCapacity(capacity); 
+        }
+
+        public void Dispose()
+        {
+            prefixSum?.Dispose();
+
+            cellOffsetsBuffer?.Dispose();
+            cellCountsBuffer?.Dispose();
+            levelPopulation?.Dispose();
+            dispatchBuffer?.Dispose();
+
+            queryTypeCounts?.Dispose();
+            contactOffsetsPerType?.Dispose();
+
+            DisposeOfResultsData();
+            DisposeOfQueryData();
+        }
+
+        private void DisposeOfResultsData()
+        {
+            contactPairs?.Dispose();
+            unsortedContactPairs?.Dispose();
+        }
+
+        private void DisposeOfQueryData()
+        {
+            cellIndicesBuffer?.Dispose();
+            offsetInCells?.Dispose();
+            sortedShapeIndicesBuffer?.Dispose();
+        }
+
+        private void SetCapacity(uint capacity)
+        {
+            DisposeOfResultsData();
+
+            gridShader.SetInt("maxResults", (int)capacity);
+
+            if (capacity > 0)
+            {
+                unsortedContactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)capacity, 8);
+                contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)capacity, 8);
+            }
+        }
+
+        public void SpatialQuery(ComputeSolverImpl solver,
+                                 GraphicsBuffer shapes,
+                                 GraphicsBuffer transforms,
+                                 GraphicsBuffer results)
+        {
+            results.SetCounterValue(0);
+
+            if (solver.activeParticlesBuffer == null || solver.simplices == null)
+                return;
+
+            // If the maximum amount of query results has changed, set capacity:
+            if (contactPairs == null || !contactPairs.IsValid() || contactPairs.count != solver.abstraction.maxQueryResults)
+                SetCapacity(solver.abstraction.maxQueryResults);
+
+            // In case we still have zero capacity, just bail out.
+            if (contactPairs == null || !contactPairs.IsValid())
+                return;
+
+            // Check whether we need to reallocate space for queries:
+            if (cellIndicesBuffer == null || !cellIndicesBuffer.IsValid() || shapes.count * cellsPerShape >= cellIndicesBuffer.count)
+            {
+                DisposeOfQueryData();
+
+                cellIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+                offsetInCells = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+                sortedShapeIndicesBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, shapes.count * cellsPerShape * 2, 4);
+            }
+
+            gridShader.SetInt("queryCount", shapes.count);
+
+            int particleThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+            int shapeThreadGroups = ComputeMath.ThreadGroupCount(shapes.count, 128);
+            int capacityThreadGroups = ComputeMath.ThreadGroupCount(shapes.count * 8, 128);
+            int cellThreadGroups = ComputeMath.ThreadGroupCount(maxCells, 128);
+
+            queryTypeCounts.SetData(queryCountClear);
+            dispatchBuffer.SetData(dispatchClear);
+
+            // clear grid:
+            gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.SetBuffer(clearKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(clearKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+            gridShader.Dispatch(clearKernel, Mathf.Max(cellThreadGroups, capacityThreadGroups), 1, 1);
+
+            // build cell list:
+            gridShader.SetBuffer(buildKernel, "shapes", shapes);
+            gridShader.SetBuffer(buildKernel, "transforms", transforms);
+            gridShader.SetBuffer(buildKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(buildKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(buildKernel, "offsetInCells", offsetInCells);
+            gridShader.SetBuffer(buildKernel, "levelPopulation", levelPopulation);
+            gridShader.SetBuffer(buildKernel, "worldToSolver", solver.worldToSolverBuffer);
+            gridShader.Dispatch(buildKernel, shapeThreadGroups, 1, 1);
+
+            // find populated grid levels:
+            gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+            gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+            // prefix sum: 
+            prefixSum.Sum(cellCountsBuffer, cellOffsetsBuffer);
+
+            // sort query indices:
+            gridShader.SetBuffer(sortKernel, "sortedColliderIndices", sortedShapeIndicesBuffer);
+            gridShader.SetBuffer(sortKernel, "offsetInCells", offsetInCells);
+            gridShader.SetBuffer(sortKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(sortKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.Dispatch(sortKernel, capacityThreadGroups, 1, 1);
+
+
+            gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            gridShader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            gridShader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            gridShader.SetInt("mode", (int)solver.abstraction.parameters.mode);
+
+            gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+            gridShader.SetBuffer(contactsKernel, "simplexBounds", solver.simplexBounds);
+            gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+            gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+            gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+            gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+            gridShader.SetBuffer(contactsKernel, "sortedColliderIndices", sortedShapeIndicesBuffer);
+            gridShader.SetBuffer(contactsKernel, "transforms", transforms);
+            gridShader.SetBuffer(contactsKernel, "shapes", shapes);
+            gridShader.SetBuffer(contactsKernel, "collisionMaterialIndices", solver.collisionMaterialIndexBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellIndices", cellIndicesBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellOffsets", cellOffsetsBuffer);
+            gridShader.SetBuffer(contactsKernel, "cellCounts", cellCountsBuffer);
+            gridShader.SetBuffer(contactsKernel, "levelPopulation", levelPopulation);
+
+            gridShader.SetBuffer(contactsKernel, "solverToWorld", solver.solverToWorldBuffer);
+            gridShader.SetBuffer(contactsKernel, "worldToSolver", solver.worldToSolverBuffer);
+            gridShader.SetBuffer(contactsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(contactsKernel, "unsortedContactPairs", unsortedContactPairs);
+            gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.Dispatch(contactsKernel, particleThreadGroups, 1, 1);
+
+            gridShader.SetBuffer(prefixSumPairsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(prefixSumPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+            gridShader.SetBuffer(prefixSumPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.Dispatch(prefixSumPairsKernel, 1, 1, 1);
+
+            gridShader.SetBuffer(sortPairsKernel, "shapes", shapes);
+            gridShader.SetBuffer(sortPairsKernel, "unsortedContactPairs", unsortedContactPairs);
+            gridShader.SetBuffer(sortPairsKernel, "contactPairs", contactPairs);
+            gridShader.SetBuffer(sortPairsKernel, "colliderTypeCounts", queryTypeCounts);
+            gridShader.SetBuffer(sortPairsKernel, "contactOffsetsPerType", contactOffsetsPerType);
+            gridShader.SetBuffer(sortPairsKernel, "dispatchBuffer", dispatchBuffer);
+
+            gridShader.DispatchIndirect(sortPairsKernel, dispatchBuffer, 16);
+
+            boxes.GetResults(solver, this, transforms, shapes, results);
+            spheres.GetResults(solver, this, transforms, shapes, results);
+            rays.GetResults(solver, this, transforms, shapes, results);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta
new file mode 100644
index 000000000..6edfb4372
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Collisions/SpatialQueries.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 01c4905e2f6964e7b91a3262bbd54229
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs
new file mode 100644
index 000000000..4ca52c2c5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs
@@ -0,0 +1,17 @@
+namespace Obi
+{
+    public class ComputeBackend : IObiBackend
+    {
+        #region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new ComputeSolverImpl(solver);
+        }
+        public void DestroySolver(ISolverImpl  solver)
+        {
+            if (solver != null)
+                solver.Destroy();
+        }
+        #endregion
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta
new file mode 100644
index 000000000..af17c5d58
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeBackend.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8c68d8c4a741f459ea53d69f8eddbfef
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs
new file mode 100644
index 000000000..e60292901
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs
@@ -0,0 +1,15 @@
+using System;
+
+namespace Obi
+{
+    public class ComputeJobHandle : IObiJobHandle
+    {
+        public void Complete()
+        {
+        }
+
+        public void Release()
+        {
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta
new file mode 100644
index 000000000..0b145fa5d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeJobHandle.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4dc5d7005f3f2458bbdc5c1756153cac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs
new file mode 100644
index 000000000..7ec820cbd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs
@@ -0,0 +1,16 @@
+
+namespace Obi
+{
+    public static class ComputeMath
+    {
+        public static int ThreadGroupCount(int elements, int numThreads)
+        {
+            return elements / numThreads + 1;
+        }
+
+        public static int NextMultiple(int baseNumber, int number)
+        {
+            return ((baseNumber / number) + 1) * number;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta
new file mode 100644
index 000000000..62890efdd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/ComputeMath.cs.meta
@@ -0,0 +1,11 @@
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+guid: d0df3a211b1614ebbb0f5144e868546e
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+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta
index 6443434bf..d57b2cf13 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 97b02df45f4844e32a90f2f5d93de422
+guid: 0040fe7f7368047d29f179b7d7bf4d1a
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta
index f3e2fd42e..783357514 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: ac58d86bbc15740a98fd45e796e43034
+guid: 5b92b6684fbd249cd9732bf9b3303e03
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs
new file mode 100644
index 000000000..9d3c6b7e8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs
@@ -0,0 +1,30 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeAerodynamicConstraints : ComputeConstraintsImpl<ComputeAerodynamicConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+
+        public ComputeAerodynamicConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Aerodynamics)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/AerodynamicConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeAerodynamicConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeAerodynamicConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta
new file mode 100644
index 000000000..ec3d6752e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5bb44136361b4a2d948bf85825e53b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs
new file mode 100644
index 000000000..a5f725462
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs
@@ -0,0 +1,52 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeAerodynamicConstraintsBatch : ComputeConstraintsBatchImpl, IAerodynamicConstraintsBatchImpl
+    {
+        GraphicsBuffer aerodynamicCoeffs;
+
+        public ComputeAerodynamicConstraintsBatch(ComputeAerodynamicConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Aerodynamics;
+        }
+
+        public void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.aerodynamicCoeffs = aerodynamicCoeffs.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeAerodynamicConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeAerodynamicConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "aerodynamicCoeffs", aerodynamicCoeffs);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "normals", solverImplementation.normalsBuffer);
+                shader.SetBuffer(projectKernel, "wind", solverImplementation.windBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "velocities", solverImplementation.velocitiesBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 000000000..d19b18bc4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Aerodynamics/ComputeAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 84f8c85144ba84d59bdf603d907ae5fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta
index be125343c..d595c99fa 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 64ac30003117243aba84fc4298f84eb7
+guid: d16c953a082614e88bd02d0f99035c3a
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs
new file mode 100644
index 000000000..29de0b6fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendConstraints : ComputeConstraintsImpl<ComputeBendConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeBendConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Bending)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BendConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeBendConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeBendConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta
new file mode 100644
index 000000000..cca007683
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ac9c52f073f794c47a6cbb7b41cf023c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs
new file mode 100644
index 000000000..7c0f7da7b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs
@@ -0,0 +1,75 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendConstraintsBatch : ComputeConstraintsBatchImpl, IBendConstraintsBatchImpl
+    {
+        GraphicsBuffer restBends;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeBendConstraintsBatch(ComputeBendConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Bending;
+        }
+
+        public void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.restBends = restBends.AsComputeBuffer<float>();
+            this.stiffnesses = bendingStiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeBendConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeBendConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "restBends", restBends);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float deltaTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeBendConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeBendConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta
new file mode 100644
index 000000000..3c5bc0d66
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Bend/ComputeBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 49d201b7a15f44e17b27019b972e9844
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta
index 761171833..230c84ffb 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: cdbe2ed97af924bb9ba78bac0fc122c7
+guid: 253f34729aa7d4bbabe8eca30fdb88af
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs
new file mode 100644
index 000000000..3d51f9465
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendTwistConstraints : ComputeConstraintsImpl<ComputeBendTwistConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeBendTwistConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.BendTwist)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BendTwistConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeBendTwistConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeBendTwistConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta
new file mode 100644
index 000000000..1ca860429
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 442edc2bc0aec4bf181b4332f0c8dd46
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs
new file mode 100644
index 000000000..3efed6f5f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs
@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBendTwistConstraintsBatch : ComputeConstraintsBatchImpl, IBendTwistConstraintsBatchImpl
+    {
+        GraphicsBuffer orientationIndices;
+        GraphicsBuffer restDarboux;
+        GraphicsBuffer stiffnesses;
+        GraphicsBuffer plasticity;
+
+        public ComputeBendTwistConstraintsBatch(ComputeBendTwistConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.BendTwist;
+        }
+
+        public void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restDarboux, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
+        {
+            this.orientationIndices = orientationIndices.AsComputeBuffer<int>();
+            this.restDarboux = restDarboux.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector3>();
+            this.plasticity = plasticity.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeBendTwistConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeBendTwistConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(projectKernel, "restDarboux", restDarboux);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "plasticity", plasticity);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeBendTwistConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeBendTwistConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 000000000..10707e48a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/BendTwist/ComputeBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f5806beebf896460d87156df3e045b57
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta
index 976f69717..e9b29a821 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 1a6c548d46acc4e88a31b3bf6b0a9ea8
+guid: 06d157d45e7fd46f08b501d67d3d632b
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs
new file mode 100644
index 000000000..354112192
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeChainConstraints : ComputeConstraintsImpl<ComputeChainConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeChainConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ChainConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeChainConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeChainConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta
new file mode 100644
index 000000000..923342584
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c28cd2bd740f4bebb4c8559b395ed0e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs
new file mode 100644
index 000000000..2009f6ac9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs
@@ -0,0 +1,97 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeChainConstraintsBatch : ComputeConstraintsBatchImpl, IChainConstraintsBatchImpl
+    {
+        GraphicsBuffer firstIndex;
+        GraphicsBuffer numIndices;
+        GraphicsBuffer restLengths;
+
+        GraphicsBuffer ni;
+        GraphicsBuffer diagonals;
+
+        public ComputeChainConstraintsBatch(ComputeChainConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Chain;
+        }
+
+        public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndex, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.firstIndex = firstIndex.AsComputeBuffer<int>();
+            this.numIndices = numIndex.AsComputeBuffer<int>();
+            this.restLengths = restLengths.AsComputeBuffer<Vector2>();
+
+            int numEdges = 0;
+            for (int i = 0; i < numIndex.count; ++i)
+                numEdges += numIndex[i] - 1;
+
+            ni = new GraphicsBuffer(GraphicsBuffer.Target.Structured, numEdges, 16);
+            diagonals = new GraphicsBuffer(GraphicsBuffer.Target.Structured, numEdges, 12);
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            ni.Dispose();
+            diagonals.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeChainConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeChainConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "firstIndex", firstIndex);
+                shader.SetBuffer(projectKernel, "numIndices", numIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengths);
+
+                shader.SetBuffer(projectKernel, "ni", ni);
+                shader.SetBuffer(projectKernel, "diagonals", diagonals);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeChainConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeChainConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "firstIndex", firstIndex);
+                shader.SetBuffer(applyKernel, "numIndices", numIndices);
+
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta
new file mode 100644
index 000000000..e659564bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Chain/ComputeChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5d067c1d8b1e94c51bbb85f0f81754ad
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta
new file mode 100644
index 000000000..2da8691e7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ff5938de5299c42278caf6e3181426ed
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+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs
new file mode 100644
index 000000000..9b0515e2a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs
@@ -0,0 +1,36 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderCollisionConstraints : ComputeConstraintsImpl<ComputeColliderCollisionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int clearKernel;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeColliderCollisionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderCollisionConstraints"));
+            clearKernel = constraintsShader.FindKernel("Clear");
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeColliderCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeColliderCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta
new file mode 100644
index 000000000..9aa02e508
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1a86d11bb25f6409a95e22186e98474c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs
new file mode 100644
index 000000000..a0b598f82
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs
@@ -0,0 +1,126 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+
+        public ComputeColliderCollisionConstraintsBatch(ComputeColliderCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Collision;
+        }
+
+        public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+                int initializeKernel = ((ComputeColliderCollisionConstraints)m_Constraints).initializeKernel;
+                int clearKernel = ((ComputeColliderCollisionConstraints)m_Constraints).clearKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(clearKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(clearKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+
+                shader.SetBuffer(initializeKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(initializeKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
+                shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer); 
+                shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(initializeKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(initializeKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(clearKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.DispatchIndirect(initializeKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeColliderCollisionConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", this.solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+                shader.SetFloat("maxDepenetration", solverAbstraction.parameters.maxDepenetration);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeColliderCollisionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeColliderCollisionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..aea17db9b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d33af332861d148229253e82497aa0df
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs
new file mode 100644
index 000000000..1aeff4016
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderFrictionConstraints : ComputeConstraintsImpl<ComputeColliderFrictionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeColliderFrictionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ColliderFrictionConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeColliderFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeColliderFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta
new file mode 100644
index 000000000..5bf1233ad
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b15312c6313124df298754c7654b62bc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs
new file mode 100644
index 000000000..a144d81e9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs
@@ -0,0 +1,86 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeColliderFrictionConstraintsBatch : ComputeConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+
+        public ComputeColliderFrictionConstraintsBatch(ComputeColliderFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Friction;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverAbstraction.simplexCounts.simplexCount > 0 && solverImplementation.colliderGrid.colliderCount > 0)
+            {
+                var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeColliderFrictionConstraints)m_Constraints).projectKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(projectKernel, "contacts", solverAbstraction.colliderContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.contactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.colliderGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "solverToWorld", solverImplementation.solverToWorldBuffer);
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.colliderGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeColliderFrictionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeColliderFrictionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "RW_orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..2950234a2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ColliderCollision/ComputeColliderFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 24cfbad987ca74ec696ec132558f6103
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs
new file mode 100644
index 000000000..f2a168f03
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs
@@ -0,0 +1,82 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public abstract class ComputeConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        protected IComputeConstraintsImpl m_Constraints;
+        protected Oni.ConstraintType m_ConstraintType;
+
+        protected bool m_Enabled = true;
+        protected int m_ConstraintCount = 0;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public bool enabled
+        {
+            set
+            {
+                if (m_Enabled != value)
+                    m_Enabled = value;
+            }
+            get { return m_Enabled; }
+        }
+
+        public IConstraints constraints
+        {
+            get { return m_Constraints; }
+        }
+
+        public ObiSolver solverAbstraction
+        {
+            get { return ((ComputeSolverImpl)m_Constraints.solver).abstraction; }
+        }
+
+        public ComputeSolverImpl solverImplementation
+        {
+            get { return (ComputeSolverImpl)m_Constraints.solver; }
+        }
+
+        protected GraphicsBuffer particleIndices;
+        protected GraphicsBuffer lambdas;
+
+        protected ObiNativeFloatList lambdasList;
+
+        public virtual void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (lambdasList != null)
+            {
+                lambdasList.WipeToZero();
+                lambdasList.Upload();
+            }
+        }
+
+        // implemented by concrete constraint subclasses.
+        public abstract void Evaluate(float stepTime, float substepTime, int steps, float timeLeft);
+        public abstract void Apply(float substepTime);
+
+        public ComputeConstraintsBatchImpl() { }
+
+        public virtual void Destroy()
+        {
+            // clean resources allocated by the batch, no need for a default implementation.
+        }
+
+        public void SetDependency(IConstraintsBatchImpl batch)
+        {
+            // no need to implement.
+        }
+
+        public void SetConstraintCount(int constraintCount)
+        {
+            m_ConstraintCount = constraintCount;
+        }
+        public int GetConstraintCount()
+        {
+            return m_ConstraintCount;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..d6da30fdb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 01e582f7ad8544beca43dac2f3af8b37
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs
new file mode 100644
index 000000000..e58340325
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs
@@ -0,0 +1,126 @@
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IComputeConstraintsImpl : IConstraints
+    {
+        void Initialize(float stepTime, float substepTime, int steps, float timeLeft);
+        void Project(float stepTime, float substepTime, int substeps, float timeLeft);
+        void Dispose();
+
+        IConstraintsBatchImpl CreateConstraintsBatch();
+        void RemoveBatch(IConstraintsBatchImpl batch);
+    }
+
+    public abstract class ComputeConstraintsImpl<T> : IComputeConstraintsImpl where T : ComputeConstraintsBatchImpl
+    {
+        protected ComputeSolverImpl m_Solver;
+        public List<T> batches = new List<T>();
+
+        protected Oni.ConstraintType m_ConstraintType;
+
+        public Oni.ConstraintType constraintType
+        {
+            get { return m_ConstraintType; }
+        }
+
+        public ISolverImpl solver
+        {
+            get { return m_Solver; }
+        }
+
+        public ComputeConstraintsImpl(ComputeSolverImpl solver, Oni.ConstraintType constraintType)
+        {
+            this.m_ConstraintType = constraintType;
+            this.m_Solver = solver;
+        }
+
+        public virtual void Dispose()
+        {
+
+        }
+
+        public abstract IConstraintsBatchImpl CreateConstraintsBatch();
+
+        public abstract void RemoveBatch(IConstraintsBatchImpl batch);
+
+        public virtual int GetConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.GetConstraintCount();
+
+            return count;
+        }
+
+        public void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // initialize all batches in parallel:
+            if (batches.Count > 0)
+            {
+                for (int i = 0; i < batches.Count; ++i)
+                    if (batches[i].enabled) batches[i].Initialize(stepTime, substepTime, steps, timeLeft);
+            }
+
+        }
+
+        public void Project(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            UnityEngine.Profiling.Profiler.BeginSample("Project");
+
+            var parameters = m_Solver.abstraction.GetConstraintParameters(m_ConstraintType);
+
+            switch(parameters.evaluationOrder)
+            {
+                case Oni.ConstraintParameters.EvaluationOrder.Sequential:
+                    EvaluateSequential(stepTime, substepTime, substeps, timeLeft);
+                break;
+
+                case Oni.ConstraintParameters.EvaluationOrder.Parallel:
+                    EvaluateParallel(stepTime, substepTime, substeps, timeLeft);
+                break;
+            }
+
+            UnityEngine.Profiling.Profiler.EndSample();
+            
+        }
+
+        protected virtual void EvaluateSequential(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            // evaluate and apply all batches:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    batches[i].Evaluate(stepTime, substepTime, substeps, timeLeft);
+                    batches[i].Apply(substepTime);
+                }
+            }
+        }
+
+        protected virtual void EvaluateParallel(float stepTime, float substepTime, int substeps, float timeLeft)
+        {
+            // evaluate all batches:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    batches[i].Evaluate(stepTime, substepTime, substeps, timeLeft);
+                }
+
+            // then apply them:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    batches[i].Apply(substepTime);
+                }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta
new file mode 100644
index 000000000..f703dbebb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ComputeConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 36bc3e2333033489782d3f9f7781f967
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta
new file mode 100644
index 000000000..afcb33290
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e6f9b81a4e3934d66a7268e686756750
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs
new file mode 100644
index 000000000..5091b97f0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs
@@ -0,0 +1,187 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDensityConstraints : ComputeConstraintsImpl<ComputeDensityConstraintsBatch>
+    {
+        public ComputeShader sortParticlesShader;
+        public int sortDataKernel;
+
+        public ComputeShader constraintsShader;
+        public int updateDensitiesKernel;
+        public int applyKernel;
+        public int applyPositionDeltaKernel;
+        public int calculateAtmosphereKernel;
+        public int applyAtmosphereKernel;
+
+        public int accumSmoothPositionsKernel;
+        public int accumAnisotropyKernel;
+        public int averageAnisotropyKernel;
+
+        public ComputeDensityConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Density)
+        {
+            sortParticlesShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SortParticleData"));
+            sortDataKernel = sortParticlesShader.FindKernel("SortData");
+
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DensityConstraints"));
+            updateDensitiesKernel = constraintsShader.FindKernel("UpdateDensities");
+            applyKernel = constraintsShader.FindKernel("Apply");
+            applyPositionDeltaKernel = constraintsShader.FindKernel("ApplyPositionDeltas");
+            calculateAtmosphereKernel = constraintsShader.FindKernel("CalculateAtmosphere");
+            applyAtmosphereKernel = constraintsShader.FindKernel("ApplyAtmosphere");
+
+            accumSmoothPositionsKernel = constraintsShader.FindKernel("AccumulateSmoothPositions");
+            accumAnisotropyKernel = constraintsShader.FindKernel("AccumulateAnisotropy");
+            averageAnisotropyKernel = constraintsShader.FindKernel("AverageAnisotropy");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeDensityConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeDensityConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void CopyDataInSortedOrder(bool renderable = false)
+        {
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+
+            if (renderable)
+            {
+                sortParticlesShader.SetBuffer(sortDataKernel, "positions", m_Solver.renderablePositionsBuffer);
+                sortParticlesShader.SetBuffer(sortDataKernel, "principalRadii", m_Solver.renderableRadiiBuffer);
+            }
+            else
+            {
+                sortParticlesShader.SetBuffer(sortDataKernel, "positions", m_Solver.positionsBuffer);
+                sortParticlesShader.SetBuffer(sortDataKernel, "principalRadii", m_Solver.principalRadiiBuffer);
+            }
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "prevPositions", m_Solver.prevPositionsBuffer);
+            sortParticlesShader.SetBuffer(sortDataKernel, "userData", m_Solver.userDataBuffer);
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPositions", m_Solver.particleGrid.sortedPositions);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedPrevPositions", m_Solver.particleGrid.sortedPrevPosOrientations);
+            sortParticlesShader.SetBuffer(sortDataKernel, "sortedUserData", m_Solver.particleGrid.sortedUserDataColor);
+
+            sortParticlesShader.SetBuffer(sortDataKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+            sortParticlesShader.DispatchIndirect(sortDataKernel, m_Solver.fluidDispatchBuffer);
+        }
+
+        public void CalculateVelocityCorrections(float deltaTime)
+        {
+            if (m_Solver.particleGrid.sortedFluidIndices != null && m_Solver.cellCoordsBuffer != null)
+            {
+                constraintsShader.SetFloat("deltaTime", deltaTime);
+
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "invMasses", m_Solver.invMassesBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "velocities_RO", m_Solver.velocitiesBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "angularVelocities_RO", m_Solver.angularVelocitiesBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "vorticity_RO", m_Solver.restOrientationsBuffer); // restOrientations are unused for fluid particles, so we reuse them here.
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "vorticityAccelerations", m_Solver.orientationDeltasIntBuffer); // restPositions are unused for fluid particles, so we reuse them here.
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "linearAccelerations", m_Solver.positionDeltasIntBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "angularDiffusion", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "linearFromAngular", m_Solver.restPositionsBuffer); 
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "normals", m_Solver.normalsBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "userData", m_Solver.userDataBuffer);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedPositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedFluidData_RO", m_Solver.particleGrid.sortedFluidData);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedFluidInterface", m_Solver.particleGrid.sortedFluidInterface);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "sortedUserData", m_Solver.particleGrid.sortedUserDataColor);
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "fluidData", m_Solver.fluidDataBuffer);                         
+                constraintsShader.SetBuffer(calculateAtmosphereKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+
+                constraintsShader.DispatchIndirect(calculateAtmosphereKernel, m_Solver.fluidDispatchBuffer);
+            }
+        }
+
+        public void ApplyVelocityCorrections(float deltaTime)
+        {
+            if (m_Solver.particleGrid.sortedFluidIndices != null && m_Solver.cellCoordsBuffer != null)
+            {
+                constraintsShader.SetFloat("deltaTime", deltaTime);
+
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "positions", m_Solver.positionsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "prevPositions", m_Solver.prevPositionsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "wind", m_Solver.windBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "normals_RO", m_Solver.normalsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "fluidMaterials2", m_Solver.fluidMaterials2Buffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedFluidInterface", m_Solver.particleGrid.sortedFluidInterface);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "fluidData_RO", m_Solver.fluidDataBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "linearAccelerations", m_Solver.positionDeltasIntBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "angularDiffusion", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "vorticity", m_Solver.restOrientationsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "vorticityAccelerations", m_Solver.orientationDeltasIntBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "linearFromAngular_RO", m_Solver.restPositionsBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "velocities", m_Solver.velocitiesBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "angularVelocities", m_Solver.angularVelocitiesBuffer);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+                constraintsShader.SetBuffer(applyAtmosphereKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+
+                constraintsShader.DispatchIndirect(applyAtmosphereKernel, m_Solver.fluidDispatchBuffer);
+            }
+        }
+
+        public void CalculateAnisotropyLaplacianSmoothing()
+        {
+            int pcount = ((ComputeSolverImpl)solver).particleCount;
+            if (pcount > 0 && m_Solver.particleGrid.sortedFluidIndices != null && m_Solver.cellCoordsBuffer != null)
+            {
+                if (m_Solver.abstraction.parameters.maxAnisotropy <= 1)
+                    return;
+
+                constraintsShader.SetFloat("maxAnisotropy", m_Solver.abstraction.parameters.maxAnisotropy);
+                constraintsShader.SetInt("simplexCount", m_Solver.simplexCounts.simplexCount);
+
+                // copy render data (renderablePositions / radii) in sorted order:
+                CopyDataInSortedOrder(true);
+
+                // accumulate smoothed positions:
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "renderablePositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(accumSmoothPositionsKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.DispatchIndirect(accumSmoothPositionsKernel, m_Solver.fluidDispatchBuffer);
+
+                // accumulate anisotropy:
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "neighborCounts", m_Solver.particleGrid.neighborCounts);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "neighbors", m_Solver.particleGrid.neighbors);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "renderablePositions", m_Solver.particleGrid.sortedPositions);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "sortedFluidMaterials", m_Solver.particleGrid.sortedFluidMaterials);
+                constraintsShader.SetBuffer(accumAnisotropyKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.DispatchIndirect(accumAnisotropyKernel, m_Solver.fluidDispatchBuffer);
+
+                // average anisotropies:
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "sortedToOriginal", m_Solver.particleGrid.sortedFluidIndices);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "anisotropies", m_Solver.anisotropiesBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderablePositions", m_Solver.renderablePositionsBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderableOrientations", m_Solver.renderableOrientationsBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "renderableRadii", m_Solver.renderableRadiiBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "sortedPrincipalRadii", m_Solver.particleGrid.sortedPrincipalRadii);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "fluidData", m_Solver.fluidDataBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "dispatchBuffer", m_Solver.fluidDispatchBuffer);
+                constraintsShader.SetBuffer(averageAnisotropyKernel, "life", m_Solver.lifeBuffer);
+                constraintsShader.DispatchIndirect(averageAnisotropyKernel, m_Solver.fluidDispatchBuffer);
+            }
+
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta
new file mode 100644
index 000000000..181e12e45
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8e1927f3839c94d8e806b2ba446e2797
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs
new file mode 100644
index 000000000..bd0ebab47
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs
@@ -0,0 +1,93 @@
+
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDensityConstraintsBatch : ComputeConstraintsBatchImpl, IDensityConstraintsBatchImpl
+    {
+
+        public ComputeDensityConstraintsBatch(ComputeDensityConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Density;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverImplementation.particleGrid.sortedFluidIndices != null && solverImplementation.cellCoordsBuffer != null)
+            {
+                var shader = ((ComputeDensityConstraints)m_Constraints).constraintsShader;
+                int densitiesKernel = ((ComputeDensityConstraints)m_Constraints).updateDensitiesKernel;
+
+                // Need to do this at least every simulation step, since fluid meshing reuses sorted arrays. 
+                ((ComputeDensityConstraints)m_Constraints).CopyDataInSortedOrder();
+
+                shader.SetInt("maxNeighbors", solverImplementation.particleGrid.maxParticleNeighbors);
+                shader.SetInt("mode", (int)solverImplementation.abstraction.parameters.mode);
+                shader.SetFloat("deltaTime", substepTime);
+                shader.SetVector("diffusionMask", solverAbstraction.parameters.diffusionMask);
+
+                // calculate densities:
+                shader.SetBuffer(densitiesKernel, "neighborCounts", this.solverImplementation.particleGrid.neighborCounts);
+                shader.SetBuffer(densitiesKernel, "neighbors", this.solverImplementation.particleGrid.neighbors);
+
+                shader.SetBuffer(densitiesKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(densitiesKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidData);
+                shader.SetBuffer(densitiesKernel, "sortedPositions", solverImplementation.particleGrid.sortedPositions);
+                shader.SetBuffer(densitiesKernel, "sortedPrevPositions", solverImplementation.particleGrid.sortedPrevPosOrientations);
+                shader.SetBuffer(densitiesKernel, "sortedFluidMaterials", solverImplementation.particleGrid.sortedFluidMaterials);
+                shader.SetBuffer(densitiesKernel, "sortedPrincipalRadii", solverImplementation.particleGrid.sortedPrincipalRadii);
+                shader.SetBuffer(densitiesKernel, "renderableOrientations", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(densitiesKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(densitiesKernel, "massCenters", solverImplementation.normalsBuffer);
+                shader.SetBuffer(densitiesKernel, "prevMassCenters", solverImplementation.renderablePositionsBuffer);
+                shader.SetBuffer(densitiesKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(densitiesKernel, solverImplementation.fluidDispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (solverImplementation.particleGrid.sortedFluidIndices != null && solverImplementation.cellCoordsBuffer != null)
+            {
+                var shader = ((ComputeDensityConstraints)m_Constraints).constraintsShader;
+                var applyPositionDeltaKernel = ((ComputeDensityConstraints)m_Constraints).applyPositionDeltaKernel;
+                var applyKernel = ((ComputeDensityConstraints)m_Constraints).applyKernel;
+
+                // calculate deltas:
+                shader.SetBuffer(applyKernel, "neighborCounts", this.solverImplementation.particleGrid.neighborCounts);
+                shader.SetBuffer(applyKernel, "neighbors", this.solverImplementation.particleGrid.neighbors);
+
+                shader.SetBuffer(applyKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(applyKernel, "sortedPositions", solverImplementation.particleGrid.sortedPositions);
+                shader.SetBuffer(applyKernel, "sortedPrevPositions", solverImplementation.particleGrid.sortedPrevPosOrientations);
+                shader.SetBuffer(applyKernel, "sortedFluidMaterials", solverImplementation.particleGrid.sortedFluidMaterials);
+                shader.SetBuffer(applyKernel, "sortedPrincipalRadii", solverImplementation.particleGrid.sortedPrincipalRadii);
+                shader.SetBuffer(applyKernel, "renderableOrientations", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(applyKernel, "massCenters", solverImplementation.normalsBuffer);
+                shader.SetBuffer(applyKernel, "prevMassCenters", solverImplementation.renderablePositionsBuffer);
+                shader.SetBuffer(applyKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidData);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "sortedToOriginal", solverImplementation.particleGrid.sortedFluidIndices);
+                shader.SetBuffer(applyKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(applyKernel, solverImplementation.fluidDispatchBuffer);
+
+                // apply position deltas
+                shader.SetBuffer(applyPositionDeltaKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "fluidData", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "sortedFluidData", solverImplementation.particleGrid.sortedFluidData);
+                shader.SetBuffer(applyPositionDeltaKernel, "renderableOrientations", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyPositionDeltaKernel, "sortedToOriginal", solverImplementation.particleGrid.sortedFluidIndices);
+                shader.SetBuffer(applyPositionDeltaKernel, "dispatchBuffer", solverImplementation.fluidDispatchBuffer);
+
+                shader.DispatchIndirect(applyPositionDeltaKernel, solverImplementation.fluidDispatchBuffer);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta
new file mode 100644
index 000000000..144708642
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Density/ComputeDensityConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 277bb45dfcd314cdd8e9d917bcc05955
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta
index 9cf2006c0..6db3da332 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: ffe3dc0008b2b461d80dab10f72f50ee
+guid: beca9bcaa99b64d8188c2ac127314259
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs
new file mode 100644
index 000000000..50c2ab4cc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs
@@ -0,0 +1,44 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceConstraints : ComputeConstraintsImpl<ComputeDistanceConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeDistanceConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DistanceConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeDistanceConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeDistanceConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach (var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta
new file mode 100644
index 000000000..8a98a0c39
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c56c65d479be44432ba437d871d4892d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs
new file mode 100644
index 000000000..0982c29bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs
@@ -0,0 +1,85 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeDistanceConstraintsBatch : ComputeConstraintsBatchImpl, IDistanceConstraintsBatchImpl
+    {
+
+        GraphicsBuffer restLengthsBuffer;
+        GraphicsBuffer stiffnessesBuffer;
+
+        public ComputeDistanceConstraintsBatch(ComputeDistanceConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Distance;
+        }
+
+        public void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.restLengthsBuffer = restLengths.AsComputeBuffer<float>();
+            this.stiffnessesBuffer = stiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeDistanceConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeDistanceConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengthsBuffer);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnessesBuffer);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float deltaTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeDistanceConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeDistanceConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void RequestDataReadback()
+        {
+            lambdasList.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            lambdasList.WaitForReadback();
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta
new file mode 100644
index 000000000..19d57d427
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Distance/ComputeDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e197e97b0c8b94a84bce0a448e62e5fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta
new file mode 100644
index 000000000..3ee25521b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: da310e9f3c6a84350b6e00bda41d8a90
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs
new file mode 100644
index 000000000..9c3d62d6e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs
@@ -0,0 +1,34 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleCollisionConstraints : ComputeConstraintsImpl<ComputeParticleCollisionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeParticleCollisionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleCollision)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleCollisionConstraints"));
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeParticleCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeParticleCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta
new file mode 100644
index 000000000..3049cbd7b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0039bc61ce4bc4aaa952b7bf1463c8b5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs
new file mode 100644
index 000000000..4af5838ed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs
@@ -0,0 +1,112 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleCollisionConstraintsBatch : ComputeConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+
+        public ComputeParticleCollisionConstraintsBatch(ComputeParticleCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleCollision;
+        }
+
+        public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+            int initializeKernel = ((ComputeParticleCollisionConstraints)m_Constraints).initializeKernel;
+
+            if (solverImplementation.simplexCounts.simplexCount > 0)
+            {
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+                shader.SetFloat("shockPropagation", solverAbstraction.parameters.shockPropagation);
+                shader.SetVector("gravity", solverAbstraction.parameters.gravity);
+
+                shader.SetBuffer(initializeKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(initializeKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(initializeKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(initializeKernel, "dispatchBuffer", this.solverImplementation.particleGrid.dispatchBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(initializeKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(initializeKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(initializeKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(initializeKernel, "velocities", solverImplementation.velocitiesBuffer);
+                shader.SetBuffer(initializeKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(initializeKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(initializeKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(initializeKernel, "invRotationalMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(initializeKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (solverImplementation.simplexCounts.simplexCount > 0)
+            {
+                var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeParticleCollisionConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", this.solverImplementation.particleGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", this.solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", this.solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "fluidInterface", solverImplementation.fluidInterfaceBuffer);
+                shader.SetBuffer(projectKernel, "userData", solverImplementation.userDataBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetFloat("maxDepenetration", solverAbstraction.parameters.maxDepenetration);
+                shader.SetFloat("collisionMargin", solverAbstraction.parameters.collisionMargin);
+                shader.SetVector("diffusionMask", solverAbstraction.parameters.diffusionMask);
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeParticleCollisionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeParticleCollisionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "userData", solverImplementation.userDataBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..5075a5759
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 425e2aa73a5f746039203ce1c0ac3a00
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs
new file mode 100644
index 000000000..aaec1e79f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleFrictionConstraints : ComputeConstraintsImpl<ComputeParticleFrictionConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeParticleFrictionConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleFriction)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleFrictionConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeParticleFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeParticleFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta
new file mode 100644
index 000000000..7ca80b7a3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 41b95f7aa768148b38a09f35bee8efce
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs
new file mode 100644
index 000000000..64743ef60
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs
@@ -0,0 +1,79 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeParticleFrictionConstraintsBatch : ComputeConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+
+        public ComputeParticleFrictionConstraintsBatch(ComputeParticleFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleFriction;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            //if (m_ConstraintCount > 0)
+            if (solverImplementation.simplexCounts.simplexCount > 0 && solverImplementation.activeParticleCount > 0)
+            {
+                var shader = ((ComputeParticleFrictionConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeParticleFrictionConstraints)m_Constraints).projectKernel;
+
+                shader.SetInt("pointCount", solverAbstraction.simplexCounts.pointCount);
+                shader.SetInt("edgeCount", solverAbstraction.simplexCounts.edgeCount);
+                shader.SetInt("triangleCount", solverAbstraction.simplexCounts.triangleCount);
+
+                shader.SetBuffer(projectKernel, "particleContacts", solverAbstraction.particleContacts.computeBuffer);
+                shader.SetBuffer(projectKernel, "effectiveMasses", solverAbstraction.particleContactEffectiveMasses.computeBuffer);
+                shader.SetBuffer(projectKernel, "dispatchBuffer", solverImplementation.particleGrid.dispatchBuffer);
+                shader.SetBuffer(projectKernel, "collisionMaterials", solverImplementation.colliderGrid.materialsBuffer);
+
+                shader.SetBuffer(projectKernel, "simplices", solverImplementation.simplices);
+                shader.SetBuffer(projectKernel, "collisionMaterialIndices", solverImplementation.collisionMaterialIndexBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "prevOrientations", solverImplementation.prevOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+
+                shader.DispatchIndirect(projectKernel, this.solverImplementation.particleGrid.dispatchBuffer);
+            }
+
+        }
+
+        public override void Apply(float substepTime)
+        {
+            var shader = ((ComputeParticleFrictionConstraints)m_Constraints).constraintsShader;
+            int applyKernel = ((ComputeParticleFrictionConstraints)m_Constraints).applyKernel;
+
+            if (solverImplementation.activeParticleCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                shader.SetBuffer(applyKernel, "particleIndices", this.solverImplementation.activeParticlesBuffer);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+
+                shader.SetInt("particleCount", this.solverAbstraction.activeParticleCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(this.solverAbstraction.activeParticleCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..214b031dc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ParticleCollision/ComputeParticleFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 12275bbeff9604bb393a365d8442161a
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta
index 0f363d04e..c21a5f4f4 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 303dd45caa88c4cd2bb03c65bbb0309c
+guid: b03d5abd353fb4064bf5677d949196a1
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs
new file mode 100644
index 000000000..3ac729cc8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs
@@ -0,0 +1,61 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinConstraints : ComputeConstraintsImpl<ComputePinConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int clearKernel;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+        public int projectRenderableKernel;
+
+        public ComputePinConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Pin)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/PinConstraints"));
+            clearKernel = constraintsShader.FindKernel("Clear");
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+            projectRenderableKernel = constraintsShader.FindKernel("ProjectRenderable");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputePinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputePinConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach (var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+
+        public void ProjectRenderablePositions()
+        {
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    batches[i].ProjectRenderablePositions();
+                }
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta
new file mode 100644
index 000000000..5f50419cf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0fcd123efb9af486783fa2eca750d731
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs
new file mode 100644
index 000000000..f5e92220c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs
@@ -0,0 +1,167 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinConstraintsBatch : ComputeConstraintsBatchImpl, IPinConstraintsBatchImpl
+    {
+        GraphicsBuffer colliderIndices;
+        GraphicsBuffer offsets;
+        GraphicsBuffer restDarboux;
+        GraphicsBuffer stiffnesses;
+
+        public ComputePinConstraintsBatch(ComputePinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Pin;
+        }
+
+        public void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.colliderIndices = colliderIndices.AsComputeBuffer<int>();
+            this.offsets = offsets.AsComputeBuffer<Vector4>();
+            this.restDarboux = restDarbouxVectors.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<Vector4>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int clearKernel = ((ComputePinConstraints)m_Constraints).clearKernel;
+                int initializeKernel = ((ComputePinConstraints)m_Constraints).initializeKernel;
+
+                shader.SetBuffer(clearKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(initializeKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(clearKernel, threadGroups, 1, 1);
+                shader.Dispatch(initializeKernel, threadGroups, 1, 1);
+            }
+
+            // clear lambdas:
+            base.Initialize(stepTime, substepTime, steps, timeLeft);
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputePinConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(projectKernel, "offsets", offsets);
+                shader.SetBuffer(projectKernel, "restDarboux", restDarboux);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputePinConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetBuffer(applyKernel, "RW_orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void ProjectRenderablePositions()
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinConstraints)m_Constraints).constraintsShader;
+                int projectRenderableKernel = ((ComputePinConstraints)m_Constraints).projectRenderableKernel;
+
+                shader.SetBuffer(projectRenderableKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectRenderableKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(projectRenderableKernel, "offsets", offsets);
+                shader.SetBuffer(projectRenderableKernel, "restDarboux", restDarboux);
+                shader.SetBuffer(projectRenderableKernel, "stiffnesses", stiffnesses);
+
+                shader.SetBuffer(projectRenderableKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+
+                shader.SetBuffer(projectRenderableKernel, "RW_positions", solverImplementation.renderablePositionsBuffer);
+                shader.SetBuffer(projectRenderableKernel, "RW_orientations", solverImplementation.renderableOrientationsBuffer);
+
+                shader.SetBuffer(projectRenderableKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectRenderableKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void RequestDataReadback()
+        {
+            lambdasList.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            lambdasList.WaitForReadback();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..365b01ba0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pin/ComputePinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bf8b3fc4b0e8f4ab3ab1f4418e053a8f
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole.meta
new file mode 100644
index 000000000..f134edc5c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 67d3689a6a1a94c8b88ec9d27a88963f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs
new file mode 100644
index 000000000..141ad279a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs
@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinholeConstraints : ComputeConstraintsImpl<ComputePinholeConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int clearKernel;
+        public int initializeKernel;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputePinholeConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Pinhole)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/PinholeConstraints"));
+            clearKernel = constraintsShader.FindKernel("Clear");
+            initializeKernel = constraintsShader.FindKernel("Initialize");
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputePinholeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputePinholeConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach (var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs.meta
new file mode 100644
index 000000000..cc3dae1ce
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ac5087fe6e43f4ffc8b73089fd3f96b1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs
new file mode 100644
index 000000000..4930295f8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs
@@ -0,0 +1,165 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePinholeConstraintsBatch : ComputeConstraintsBatchImpl, IPinholeConstraintsBatchImpl
+    {
+        GraphicsBuffer colliderIndices;
+        GraphicsBuffer offsets;
+        GraphicsBuffer edgeMus;
+        GraphicsBuffer edgeRanges;
+        GraphicsBuffer edgeRangeMus;
+        GraphicsBuffer relativeVelocities;
+        GraphicsBuffer parameters;
+
+        public ComputePinholeConstraintsBatch(ComputePinholeConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Pinhole;
+        }
+
+        public void SetPinholeConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeFloatList edgeMus, ObiNativeIntList edgeRanges, ObiNativeFloatList edgeRangeMus, ObiNativeFloatList parameters, ObiNativeFloatList relativeVelocities, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.colliderIndices = colliderIndices.AsComputeBuffer<int>();
+            this.offsets = offsets.AsComputeBuffer<Vector4>();
+            this.edgeMus = edgeMus.AsComputeBuffer<float>();
+            this.edgeRanges = edgeRanges.AsComputeBuffer<Vector2Int>();
+            this.edgeRangeMus = edgeRangeMus.AsComputeBuffer<Vector2>();
+            this.parameters = parameters.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.relativeVelocities = relativeVelocities.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Initialize(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinholeConstraints)m_Constraints).constraintsShader;
+                int clearKernel = ((ComputePinholeConstraints)m_Constraints).clearKernel;
+                int initializeKernel = ((ComputePinholeConstraints)m_Constraints).initializeKernel;
+
+                shader.SetBuffer(clearKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(clearKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(clearKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(initializeKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(initializeKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(initializeKernel, "offsets", offsets);
+                shader.SetBuffer(initializeKernel, "edgeMus", edgeMus);
+                shader.SetBuffer(initializeKernel, "edgeRanges", edgeRanges);
+                shader.SetBuffer(initializeKernel, "edgeRangeMus", edgeRangeMus);
+                shader.SetBuffer(initializeKernel, "relativeVelocities", relativeVelocities);
+                shader.SetBuffer(initializeKernel, "parameters", parameters);
+
+                shader.SetBuffer(initializeKernel, "deformableEdges", solverImplementation.deformableEdgesBuffer);
+                shader.SetBuffer(initializeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(initializeKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(initializeKernel, "invMasses", solverImplementation.invMassesBuffer);
+
+                shader.SetBuffer(initializeKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(initializeKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(initializeKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(initializeKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+                shader.SetBuffer(initializeKernel, "RW_rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(initializeKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(initializeKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(initializeKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(clearKernel, threadGroups, 1, 1);
+                shader.Dispatch(initializeKernel, threadGroups, 1, 1);
+            }
+
+            // clear lambdas:
+            base.Initialize(stepTime, substepTime, steps, timeLeft);
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputePinholeConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputePinholeConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "colliderIndices", colliderIndices);
+                shader.SetBuffer(projectKernel, "offsets", offsets);
+                shader.SetBuffer(projectKernel, "edgeMus", edgeMus);
+                shader.SetBuffer(projectKernel, "parameters", parameters);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "transforms", this.solverImplementation.colliderGrid.transformsBuffer);
+                shader.SetBuffer(projectKernel, "shapes", this.solverImplementation.colliderGrid.shapesBuffer);
+                shader.SetBuffer(projectKernel, "rigidbodies", this.solverImplementation.colliderGrid.rigidbodiesBuffer);
+
+                shader.SetBuffer(projectKernel, "deformableEdges", solverImplementation.deformableEdgesBuffer);
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "prevPositions", solverImplementation.prevPositionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetBuffer(projectKernel, "linearDeltasAsInt", solverImplementation.rigidbodyLinearDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "angularDeltasAsInt", solverImplementation.rigidbodyAngularDeltasIntBuffer);
+
+                shader.SetBuffer(projectKernel, "inertialSolverFrame", solverImplementation.inertialFrameBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("stepTime", stepTime);
+                shader.SetFloat("substepTime", substepTime);
+                shader.SetInt("steps", steps);
+                shader.SetFloat("timeLeft", timeLeft);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var param = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputePinholeConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputePinholeConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "deformableEdges", solverImplementation.deformableEdgesBuffer);
+
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", param.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void RequestDataReadback()
+        {
+            lambdasList.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            lambdasList.WaitForReadback();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..1bb2cbb73
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Pinhole/ComputePinholeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 262e3b75b5b53406b92eaed391db8114
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta
index 0e27557d0..ac46a10b7 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 76aa6338faa6b4855a36b8ad4c1985bf
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 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs
new file mode 100644
index 000000000..87856a1a2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs
@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeShapeMatchingConstraints : ComputeConstraintsImpl<ComputeShapeMatchingConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int plasticityKernel;
+        public int restStateKernel;
+        public int applyKernel;
+
+        public ComputeShapeMatchingConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.ShapeMatching)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ShapeMatchingConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            plasticityKernel = constraintsShader.FindKernel("PlasticDeformation");
+            restStateKernel = constraintsShader.FindKernel("CalculateRestShapeMatching");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeShapeMatchingConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeShapeMatchingConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public void RequestDataReadback()
+        {
+            foreach(var batch in batches)
+                batch.RequestDataReadback();
+        }
+
+        public void WaitForReadback()
+        {
+            foreach (var batch in batches)
+                batch.WaitForReadback();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta
new file mode 100644
index 000000000..c6df3eebc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f2c02ccc8463d4650b854a7a374ac0d3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs
new file mode 100644
index 000000000..ae5534206
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,204 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeShapeMatchingConstraintsBatch : ComputeConstraintsBatchImpl, IShapeMatchingConstraintsBatchImpl
+    {
+        private GraphicsBuffer firstIndexBuffer;
+        private GraphicsBuffer numIndicesBuffer;
+        private GraphicsBuffer explicitGroupBuffer;
+        private GraphicsBuffer shapeMaterialParametersBuffer;
+        private GraphicsBuffer restComsBuffer;
+        private GraphicsBuffer comsBuffer;
+        private GraphicsBuffer constraintOrientationsBuffer;
+
+        private GraphicsBuffer AqqBuffer;
+        private GraphicsBuffer linearTransformsBuffer;
+        private GraphicsBuffer plasticDeformationsBuffer;
+
+        private ObiNativeVector4List m_RestComs;
+        private ObiNativeVector4List m_Coms;
+        private ObiNativeQuaternionList m_ConstraintOrientations;
+
+        private bool m_RecalculateRestShape = false;
+        public ComputeShapeMatchingConstraintsBatch(ComputeShapeMatchingConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ShapeMatching;
+        }
+
+        public void SetShapeMatchingConstraints(ObiNativeIntList particleIndices,
+                                         ObiNativeIntList firstIndex,
+                                         ObiNativeIntList numIndices,
+                                         ObiNativeIntList explicitGroup,
+                                         ObiNativeFloatList shapeMaterialParameters,
+                                         ObiNativeVector4List restComs,
+                                         ObiNativeVector4List coms,
+                                         ObiNativeQuaternionList constraintOrientations,
+                                         ObiNativeMatrix4x4List linearTransforms,
+                                         ObiNativeMatrix4x4List plasticDeformations,
+                                         ObiNativeFloatList lambdas,
+                                         int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.firstIndexBuffer = firstIndex.AsComputeBuffer<int>();
+            this.numIndicesBuffer = numIndices.AsComputeBuffer<int>();
+            this.explicitGroupBuffer = explicitGroup.AsComputeBuffer<int>();
+            this.shapeMaterialParametersBuffer = shapeMaterialParameters.AsComputeBuffer<float>();
+            this.restComsBuffer = restComs.AsComputeBuffer<Vector4>();
+            this.comsBuffer = coms.AsComputeBuffer<Vector4>();
+            this.constraintOrientationsBuffer = constraintOrientations.AsComputeBuffer<Quaternion>();
+            this.linearTransformsBuffer = linearTransforms.AsComputeBuffer<Matrix4x4>();
+            this.plasticDeformationsBuffer = plasticDeformations.AsComputeBuffer<Matrix4x4>();
+
+            if (AqqBuffer != null)
+                AqqBuffer.Dispose();
+
+            AqqBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 64); // float4x4
+
+            m_RestComs = restComs;
+            m_Coms = coms;
+            m_ConstraintOrientations = constraintOrientations;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            if (AqqBuffer != null)
+                AqqBuffer.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                if (m_RecalculateRestShape)
+                {
+                    m_RecalculateRestShape = false;
+
+                    int restKernel = ((ComputeShapeMatchingConstraints)m_Constraints).restStateKernel;
+
+                    shader.SetBuffer(restKernel, "particleIndices", particleIndices);
+                    shader.SetBuffer(restKernel, "firstIndex", firstIndexBuffer);
+                    shader.SetBuffer(restKernel, "numIndices", numIndicesBuffer);
+                    shader.SetBuffer(restKernel, "RW_restComs", restComsBuffer);
+
+                    shader.SetBuffer(restKernel, "RW_Aqq", AqqBuffer);
+                    shader.SetBuffer(restKernel, "RW_deformation", plasticDeformationsBuffer);
+
+                    shader.SetBuffer(restKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                    shader.SetBuffer(restKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                    shader.SetBuffer(restKernel, "invMasses", solverImplementation.invMassesBuffer);
+                    shader.SetBuffer(restKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                    shader.SetBuffer(restKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+
+                    shader.Dispatch(restKernel, threadGroups, 1, 1);
+
+                    m_RestComs.Readback();
+                    m_RestComs.WaitForReadback();
+                }
+
+                //var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeShapeMatchingConstraints)m_Constraints).projectKernel;
+                int plasticityKernel = ((ComputeShapeMatchingConstraints)m_Constraints).plasticityKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(projectKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(projectKernel, "explicitGroup", explicitGroupBuffer);
+                shader.SetBuffer(projectKernel, "shapeMaterialParameters", shapeMaterialParametersBuffer);
+
+                shader.SetBuffer(projectKernel, "restComs", restComsBuffer);
+                shader.SetBuffer(projectKernel, "coms", comsBuffer);
+                shader.SetBuffer(projectKernel, "constraintOrientations", constraintOrientationsBuffer);
+
+                shader.SetBuffer(projectKernel, "Aqq", AqqBuffer);
+                shader.SetBuffer(projectKernel, "RW_linearTransforms", linearTransformsBuffer);
+                shader.SetBuffer(projectKernel, "deformation", plasticDeformationsBuffer);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(projectKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+
+                shader.SetBuffer(plasticityKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(plasticityKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(plasticityKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(plasticityKernel, "shapeMaterialParameters", shapeMaterialParametersBuffer);
+
+                shader.SetBuffer(plasticityKernel, "RW_restComs", restComsBuffer);
+                shader.SetBuffer(plasticityKernel, "constraintOrientations", constraintOrientationsBuffer);
+
+                shader.SetBuffer(plasticityKernel, "RW_Aqq", AqqBuffer);
+                shader.SetBuffer(plasticityKernel, "linearTransforms", linearTransformsBuffer);
+                shader.SetBuffer(plasticityKernel, "RW_deformation", plasticDeformationsBuffer);
+
+                shader.SetBuffer(plasticityKernel, "restPositions", solverImplementation.restPositionsBuffer);
+                shader.SetBuffer(plasticityKernel, "restOrientations", solverImplementation.restOrientationsBuffer);
+                shader.SetBuffer(plasticityKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(plasticityKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+                shader.SetBuffer(plasticityKernel, "principalRadii", solverImplementation.principalRadiiBuffer);
+
+                shader.Dispatch(plasticityKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeShapeMatchingConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeShapeMatchingConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "firstIndex", firstIndexBuffer);
+                shader.SetBuffer(applyKernel, "numIndices", numIndicesBuffer);
+                shader.SetBuffer(applyKernel, "RW_positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public void CalculateRestShapeMatching()
+        {
+            // just set a flag and do the actual calculation at the start of Evaluate().
+            // This ensures GPu data of both particles and constraints is up to date when calculating the rest shape.
+            m_RecalculateRestShape = true;
+        }
+
+        public void RequestDataReadback()
+        {
+            m_Coms.Readback();
+            m_ConstraintOrientations.Readback();
+        }
+
+        public void WaitForReadback()
+        {
+            m_Coms.WaitForReadback();
+            m_ConstraintOrientations.WaitForReadback();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 000000000..82b0d2be8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/ShapeMatching/ComputeShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: efcebc6a8ed1446fe8216d7656fe7462
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta
index a65025811..afbbedb2d 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: e9fde13a2a0dc426892c122badd434c7
+guid: e3f96b782e06d47d699bad2fbd4712e1
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs
new file mode 100644
index 000000000..7a41a9a26
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSkinConstraints : ComputeConstraintsImpl<ComputeSkinConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeSkinConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Skin)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SkinConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeSkinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeSkinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta
new file mode 100644
index 000000000..ffce2d875
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df84869cc78e04bb895be2db5e398cc3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs
new file mode 100644
index 000000000..53cf5e820
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs
@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSkinConstraintsBatch : ComputeConstraintsBatchImpl, ISkinConstraintsBatchImpl
+    {
+        GraphicsBuffer skinPoints;
+        GraphicsBuffer skinNormalsBuffer;
+        GraphicsBuffer skinRadiiBackstopBuffer;
+        GraphicsBuffer skinComplianceBuffer;
+
+        public ComputeSkinConstraintsBatch(ComputeSkinConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Skin;
+        }
+
+        public void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.skinPoints = skinPoints.AsComputeBuffer<Vector4>();
+            this.skinNormalsBuffer = skinNormals.AsComputeBuffer<Vector4>();
+            this.skinRadiiBackstopBuffer = skinRadiiBackstop.AsComputeBuffer<float>();
+            this.skinComplianceBuffer = skinCompliance.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeSkinConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeSkinConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "skinPoints", skinPoints);
+                shader.SetBuffer(projectKernel, "skinNormals", skinNormalsBuffer);
+                shader.SetBuffer(projectKernel, "skinRadiiBackstop", skinRadiiBackstopBuffer);
+                shader.SetBuffer(projectKernel, "skinCompliance", skinComplianceBuffer);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeSkinConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeSkinConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..6a56a4f0d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Skin/ComputeSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: 935a9038a35be4d21aa06057f83040a9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta
index 3d17e2188..72b5b7083 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 091666a5c10624749b5604db5c75a83d
+guid: 8fd1b55deaf68449f9fc2f037f032b4c
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs
new file mode 100644
index 000000000..e5f48a8f2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStitchConstraints : ComputeConstraintsImpl<ComputeStitchConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeStitchConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Stitch)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/StitchConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeStitchConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeStitchConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta
new file mode 100644
index 000000000..296677c85
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 35350420ce5c24323abc6770d4de9655
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs
new file mode 100644
index 000000000..ba09e5113
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs
@@ -0,0 +1,71 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStitchConstraintsBatch : ComputeConstraintsBatchImpl, IStitchConstraintsBatchImpl
+    {
+        GraphicsBuffer stiffnesses;
+
+        public ComputeStitchConstraintsBatch(ComputeStitchConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Stitch;
+        }
+
+        public void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeStitchConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeStitchConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeStitchConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeStitchConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta
new file mode 100644
index 000000000..03b6837ef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Stitch/ComputeStitchConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d82f622203a3d402dbbd5f47dd78fed3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta
index 00ef8484f..d29894d3a 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 10bea9144cdb54c7ca268e71727ba816
+guid: 8cc7d1795a6bd4f75927ef02b05e44e7
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs
new file mode 100644
index 000000000..d5116e659
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStretchShearConstraints : ComputeConstraintsImpl<ComputeStretchShearConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeStretchShearConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.StretchShear)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/StretchShearConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeStretchShearConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeStretchShearConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta
new file mode 100644
index 000000000..e91936fa3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d7b820e9c187947bf8c31d04d72c402d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs
new file mode 100644
index 000000000..991733151
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs
@@ -0,0 +1,91 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeStretchShearConstraintsBatch : ComputeConstraintsBatchImpl, IStretchShearConstraintsBatchImpl
+    {
+        GraphicsBuffer orientationIndices;
+        GraphicsBuffer restLengths;
+        GraphicsBuffer restOrientations;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeStretchShearConstraintsBatch(ComputeStretchShearConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.StretchShear;
+        }
+
+        public void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.orientationIndices = orientationIndices.AsComputeBuffer<int>();
+            this.restLengths = restLengths.AsComputeBuffer<float>();
+            this.restOrientations = restOrientations.AsComputeBuffer<Quaternion>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<Vector3>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeStretchShearConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeStretchShearConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(projectKernel, "restLengths", restLengths);
+                shader.SetBuffer(projectKernel, "restOrientations", restOrientations);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "orientations", solverImplementation.orientationsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "invRotationalMasses", solverImplementation.invRotationalMassesBuffer);
+
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(projectKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeStretchShearConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeStretchShearConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "orientationIndices", orientationIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "orientations", solverImplementation.orientationsBuffer);
+
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "orientationDeltasAsInt", solverImplementation.orientationDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+                shader.SetBuffer(applyKernel, "orientationConstraintCounts", solverImplementation.orientationConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta
new file mode 100644
index 000000000..062a0cfcc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/StretchShear/StretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f2d0b5dfba06143f5b0a9939a3a2364b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta
index 57c58c094..4c0427c6e 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: f170479298b9f47a39047b37d4d124f0
+guid: 4ee9753d7b4f7422b9057618aa73476b
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs
new file mode 100644
index 000000000..a1ddceefe
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs
@@ -0,0 +1,32 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTetherConstraints : ComputeConstraintsImpl<ComputeTetherConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int projectKernel;
+        public int applyKernel;
+
+        public ComputeTetherConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Tether)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/TetherConstraints"));
+            projectKernel = constraintsShader.FindKernel("Project");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeTetherConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeTetherConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta
new file mode 100644
index 000000000..f663b0e3e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 56470001140924abea4d2589db0863ec
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs
new file mode 100644
index 000000000..d482a917c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs
@@ -0,0 +1,75 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeTetherConstraintsBatch : ComputeConstraintsBatchImpl, ITetherConstraintsBatchImpl
+    {
+        GraphicsBuffer maxLengthScale;
+        GraphicsBuffer stiffnesses;
+
+        public ComputeTetherConstraintsBatch(ComputeTetherConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Tether;
+        }
+
+        public void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsComputeBuffer<int>();
+            this.maxLengthScale = maxLengthScale.AsComputeBuffer<Vector2>();
+            this.stiffnesses = stiffnesses.AsComputeBuffer<float>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+            this.lambdasList = lambdas;
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeTetherConstraints)m_Constraints).constraintsShader;
+                int projectKernel = ((ComputeTetherConstraints)m_Constraints).projectKernel;
+
+                shader.SetBuffer(projectKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(projectKernel, "maxLengthScale", maxLengthScale);
+                shader.SetBuffer(projectKernel, "stiffnesses", stiffnesses);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("deltaTime", substepTime);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(projectKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeTetherConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeTetherConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "particleIndices", particleIndices);
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta
new file mode 100644
index 000000000..93feeaa45
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Tether/ComputeTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b68d976ed2b5c48d191ee9d067a164de
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta
index 2775f8143..ef341e7a8 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 15ac90acb12cf47928ff5732c87d2f08
+guid: b0eea52c14b4b4e7698c65a183951102
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs
new file mode 100644
index 000000000..e673c5ed3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs
@@ -0,0 +1,40 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeVolumeConstraints : ComputeConstraintsImpl<ComputeVolumeConstraintsBatch>
+    {
+        public ComputeShader constraintsShader;
+        public int gradientsKernel;
+        public int volumeKernel;
+        public int denominatorsKernel;
+        public int constraintKernel;
+        public int deltasKernel;
+        public int applyKernel;
+
+        public ComputeVolumeConstraints(ComputeSolverImpl solver) : base(solver, Oni.ConstraintType.Volume)
+        {
+            constraintsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/VolumeConstraints"));
+            gradientsKernel = constraintsShader.FindKernel("Gradients");
+            volumeKernel = constraintsShader.FindKernel("CalculateVolume");
+            denominatorsKernel = constraintsShader.FindKernel("Denominators");
+            constraintKernel = constraintsShader.FindKernel("Constraint");
+            deltasKernel = constraintsShader.FindKernel("AccumulateDeltas");
+            applyKernel = constraintsShader.FindKernel("Apply");
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new ComputeVolumeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as ComputeVolumeConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta
new file mode 100644
index 000000000..e01c6e26e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f2266fb2819d84335874a8110cdacb76
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs
new file mode 100644
index 000000000..8f7e9b5eb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs
@@ -0,0 +1,223 @@
+using UnityEngine;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ComputeVolumeConstraintsBatch : ComputeConstraintsBatchImpl, IVolumeConstraintsBatchImpl
+    {
+        GraphicsBuffer firstTriangle;
+        GraphicsBuffer numTriangles;
+        GraphicsBuffer restVolumes;
+        GraphicsBuffer pressureStiffness;
+
+        GraphicsBuffer volumes;
+        GraphicsBuffer denominators;
+        GraphicsBuffer triangleConstraintIndex; // for each triangle, its constraint index.
+        GraphicsBuffer particles; // indices of particles involved in each constraint.
+        GraphicsBuffer particleConstraintIndex; // for each particle, its constraint index.
+
+        public ComputeVolumeConstraintsBatch(ComputeVolumeConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Volume;
+        }
+
+        public void SetVolumeConstraints(ObiNativeIntList triangles,
+                                          ObiNativeIntList firstTriangle,
+                                          ObiNativeIntList numTriangles,
+                                          ObiNativeFloatList restVolumes,
+                                          ObiNativeVector2List pressureStiffness,
+                                          ObiNativeFloatList lambdas,
+                                          int count)
+        {
+            // store volume and denominator per constraint:
+            volumes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 4);
+            denominators = new GraphicsBuffer(GraphicsBuffer.Target.Structured, count, 4);
+
+
+            // get particles involved in each constraint:
+            List<int> partic = new List<int>();
+            List<int> partConstIndex = new List<int>();
+            List<int> triConstIndex = new List<int>();
+            for (int i = 0; i < numTriangles.count; ++i)
+            {
+                List<int> parts = new List<int>();
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int tri = firstTriangle[i] + j;
+
+                    parts.Add(triangles[tri * 3]);
+                    parts.Add(triangles[tri * 3+1]);
+                    parts.Add(triangles[tri * 3+2]);
+
+                    partConstIndex.Add(i);
+                    partConstIndex.Add(i);
+                    partConstIndex.Add(i);
+
+                    triConstIndex.Add(i);
+                }
+
+                // make them unique:
+                parts.Sort();
+                int resultIndex = parts.Unique((int x, int y) => { return x == y; });
+
+                // remove excess at the end of the list:
+                if (resultIndex < parts.Count)
+                {
+                    int removeCount = parts.Count - resultIndex;
+
+                    parts.RemoveRange(resultIndex, removeCount);
+                    partConstIndex.RemoveRange(partConstIndex.Count - removeCount, removeCount);
+                }
+
+                partic.AddRange(parts);
+            }
+
+            particles = new GraphicsBuffer(GraphicsBuffer.Target.Structured, partic.Count, 4);
+            particleConstraintIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, partConstIndex.Count, 4);
+            triangleConstraintIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, triConstIndex.Count, 4);
+
+            particles.SetData(partic);
+            particleConstraintIndex.SetData(partConstIndex);
+            triangleConstraintIndex.SetData(triConstIndex);
+
+            this.particleIndices = triangles.AsComputeBuffer<int>();
+            this.firstTriangle = firstTriangle.AsComputeBuffer<int>();
+            this.numTriangles = numTriangles.AsComputeBuffer<int>();
+            this.restVolumes = restVolumes.AsComputeBuffer<float>();
+            this.pressureStiffness = pressureStiffness.AsComputeBuffer<Vector2>();
+            this.lambdas = lambdas.AsComputeBuffer<float>();
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            volumes.Dispose();
+            denominators.Dispose();
+            particles.Dispose();
+            particleConstraintIndex.Dispose();
+            triangleConstraintIndex.Dispose();
+        }
+
+        public override void Evaluate(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // 1: parallel over all triangles, atomic accumulate gradient on orientationDeltasInt
+            // 2: reduction over triangles, sum volume.
+            // 3: reduction over particles, sum denominator.
+            // 4: parallel over constraints: lambda
+            // 5: parallel over triangles, atomic accumulate delta.
+
+            if (m_ConstraintCount > 0)
+            {
+                var shader = ((ComputeVolumeConstraints)m_Constraints).constraintsShader;
+                int gradientsKernel = ((ComputeVolumeConstraints)m_Constraints).gradientsKernel;
+                int volumeKernel = ((ComputeVolumeConstraints)m_Constraints).volumeKernel;
+                int denominatorsKernel = ((ComputeVolumeConstraints)m_Constraints).denominatorsKernel;
+                int constraintKernel = ((ComputeVolumeConstraints)m_Constraints).constraintKernel;
+                int deltasKernel = ((ComputeVolumeConstraints)m_Constraints).deltasKernel;
+
+                /*shader.SetBuffer(projectKernel, "triangles", particleIndices);
+                shader.SetBuffer(projectKernel, "firstTriangle", firstTriangle);
+                shader.SetBuffer(projectKernel, "numTriangles", numTriangles);
+                shader.SetBuffer(projectKernel, "restVolumes", restVolumes);
+                shader.SetBuffer(projectKernel, "pressureStiffness", pressureStiffness);
+                shader.SetBuffer(projectKernel, "lambdas", lambdas);
+
+                shader.SetBuffer(projectKernel, "denominators", denominators);
+                shader.SetBuffer(projectKernel, "volumes", volumes);
+                shader.SetBuffer(projectKernel, "gradients", solverImplementation.fluidDataBuffer);
+
+                shader.SetBuffer(projectKernel, "particles", particles);
+                shader.SetBuffer(projectKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(projectKernel, "triangleConstraintIndex", triangleConstraintIndex);
+
+                shader.SetBuffer(projectKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(projectKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(projectKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(projectKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);*/
+
+                int trianglesCount = particleIndices.count / 3;
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetInt("trianglesCount", trianglesCount);
+                shader.SetInt("particlesCount", particles.count);
+                shader.SetFloat("deltaTime", substepTime);
+
+                // Gradients:
+                shader.SetBuffer(gradientsKernel, "triangles", particleIndices);
+                shader.SetBuffer(gradientsKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(gradientsKernel, "positions", solverImplementation.positionsBuffer);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(trianglesCount, 128);
+                shader.Dispatch(gradientsKernel, threadGroups, 1, 1);
+
+                // Volume:
+                shader.SetBuffer(volumeKernel, "triangles", particleIndices);
+                shader.SetBuffer(volumeKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(volumeKernel, "volumes", volumes);
+                shader.SetBuffer(volumeKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(volumeKernel, "triangleConstraintIndex", triangleConstraintIndex);
+
+                shader.Dispatch(volumeKernel, threadGroups, 1, 1);
+
+                // Denominators:
+                shader.SetBuffer(denominatorsKernel, "particles", particles);
+                shader.SetBuffer(denominatorsKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(denominatorsKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(denominatorsKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(denominatorsKernel, "denominators", denominators);
+
+                threadGroups = ComputeMath.ThreadGroupCount(particles.count, 128);
+                shader.Dispatch(denominatorsKernel, threadGroups, 1, 1);
+
+                // Constraint:
+                shader.SetBuffer(constraintKernel, "denominators", denominators);
+                shader.SetBuffer(constraintKernel, "volumes", volumes);
+                shader.SetBuffer(constraintKernel, "restVolumes", restVolumes);
+                shader.SetBuffer(constraintKernel, "pressureStiffness", pressureStiffness);
+                shader.SetBuffer(constraintKernel, "lambdas", lambdas);
+
+                threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(constraintKernel, threadGroups, 1, 1);
+
+                // Deltas:
+                shader.SetBuffer(deltasKernel, "particles", particles);
+                shader.SetBuffer(deltasKernel, "particleConstraintIndex", particleConstraintIndex);
+                shader.SetBuffer(deltasKernel, "lambdas", lambdas);
+                shader.SetBuffer(deltasKernel, "invMasses", solverImplementation.invMassesBuffer);
+                shader.SetBuffer(deltasKernel, "gradients", solverImplementation.fluidDataBuffer);
+                shader.SetBuffer(deltasKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(deltasKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                threadGroups = ComputeMath.ThreadGroupCount(particles.count, 128);
+                shader.Dispatch(deltasKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public override void Apply(float substepTime)
+        {
+            if (m_ConstraintCount > 0)
+            {
+                var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+                var shader = ((ComputeVolumeConstraints)m_Constraints).constraintsShader;
+                int applyKernel = ((ComputeVolumeConstraints)m_Constraints).applyKernel;
+
+                shader.SetBuffer(applyKernel, "triangles", particleIndices);
+                shader.SetBuffer(applyKernel, "firstTriangle", firstTriangle);
+                shader.SetBuffer(applyKernel, "numTriangles", numTriangles);
+
+                shader.SetBuffer(applyKernel, "positions", solverImplementation.positionsBuffer);
+                shader.SetBuffer(applyKernel, "deltasAsInt", solverImplementation.positionDeltasIntBuffer);
+                shader.SetBuffer(applyKernel, "positionConstraintCounts", solverImplementation.positionConstraintCountBuffer);
+
+                shader.SetInt("activeConstraintCount", m_ConstraintCount);
+                shader.SetFloat("sorFactor", parameters.SORFactor);
+
+                int threadGroups = ComputeMath.ThreadGroupCount(m_ConstraintCount, 128);
+                shader.Dispatch(applyKernel, threadGroups, 1, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..d661247b3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Constraints/Volume/ComputeVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+guid: bf26bec1336ef46c6a92b8d8b0e0cc5e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta
new file mode 100644
index 000000000..e93da584f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e1787c55de187458bb78941ba68adf09
+folderAsset: yes
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+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs
new file mode 100644
index 000000000..6ebd4976a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs
@@ -0,0 +1,424 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public class ComputeParticleGrid : IDisposable
+    {
+        public ComputeShader gridShader;
+        public int clearKernel;
+        public int insertSimplicesKernel;
+        public int gridPopulationKernel;
+        public int sortSimplicesKernel;
+        public int buildFluidDispatchKernel;
+        public int buildMortonKernel;
+        public int mortonSortKernel;
+        public int sortFluidSimplicesKernel;
+
+        public int sameLevelNeighborsKernel;
+        public int upperLevelsNeighborsKernel;
+        public int buildFluidIndexBufferKernel;
+        public int contactsKernel;
+
+        public ComputePrefixSum cellsPrefixSum;
+        private ComputePrefixSum fluidPrefixSum;
+
+        public GraphicsBuffer cellCounts;                   // for each cell, how many simplices in it.
+        public GraphicsBuffer cellOffsets;                  // index of the first simplex in the cell (on gridToMorton buffer).
+        public GraphicsBuffer offsetInCell;                 // for each simplex, offset within its cell.
+        public GraphicsBuffer levelPopulation;              // buffer storing amount of entries in each grid level
+
+        public GraphicsBuffer neighbors;                    // neighbor indices for all particles. (maxNeighbors * simplexCount in size)
+        public GraphicsBuffer neighborCounts;               // amount of neighbors for each particle. (simplexCount in size)
+
+        public GraphicsBuffer contactPairs;                 // list of particle pairs.
+        public GraphicsBuffer dispatchBuffer;               // dispatch info for iterating trough contacts.
+
+        public GraphicsBuffer cellHashToMortonIndex;
+        public GraphicsBuffer mortonSortedCellHashes;       // contains all cell hashes sorted according to their morton index.
+        public GraphicsBuffer sortedSimplexIndices;         // maps from grid index to simplex index.
+
+        public GraphicsBuffer sortedFluidIndices;           // contains compacted sorted indices of fluid simplices *only*. Eg, entry 0 contains the index of the first fluid simplex along the morton curve.
+        public GraphicsBuffer sortedSimplexToFluid;         // maps from sorted simplex index to sorted fluid index, or -1 if the simplex is not fluid.
+
+        public GraphicsBuffer sortedPrincipalRadii;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidMaterials;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidInterface;         // Used by Density constraints: needs to be sorted once per step (not changed by constraints)
+        public GraphicsBuffer sortedFluidData;              // Used by Density constraints: no need to be sorted (constraints output).
+
+        public GraphicsBuffer sortedLinearVel;              // Not used by density constraints: used for foam advection and mesher.
+        public GraphicsBuffer sortedAngularVel;             // Not used by density constraints: used for foam advection.
+
+        public GraphicsBuffer sortedPositions;              // Used by Density constraints: needs to be sorted once per iteration.
+        public GraphicsBuffer sortedPrevPosOrientations;    // Used by Density constraints: needs to be sorted once per iteration. Reuse for orientations (foam advection and mesher).
+        public GraphicsBuffer sortedUserDataColor;          // Used by Density constraints: needs to be sorted once per iteration. Reuse for colors (mesher).
+
+        private const int maxGridLevels = 24;
+        private uint[] clearDispatch = { 0, 1, 1, 0 };
+
+        public int maxParticleNeighbors { get; private set; } = 128;
+        public int maxParticleContacts { get; private set; } = 4;
+
+        public int maxCells{
+            get { return cellCounts != null ? cellCounts.count : 0; }
+        }
+
+        public ComputeParticleGrid()
+        {
+            gridShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleGrid"));
+            clearKernel = gridShader.FindKernel("Clear");
+            insertSimplicesKernel = gridShader.FindKernel("InsertSimplices");
+            gridPopulationKernel = gridShader.FindKernel("FindPopulatedLevels");
+            sortSimplicesKernel = gridShader.FindKernel("SortSimplices");
+            buildFluidDispatchKernel = gridShader.FindKernel("BuildFluidDispatch");
+            buildMortonKernel = gridShader.FindKernel("BuildMortonIndices");
+            mortonSortKernel = gridShader.FindKernel("MortonSort");
+            sortFluidSimplicesKernel = gridShader.FindKernel("SortFluidSimplices");
+            sameLevelNeighborsKernel = gridShader.FindKernel("FindFluidNeighborsInSameLevel");
+            upperLevelsNeighborsKernel = gridShader.FindKernel("FindFluidNeighborsInUpperLevels");
+            buildFluidIndexBufferKernel = gridShader.FindKernel("BuildFluidParticleIndexBuffer");
+            contactsKernel = gridShader.FindKernel("BuildContactList");
+
+            levelPopulation = new GraphicsBuffer(GraphicsBuffer.Target.Structured, maxGridLevels + 1, 4);
+            dispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 4, sizeof(uint));
+        }
+
+        private void Clear()
+        {
+            cellsPrefixSum?.Dispose();
+            fluidPrefixSum?.Dispose();
+
+            if (cellCounts != null)
+                cellCounts.Dispose();
+            if (cellOffsets != null)
+                cellOffsets.Dispose();
+            if (offsetInCell != null)
+                offsetInCell.Dispose();
+
+            if (contactPairs != null)
+                contactPairs.Dispose();
+
+            if (neighbors != null)
+                neighbors.Dispose();
+            if (neighborCounts != null)
+                neighborCounts.Dispose();
+
+            if (cellHashToMortonIndex != null)
+                cellHashToMortonIndex.Dispose();
+            if (mortonSortedCellHashes != null)
+                mortonSortedCellHashes.Dispose();
+            if (sortedSimplexIndices != null)
+                sortedSimplexIndices.Dispose();
+            if (sortedFluidIndices != null)
+                sortedFluidIndices.Dispose();
+            if (sortedSimplexToFluid != null)
+                sortedSimplexToFluid.Dispose();
+
+            if (sortedPositions != null)
+                sortedPositions.Dispose();
+            if (sortedPrevPosOrientations != null)
+                sortedPrevPosOrientations.Dispose();
+            if (sortedPrincipalRadii != null)
+                sortedPrincipalRadii.Dispose();
+            if (sortedFluidMaterials != null)
+                sortedFluidMaterials.Dispose();
+            if (sortedFluidInterface != null)
+                sortedFluidInterface.Dispose();
+            if (sortedUserDataColor != null)
+                sortedUserDataColor.Dispose();
+            if (sortedFluidData != null)
+                sortedFluidData.Dispose();
+
+            if (sortedLinearVel != null)
+                sortedLinearVel.Dispose();
+            if (sortedAngularVel != null)
+                sortedAngularVel.Dispose();
+
+            cellsPrefixSum = null;
+            fluidPrefixSum = null;
+            cellCounts = null;
+            cellOffsets = null;
+            offsetInCell = null;
+            contactPairs = null;
+            neighbors = null;
+            neighborCounts = null;
+            sortedSimplexIndices = null;
+            cellHashToMortonIndex = null;
+            sortedFluidIndices = null;
+            sortedSimplexToFluid = null;
+            sortedPositions = null;
+            sortedPrevPosOrientations = null;
+            sortedPrincipalRadii = null;
+            sortedFluidMaterials = null;
+            sortedFluidInterface = null;
+            sortedUserDataColor = null;
+            sortedFluidData = null;
+            sortedLinearVel = null;
+            sortedAngularVel = null;
+        }
+
+        public void Dispose()
+        {
+            if (levelPopulation != null)
+                levelPopulation.Dispose();
+
+            if (dispatchBuffer != null)
+                dispatchBuffer.Dispose();
+
+            levelPopulation = null;
+            dispatchBuffer = null;
+
+            Clear();
+        }
+
+        // Sets the maximum amount of items that can be stored in the grid.
+        public bool SetCapacity(int capacity, uint maxParticleContacts, uint maxParticleNeighbors)
+        {
+            if (offsetInCell == null || capacity > offsetInCell.count ||
+                maxParticleNeighbors != this.maxParticleNeighbors ||
+                maxParticleContacts != this.maxParticleContacts)
+            {
+                Clear();
+
+                this.maxParticleNeighbors = (int)maxParticleNeighbors;
+                this.maxParticleContacts = (int)maxParticleContacts;
+
+                capacity *= 2;
+                int hashtableSize = (int)(capacity * 1.5f);
+
+                // hashtable data:
+                cellCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellOffsets = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                mortonSortedCellHashes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellHashToMortonIndex = new GraphicsBuffer(GraphicsBuffer.Target.Structured, hashtableSize, 4);
+                cellsPrefixSum = new ComputePrefixSum(hashtableSize);
+
+                // per simplex data:
+                offsetInCell = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedSimplexIndices = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedFluidIndices = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+                sortedSimplexToFluid = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+
+                // contact pairs and neighbor lists:
+                contactPairs = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity * (int)maxParticleContacts, 8);
+                neighbors = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity * (int)maxParticleNeighbors, 4);
+                neighborCounts = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 4);
+
+                // sorted fluid simplex data:
+                fluidPrefixSum = new ComputePrefixSum(capacity);
+                sortedPrincipalRadii = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidMaterials = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidInterface = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedPositions = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedPrevPosOrientations = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedUserDataColor = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedFluidData = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedLinearVel = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+                sortedAngularVel = new GraphicsBuffer(GraphicsBuffer.Target.Structured, capacity, 16);
+
+                return true;
+            }
+            return false;
+        }
+
+        public void BuildGrid(ComputeSolverImpl solver, float deltaTime)
+        {
+            dispatchBuffer.SetData(clearDispatch);
+            solver.fluidDispatchBuffer.SetData(clearDispatch);
+
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                gridShader.SetInt("pointCount", solver.simplexCounts.pointCount);
+                gridShader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+                gridShader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+                gridShader.SetInt("maxContacts", contactPairs.count);
+                gridShader.SetInt("maxCells", cellCounts.count);
+                gridShader.SetInt("maxNeighbors", maxParticleNeighbors);
+                gridShader.SetFloat("deltaTime", deltaTime);
+                gridShader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+                gridShader.SetFloat("particleCCD", solver.abstraction.parameters.particleCCD);
+                int cellThreadGroups = ComputeMath.ThreadGroupCount(cellCounts.count, 128);
+
+                solver.abstraction.particleContacts.computeBuffer.SetCounterValue(0);
+
+                int simplexThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                // clear grid:
+                gridShader.SetBuffer(clearKernel, "cellCounts", cellCounts);
+                gridShader.SetBuffer(clearKernel, "cellOffsets", cellOffsets);
+                gridShader.SetBuffer(clearKernel, "levelPopulation", levelPopulation);
+                gridShader.SetBuffer(clearKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.Dispatch(clearKernel, cellThreadGroups, 1, 1);
+
+                // insert simplices in grid and flag fluid simplices:
+                gridShader.SetBuffer(insertSimplicesKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(insertSimplicesKernel, "simplexBounds", solver.simplexBounds);
+                gridShader.SetBuffer(insertSimplicesKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(insertSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(insertSimplicesKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(insertSimplicesKernel, "levelPopulation", levelPopulation);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellCounts", cellCounts);
+                gridShader.SetBuffer(insertSimplicesKernel, "offsetInCell", offsetInCell);
+                gridShader.SetBuffer(insertSimplicesKernel, "cellOffsets", cellOffsets);
+                gridShader.Dispatch(insertSimplicesKernel, simplexThreadGroups, 1, 1);
+
+                // find populated grid levels:
+                gridShader.SetBuffer(gridPopulationKernel, "levelPopulation", levelPopulation);
+                gridShader.Dispatch(gridPopulationKernel, 1, 1, 1);
+
+                // sort cells along morton curve:
+                gridShader.SetBuffer(mortonSortKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.SetBuffer(mortonSortKernel, "cellOffsets", cellOffsets);
+                gridShader.SetBuffer(mortonSortKernel, "cellCounts", cellCounts);
+
+                int numPairs = ObiUtils.CeilToPowerOfTwo(maxCells) / 2;
+                int numStages = (int)Mathf.Log(numPairs * 2, 2);
+                int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+                for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+                {
+                    for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                    {
+                        int groupWidth = 1 << (stageIndex - stepIndex);
+                        int groupHeight = 2 * groupWidth - 1;
+                        gridShader.SetInt("groupWidth", groupWidth);
+                        gridShader.SetInt("groupHeight", groupHeight);
+                        gridShader.SetInt("stepIndex", stepIndex);
+                        gridShader.Dispatch(mortonSortKernel, groups, 1, 1);
+                    }
+                }
+
+                // build morton indices:
+                gridShader.SetBuffer(buildMortonKernel, "mortonSortedCellHashes", mortonSortedCellHashes);
+                gridShader.SetBuffer(buildMortonKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.Dispatch(buildMortonKernel, cellThreadGroups, 1, 1);
+
+                // prefix sum to build cell start array: 
+                cellsPrefixSum.Sum(cellCounts, cellOffsets);
+
+                // sort simplex indices and compact fluid simplex indices:
+                gridShader.SetBuffer(sortSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(sortSimplicesKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sortSimplicesKernel, "sortedSimplexIndices", sortedSimplexIndices);
+                gridShader.SetBuffer(sortSimplicesKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sortSimplicesKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sortSimplicesKernel, "simplices", solver.simplices);
+                gridShader.Dispatch(sortSimplicesKernel, simplexThreadGroups, 1, 1);
+
+                // prefix sum of fluid flags:
+                fluidPrefixSum.Sum(sortedFluidIndices, sortedSimplexToFluid);
+
+                // build fluid dispatch buffer:
+                gridShader.SetBuffer(buildFluidDispatchKernel, "fluidDispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.SetBuffer(buildFluidDispatchKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(buildFluidDispatchKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.Dispatch(buildFluidDispatchKernel, 1, 1, 1);
+
+                // sort fluid data:
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "positions", solver.positionsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidInterface", solver.fluidInterfaceBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "principalRadii", solver.principalRadiiBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedFluidInterface", sortedFluidInterface);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedPrincipalRadii", sortedPrincipalRadii);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidMaterials", solver.fluidMaterialsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(sortFluidSimplicesKernel, "fluidDispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.Dispatch(sortFluidSimplicesKernel, simplexThreadGroups, 1, 1);
+            }
+        }
+
+        public void GenerateContacts(ComputeSolverImpl solver)
+        {
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                int simplexThreadGroups = ComputeMath.ThreadGroupCount(solver.simplexCounts.simplexCount, 128);
+
+                // generate contacts list:
+                gridShader.SetBuffer(contactsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(contactsKernel, "sortedSimplexIndices", sortedSimplexIndices);
+                gridShader.SetBuffer(contactsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(contactsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(contactsKernel, "positions", solver.positionsBuffer);
+
+                gridShader.SetBuffer(contactsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(contactsKernel, "restPositions", solver.restPositionsBuffer);
+                gridShader.SetBuffer(contactsKernel, "orientations", solver.orientationsBuffer);
+                gridShader.SetBuffer(contactsKernel, "restOrientations", solver.restOrientationsBuffer);
+                gridShader.SetBuffer(contactsKernel, "velocities", solver.velocitiesBuffer);
+                gridShader.SetBuffer(contactsKernel, "invMasses", solver.invMassesBuffer);
+                gridShader.SetBuffer(contactsKernel, "phases", solver.phasesBuffer);
+                gridShader.SetBuffer(contactsKernel, "filters", solver.filtersBuffer);
+                gridShader.SetBuffer(contactsKernel, "principalRadii", solver.principalRadiiBuffer);
+                gridShader.SetBuffer(contactsKernel, "normals", solver.normalsBuffer);
+                gridShader.SetBuffer(contactsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(contactsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(contactsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(contactsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(contactsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(contactsKernel, "particleContacts", solver.abstraction.particleContacts.computeBuffer);
+                gridShader.SetBuffer(contactsKernel, "contactPairs", contactPairs);
+                gridShader.SetBuffer(contactsKernel, "dispatchBuffer", dispatchBuffer);
+                gridShader.Dispatch(contactsKernel, simplexThreadGroups, 1, 1);
+            }
+        }
+
+        public void GenerateFluidNeighborhoods(ComputeSolverImpl solver)
+        {
+            if (solver.simplexCounts.simplexCount > 0)
+            {
+                // generate fluid neighbors list:
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "neighbors", neighbors);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(sameLevelNeighborsKernel, "dispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.DispatchIndirect(sameLevelNeighborsKernel, solver.fluidDispatchBuffer);
+
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "solverBounds", solver.reducedBounds);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "cellHashToMortonIndex", cellHashToMortonIndex);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedPositions", sortedPositions);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "mortonSortedSimplexIndices", mortonSortedCellHashes);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedFluidMaterials", sortedFluidMaterials);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellCoords", solver.cellCoordsBuffer);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellOffsets", cellOffsets);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_cellCounts", cellCounts);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_offsetInCell", offsetInCell);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "R_levelPopulation", levelPopulation);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "sortedSimplexToFluid", sortedSimplexToFluid);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "neighbors", neighbors);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "neighborCounts", neighborCounts);
+                gridShader.SetBuffer(upperLevelsNeighborsKernel, "dispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.DispatchIndirect(upperLevelsNeighborsKernel, solver.fluidDispatchBuffer);
+
+                gridShader.SetBuffer(buildFluidIndexBufferKernel, "sortedFluidIndices", sortedFluidIndices);
+                gridShader.SetBuffer(buildFluidIndexBufferKernel, "simplices", solver.simplices);
+                gridShader.SetBuffer(buildFluidIndexBufferKernel, "dispatchBuffer", solver.fluidDispatchBuffer);
+                gridShader.DispatchIndirect(buildFluidIndexBufferKernel, solver.fluidDispatchBuffer);
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta
new file mode 100644
index 000000000..3316aef4d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeParticleGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4965240eebe4141968c02c8af6c340ef
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs
new file mode 100644
index 000000000..4f29ab9f3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs
@@ -0,0 +1,82 @@
+using System.Collections;
+using System.Collections.Generic;
+using Obi;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputePrefixSum
+    {
+        private ComputeShader scanShader;
+        private int scanInBucketKernel;
+        private int scanAddBucketResult;
+
+        private List<GraphicsBuffer> blockSums = new List<GraphicsBuffer>();
+        private List<GraphicsBuffer> prefixBlockSums = new List<GraphicsBuffer>();
+        private int inputSize;
+        private const int threadsPerGroup = 512;
+
+        public ComputePrefixSum(int inputSize)
+        {
+            scanShader = Resources.Load<ComputeShader>("Compute/Scan");
+            scanInBucketKernel = scanShader.FindKernel("ScanInBucketExclusive");
+            scanAddBucketResult = scanShader.FindKernel("ScanAddBucketResult");
+
+            this.inputSize = inputSize;
+
+            // intermediate auxiliary buffers to store prefix sum of partial block sums:
+            int c = inputSize;
+            while (c > 1)
+            {
+                c = (c + threadsPerGroup - 1) / threadsPerGroup;
+                blockSums.Add(new GraphicsBuffer(GraphicsBuffer.Target.Structured, c, 4));
+                prefixBlockSums.Add(new GraphicsBuffer(GraphicsBuffer.Target.Structured, c, 4));
+            }
+        }
+
+        public void Dispose()
+        {
+            foreach (var sums in blockSums)
+                if (sums != null && sums.IsValid())
+                    sums.Dispose();
+            blockSums.Clear();
+
+            foreach (var sums in prefixBlockSums)
+                if (sums != null && sums.IsValid())
+                    sums.Dispose();
+            prefixBlockSums.Clear();
+        }
+
+        public void Sum(GraphicsBuffer input, GraphicsBuffer result)
+        {
+            if (input.count != inputSize)
+                return;
+            Sum(input, result, input.count, 0);
+        }
+
+        private void Sum(GraphicsBuffer input, GraphicsBuffer result, int count, int level)
+        {
+            int groups = (count + threadsPerGroup - 1) / threadsPerGroup;
+
+            // calculate partial prefix sums, one per block:
+            scanShader.SetInt("count", count);
+            scanShader.SetBuffer(scanInBucketKernel, "_Input", input);
+            scanShader.SetBuffer(scanInBucketKernel, "_Result", result);
+            scanShader.SetBuffer(scanInBucketKernel, "_BlockSum", blockSums[level]);
+            scanShader.Dispatch(scanInBucketKernel, groups, 1, 1);
+
+            if (groups <= 1)
+                return;
+
+            // recursively calculate prefix sum of the partial block sums:
+            Sum(blockSums[level], prefixBlockSums[level], groups, level + 1);
+
+            // add the scanned partial block sums to the result:
+            // (it's important to set the count again, as we just returned from a recursive call).
+            scanShader.SetInt("count", count);
+            scanShader.SetBuffer(scanAddBucketResult, "_Input", prefixBlockSums[level]);
+            scanShader.SetBuffer(scanAddBucketResult, "_Result", result);
+            scanShader.Dispatch(scanAddBucketResult, groups, 1, 1);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta
new file mode 100644
index 000000000..09aece2e8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputePrefixSum.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7909b2c7733204ec39181859400b780e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs
new file mode 100644
index 000000000..26c6af2bf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs
@@ -0,0 +1,46 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSort
+    {
+        private ComputeShader sortShader;
+        private int sortKernel;
+
+        public ComputeSort()
+        {
+            sortShader = Resources.Load<ComputeShader>("Compute/BitonicSort");
+            sortKernel = sortShader.FindKernel("BitonicSort");
+        }
+
+        public void Sort(GraphicsBuffer keys, GraphicsBuffer values)
+        {
+            if (keys.count != values.count)
+                return;
+
+            sortShader.SetInt("numEntries", keys.count);
+            sortShader.SetBuffer(sortKernel, "Keys", keys);
+            sortShader.SetBuffer(sortKernel, "Values", values);
+
+            // Launch each step of the sorting algorithm (once the previous step is complete)
+            // Number of steps = [log2(n) * (log2(n) + 1)] / 2
+            // where n = nearest power of 2 that is greater or equal to the number of inputs
+            int numPairs = ObiUtils.CeilToPowerOfTwo(keys.count) / 2;
+            int numStages = (int)Mathf.Log(numPairs * 2, 2);
+            int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+            for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+            {
+                for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                {
+                    int groupWidth = 1 << (stageIndex - stepIndex);
+                    int groupHeight = 2 * groupWidth - 1;
+                    sortShader.SetInt("groupWidth", groupWidth);
+                    sortShader.SetInt("groupHeight", groupHeight);
+                    sortShader.SetInt("stepIndex", stepIndex);
+                    sortShader.Dispatch(sortKernel, groups,1,1);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta
new file mode 100644
index 000000000..4705d4209
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/DataStructures/ComputeSort.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bda407cc694ed4b438cfea3d847ee85f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta
new file mode 100644
index 000000000..ae5d9ccff
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 720d0f7e26a9d46039d564d1d98f08c9
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs
new file mode 100644
index 000000000..9e40726a3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeBoxQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeBoxQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoxShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Box);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta
new file mode 100644
index 000000000..1236be060
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeBoxQuery.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8956fcafa2f984a80a9448fb71a11c7d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs
new file mode 100644
index 000000000..4fe96fd1d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeRayQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeRayQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RayShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Ray);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta
new file mode 100644
index 000000000..a075d168c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeRayQuery.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df812762d482f4e8c86a698f8062b99a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs
new file mode 100644
index 000000000..3c53dfb59
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs
@@ -0,0 +1,42 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ComputeSphereQuery
+    {
+        private ComputeShader shader;
+        private int kernel;
+
+        public ComputeSphereQuery()
+        {
+            shader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/SphereShapeQuery"));
+            kernel = shader.FindKernel("GenerateResults");
+        }
+
+        public void GetResults(ComputeSolverImpl solver, SpatialQueries world, GraphicsBuffer transforms, GraphicsBuffer shapes, GraphicsBuffer results)
+        {
+            shader.SetInt("maxContacts", ComputeColliderWorld.maxContacts);
+            shader.SetInt("pointCount", solver.simplexCounts.pointCount);
+            shader.SetInt("edgeCount", solver.simplexCounts.edgeCount);
+            shader.SetInt("triangleCount", solver.simplexCounts.triangleCount);
+            shader.SetInt("surfaceCollisionIterations", solver.abstraction.parameters.surfaceCollisionIterations);
+            shader.SetFloat("surfaceCollisionTolerance", solver.abstraction.parameters.surfaceCollisionTolerance);
+            shader.SetFloat("collisionMargin", solver.abstraction.parameters.collisionMargin);
+
+            shader.SetBuffer(kernel, "worldToSolver", solver.worldToSolverBuffer);
+            shader.SetBuffer(kernel, "simplices", solver.simplices);
+            shader.SetBuffer(kernel, "positions", solver.positionsBuffer);
+            shader.SetBuffer(kernel, "orientations", solver.orientationsBuffer);
+            shader.SetBuffer(kernel, "velocities", solver.velocitiesBuffer);
+            shader.SetBuffer(kernel, "principalRadii", solver.principalRadiiBuffer);
+            shader.SetBuffer(kernel, "transforms", transforms);
+            shader.SetBuffer(kernel, "shapes", shapes);
+            shader.SetBuffer(kernel, "contactPairs", world.contactPairs);
+            shader.SetBuffer(kernel, "contactOffsetsPerType", world.contactOffsetsPerType);
+            shader.SetBuffer(kernel, "results", results);
+            shader.SetBuffer(kernel, "dispatchBuffer", world.dispatchBuffer);
+            shader.DispatchIndirect(kernel, world.dispatchBuffer, 32 + 16 * (int)QueryShape.QueryType.Sphere);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta
new file mode 100644
index 000000000..5eb442cca
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Queries/ComputeSphereQuery.cs.meta
@@ -0,0 +1,11 @@
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+guid: c65e1510ca8a54514b0a6a06c37a48fc
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta
new file mode 100644
index 000000000..a6090f8a3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta
new file mode 100644
index 000000000..3fc9d9a39
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 17503ab71a29b454ab068ea80d5f203c
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+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs
new file mode 100644
index 000000000..dea63a81c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs
@@ -0,0 +1,155 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+#if (SRP_UNIVERSAL)
+using UnityEngine.Rendering.Universal;
+#endif
+
+namespace Obi
+{
+
+    public class ComputeFoamRenderSystem : ObiFoamRenderSystem
+    { 
+
+        private ComputeShader foamShader;
+        private int sortKernel;
+        private int clearMeshKernel;
+        private int buildMeshKernel;
+
+        protected Material thickness_Material;
+        protected Material color_Material;
+        protected LocalKeyword shader2DFeature;
+
+        public ComputeFoamRenderSystem(ObiSolver solver) : base (solver)
+        {
+            foamShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoam"));
+            sortKernel = foamShader.FindKernel("Sort");
+            clearMeshKernel = foamShader.FindKernel("ClearMesh");
+            buildMeshKernel = foamShader.FindKernel("BuildMesh");
+
+#if (SRP_UNIVERSAL)
+            if (GraphicsSettings.currentRenderPipeline is UniversalRenderPipelineAsset)
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/URP/Fluid/FoamParticlesURP"), new RenderBatchParams(true));
+            else
+#endif
+                renderBatch = new ProceduralRenderBatch<DiffuseParticleVertex>(0, Resources.Load<Material>("ObiMaterials/Fluid/FoamParticles"), new RenderBatchParams(true));
+
+            renderBatch.vertexCount = (int)m_Solver.maxFoamParticles * 4;
+            renderBatch.triangleCount = (int)m_Solver.maxFoamParticles * 2;
+            renderBatch.Initialize(layout, true);
+        }
+
+        private void ReallocateParticleBuffers()
+        {
+            // in case the amount of particles allocated does not match
+            // the amount requested by the solver, reallocate
+            if (m_Solver.foamPositions.count * 4 != renderBatch.vertexCount)
+            {
+                renderBatch.Dispose();
+                renderBatch.vertexCount = m_Solver.foamPositions.count * 4;
+                renderBatch.triangleCount = m_Solver.foamPositions.count * 2;
+                renderBatch.Initialize(layout, true);
+            }
+        }
+
+        public override void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                for (int i = 0; i < renderers.Count; ++i)
+                {
+                    renderers[i].actor.solverIndices.AsComputeBuffer<int>();
+                }
+            }
+        }
+
+        public override void Step()
+        {
+            // update solver indices, since particles may have died while updating the emitter.
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].actor.solverIndices.Upload();
+            }
+        }
+
+        public override void Render()
+        {
+            var solver = m_Solver.implementation as ComputeSolverImpl;
+
+            if (!Application.isPlaying)
+                return;
+
+            ReallocateParticleBuffers();
+
+            if (solver.activeParticlesBuffer == null || solver.abstraction.foamPositions.computeBuffer == null)
+                return;
+
+            foreach (Camera camera in cameras)
+            {
+                if (camera == null)
+                    continue;
+
+                // sort by distance to camera:
+                foamShader.SetVector("sortAxis", solver.abstraction.transform.InverseTransformDirection(camera.transform.forward));
+                foamShader.SetBuffer(sortKernel, "outputPositions", solver.abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputVelocities", solver.abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputColors", solver.abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "outputAttributes", solver.abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(sortKernel, "dispatch", solver.abstraction.foamCount.computeBuffer);
+
+                int numPairs = ObiUtils.CeilToPowerOfTwo(m_Solver.foamPositions.count) / 2;
+                int numStages = (int)Mathf.Log(numPairs * 2, 2);
+                int groups = ComputeMath.ThreadGroupCount(numPairs, 128);
+
+                for (int stageIndex = 0; stageIndex < numStages; stageIndex++)
+                {
+                    for (int stepIndex = 0; stepIndex < stageIndex + 1; stepIndex++)
+                    {
+                        int groupWidth = 1 << (stageIndex - stepIndex);
+                        int groupHeight = 2 * groupWidth - 1;
+                        foamShader.SetInt("groupWidth", groupWidth);
+                        foamShader.SetInt("groupHeight", groupHeight);
+                        foamShader.SetInt("stepIndex", stepIndex);
+                        foamShader.Dispatch(sortKernel, groups, 1, 1);
+                    }
+                }
+
+                // build mesh:
+                int threadGroups = ComputeMath.ThreadGroupCount(m_Solver.foamPositions.count, 128);
+                foamShader.SetInt("maxFoamParticles", m_Solver.foamPositions.count);
+                foamShader.SetBuffer(clearMeshKernel, "indices", renderBatch.gpuIndexBuffer);
+                foamShader.Dispatch(clearMeshKernel, threadGroups, 1, 1);
+
+                foamShader.SetBuffer(buildMeshKernel, "inputPositions", solver.abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputVelocities", solver.abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputColors", solver.abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "inputAttributes", solver.abstraction.foamAttributes.computeBuffer);
+
+                foamShader.SetBuffer(buildMeshKernel, "vertices", renderBatch.gpuVertexBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "indices", renderBatch.gpuIndexBuffer);
+                foamShader.SetBuffer(buildMeshKernel, "dispatch", solver.abstraction.foamCount.computeBuffer);
+
+                foamShader.DispatchIndirect(buildMeshKernel, solver.abstraction.foamCount.computeBuffer);
+
+                matProps.SetFloat("_FadeDepth", 0);
+                matProps.SetFloat("_VelocityStretching", m_Solver.maxFoamVelocityStretch);
+                matProps.SetFloat("_RadiusScale", m_Solver.foamRadiusScale);
+                matProps.SetFloat("_FadeIn", m_Solver.foamFade.x);
+                matProps.SetFloat("_FadeOut", m_Solver.foamFade.y);
+                matProps.SetFloat("_ScatterDensity", m_Solver.foamVolumeDensity);
+                matProps.SetFloat("_AmbientDensity", m_Solver.foamAmbientDensity);
+                matProps.SetColor("_ScatterColor", m_Solver.foamScatterColor);
+                matProps.SetColor("_AmbientColor", m_Solver.foamAmbientColor);
+
+                var rp = renderBatch.renderParams;
+                rp.worldBounds = m_Solver.bounds;
+                rp.camera = camera;
+                rp.matProps = matProps;
+                rp.shadowCastingMode = ShadowCastingMode.Off;
+
+                Graphics.RenderMesh(rp, renderBatch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta
new file mode 100644
index 000000000..07ab5673a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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+guid: 79b1bf3bc315944669288e5529915a5f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs
new file mode 100644
index 000000000..08e235cb7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs
@@ -0,0 +1,104 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeInstancedParticleRenderSystem : ObiInstancedParticleRenderSystem
+    {
+
+        private ComputeShader instanceShader;
+        private int updateKernel;
+        private uint[] args = new uint[5] { 0, 0, 0, 0, 0 };
+
+        public ComputeInstancedParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            instanceShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/InstancedParticleRendering"));
+            updateKernel = instanceShader.FindKernel("UpdateParticleInstances");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(true);
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            activeParticles.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<ParticleRendererData>();
+            rendererIndex.AsComputeBuffer<int>();
+
+            instanceTransforms.AsComputeBuffer<Matrix4x4>();
+            invInstanceTransforms.AsComputeBuffer<Matrix4x4>();
+            instanceColors.AsComputeBuffer<Vector4>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0 && activeParticles.count > 0)
+                {
+                    instanceShader.SetBuffer(updateKernel, "activeParticles", activeParticles.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "rendererIndex", rendererIndex.computeBuffer);
+
+                    instanceShader.SetBuffer(updateKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    instanceShader.SetBuffer(updateKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    instanceShader.SetBuffer(updateKernel, "renderableRadii", computeSolver.renderableRadiiBuffer);
+                    instanceShader.SetBuffer(updateKernel, "colors", computeSolver.colorsBuffer);
+
+                    instanceShader.SetBuffer(updateKernel, "instanceTransforms", instanceTransforms.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "invInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    instanceShader.SetBuffer(updateKernel, "instanceColors", instanceColors.computeBuffer);
+
+                    instanceShader.SetMatrix("solverToWorld", m_Solver.transform.localToWorldMatrix);
+
+                    instanceShader.SetInt("particleCount", activeParticles.count);
+                    int threadGroups = ComputeMath.ThreadGroupCount(activeParticles.count, 128);
+
+                    instanceShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                    MaterialPropertyBlock mpb = new MaterialPropertyBlock();
+                    mpb.SetBuffer("_InstanceTransforms", instanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_InvInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_Colors", instanceColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+
+                        if (batch.mesh == null)
+                            continue;
+
+                        args[0] = (uint)batch.mesh.GetIndexCount(0);
+                        args[1] = (uint)batch.instanceCount;
+                        args[2] = (uint)batch.mesh.GetIndexStart(0);
+                        args[3] = (uint)batch.mesh.GetBaseVertex(0);
+                        args[4] = (uint)batch.firstInstance;
+                        batch.argsBuffer.SetData(args);
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        Graphics.RenderMeshIndirect(rp, batch.mesh, batch.argsBuffer);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..39147cf50
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f8b509404001c45aba2b5d70bed9ad1f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs
new file mode 100644
index 000000000..1508f19cd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs
@@ -0,0 +1,71 @@
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ComputeParticleRenderSystem : ObiParticleRenderSystem
+    {
+        public ComputeShader meshComputeShader;
+        private int buildMeshKernel;
+
+        public ComputeParticleRenderSystem(ObiSolver solver) : base(solver)
+        {
+            meshComputeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/ParticleMeshBuilding"));
+            buildMeshKernel = meshComputeShader.FindKernel("BuildMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            activeParticles.AsComputeBuffer<int>();
+            rendererIndex.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<ParticleRendererData>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                var solver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (solver.renderablePositionsBuffer != null &&
+                    activeParticles.computeBuffer != null &&
+                    solver.renderablePositionsBuffer.count > 0)
+                {
+                    meshComputeShader.SetBuffer(buildMeshKernel, "particleIndices", activeParticles.computeBuffer);
+
+                    meshComputeShader.SetBuffer(buildMeshKernel, "positions", solver.renderablePositionsBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "orientations", solver.renderableOrientationsBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "radii", solver.renderableRadiiBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "colors", solver.colorsBuffer);
+
+                    meshComputeShader.SetBuffer(buildMeshKernel, "rendererIndices", rendererIndex.computeBuffer);
+                    meshComputeShader.SetBuffer(buildMeshKernel, "rendererData", rendererData.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.vertexCount / 4, 128);
+
+                        meshComputeShader.SetInt("firstParticle", batch.firstParticle);
+                        meshComputeShader.SetInt("particleCount", batch.vertexCount / 4);
+
+                        meshComputeShader.SetBuffer(buildMeshKernel, "vertices", batch.gpuVertexBuffer);
+                        meshComputeShader.SetBuffer(buildMeshKernel, "indices", batch.gpuIndexBuffer);
+
+                        meshComputeShader.Dispatch(buildMeshKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..ac29d03b4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/Common/ComputeParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
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+guid: a636d056cf9924c4b9d569058fa42d31
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta
new file mode 100644
index 000000000..3242dc7fa
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 9c226d9f8a58648e789dbd116881847d
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs
new file mode 100644
index 000000000..3c73db958
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs
@@ -0,0 +1,107 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeChainRopeRenderSystem : ObiChainRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+        private uint[] args = new uint[5] { 0, 0, 0, 0, 0 };
+
+        public ComputeChainRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeChainRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateChainMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(true);
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            rendererData.AsComputeBuffer<ChainRendererData>();
+            chunkData.AsComputeBuffer<ChunkData>();
+            modifiers.SafeAsComputeBuffer<ObiRopeChainRenderer.LinkModifier>();
+            elements.AsComputeBuffer<Vector2Int>();
+
+            instanceTransforms.AsComputeBuffer<Matrix4x4>();
+            invInstanceTransforms.AsComputeBuffer<Matrix4x4>();
+            instanceColors.AsComputeBuffer<Vector4>();
+
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0 && elements.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunksData", chunkData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "modifiers", modifiers.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "elements", elements.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    ropeShader.SetBuffer(updateKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    ropeShader.SetBuffer(updateKernel, "principalRadii", computeSolver.renderableRadiiBuffer);
+                    ropeShader.SetBuffer(updateKernel, "colors", computeSolver.colorsBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "instanceTransforms", instanceTransforms.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "invInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "instanceColors", instanceColors.computeBuffer);
+
+                    ropeShader.SetMatrix("solverToWorld", m_Solver.transform.localToWorldMatrix);
+
+                    ropeShader.SetInt("chunkCount", chunkData.count);
+                    int threadGroups = ComputeMath.ThreadGroupCount(chunkData.count, 32);
+
+                    ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                    MaterialPropertyBlock mpb = new MaterialPropertyBlock();
+                    mpb.SetBuffer("_InstanceTransforms", instanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_InvInstanceTransforms", invInstanceTransforms.computeBuffer);
+                    mpb.SetBuffer("_Colors", instanceColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+
+                        if (batch.mesh == null)
+                            continue;
+
+                        args[0] = (uint)batch.mesh.GetIndexCount(0);
+                        args[1] = (uint)batch.instanceCount;
+                        args[2] = (uint)batch.mesh.GetIndexStart(0);
+                        args[3] = (uint)batch.mesh.GetBaseVertex(0);
+                        args[4] = (uint)batch.firstInstance;
+                        batch.argsBuffer.SetData(args);
+
+                        var rp = batch.renderParams;
+                        rp.material = batch.material;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.matProps = mpb;
+
+                        Graphics.RenderMeshIndirect(rp, batch.mesh, batch.argsBuffer);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..40dadbaf6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fe4c45599ea584be2a1b122fbe7d0ec6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs
new file mode 100644
index 000000000..423db6459
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs
@@ -0,0 +1,101 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class ComputeExtrudedRopeRenderSystem : ObiExtrudedRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeExtrudedRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeExtrudedRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateRopeMesh");
+        }
+
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            sectionData.AsComputeBuffer<Vector2>();
+            sectionOffsets.AsComputeBuffer<int>();
+            sectionIndices.AsComputeBuffer<int>();
+
+            vertexOffsets.AsComputeBuffer<int>();
+            triangleOffsets.AsComputeBuffer<int>();
+            triangleCounts.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstExtrudedMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "sectionData", sectionData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sectionOffsets", sectionOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sectionIndices", sectionIndices.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleOffsets", triangleOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleCounts", triangleCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "extrudedData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 128);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+                        ropeShader.SetBuffer(updateKernel, "tris", batch.gpuIndexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..d02481a39
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f8977537c032b46c680d6b11b587e949
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs
new file mode 100644
index 000000000..4e1606715
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs
@@ -0,0 +1,103 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+using Unity.Profiling;
+using System.Collections.Generic;
+using Unity.Collections;
+
+namespace Obi
+{
+    public class ComputeLineRopeRenderSystem : ObiLineRopeRenderSystem
+    {
+
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeLineRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeLineRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateLineMesh");
+        }
+
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout, true);
+
+            vertexOffsets.AsComputeBuffer<int>();
+            triangleOffsets.AsComputeBuffer<int>();
+            triangleCounts.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstLineMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+
+        }
+
+        public override void Render() { }
+
+        public override void RenderFromCamera(Camera camera)
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleOffsets", triangleOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "triangleCounts", triangleCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    ropeShader.SetVector("localSpaceCamera", m_Solver.transform.InverseTransformPoint(camera.transform.position));
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 128);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+                        ropeShader.SetBuffer(updateKernel, "tris", batch.gpuIndexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+                        rp.camera = camera;
+
+                        Graphics.RenderMesh(rp, batch.mesh, 0, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..b737e7d32
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1de4576d2ba2b4966af730ac7a09e224
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs
new file mode 100644
index 000000000..2abb1191d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs
@@ -0,0 +1,108 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+
+    public class ComputeMeshRopeRenderSystem : ObiMeshRopeRenderSystem
+    {
+        private ComputeShader ropeShader;
+        private int updateKernel;
+
+        public ComputeMeshRopeRenderSystem(ObiSolver solver) : base(solver)
+        {
+            ropeShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/RopeMeshRendering"));
+            updateKernel = ropeShader.FindKernel("UpdateRopeMesh");
+        }
+
+        protected override void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(sortedRenderers, meshData, meshIndices, layout, true);
+
+            meshData.PrepareForCompute();
+            meshIndices.AsComputeBuffer<int>();
+
+            sortedIndices.AsComputeBuffer<int>();
+            sortedOffsets.AsComputeBuffer<int>();
+
+            vertexOffsets.AsComputeBuffer<int>();
+
+            pathSmootherIndices.AsComputeBuffer<int>();
+            rendererData.AsComputeBuffer<BurstMeshData>();
+
+            pathSmootherSystem.chunkOffsets.AsComputeBuffer<int>();
+
+            base.CloseBatches();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                if (pathSmootherSystem == null)
+                    return;
+
+                // Single array: Cannot merge into a single vertices array, otherwise we would need to bring back to CPU for passing indices to each mesh.
+                // Individual meshes: Cannot do each renderer independently (like we do with cloth) since each rope is done sequentially, would not parallelize at all.
+                // Batches: 1 mesh per batch: best approach, but 1) bounds must be calculated per or solver, so we can only cull entire solver. Culling happens on the CPU, cannot bring back bounds from the CPU.
+                // Cloth and Softbodies are rendered manually, particles are too. So Ropes could too.
+
+                // In Burst, we need  merge all cloth mesh data into array for parallel processing, without using one schedule() per mesh.
+                // So instead of writing slices of mesh data back to their original meshes, let's create one mesh per batch and draw it ourselves.
+                // Basically the same as with ropes.
+
+                if (pathSmootherSystem.chunkOffsets != null && pathSmootherSystem.chunkOffsets.count > 0)
+                {
+                    ropeShader.SetBuffer(updateKernel, "chunkOffsets", pathSmootherSystem.chunkOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathSmootherIndices", pathSmootherIndices.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "frames", pathSmootherSystem.smoothFrames.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameOffsets", pathSmootherSystem.smoothFrameOffsets.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "frameCounts", pathSmootherSystem.smoothFrameCounts.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "vertexOffsets", vertexOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "meshIndices", meshIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "meshData", meshData.meshData.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "rendererData", rendererData.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "pathData", pathSmootherSystem.pathData.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "sortedIndices", sortedIndices.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "sortedOffsets", sortedOffsets.computeBuffer);
+
+                    ropeShader.SetBuffer(updateKernel, "positions", meshData.restPositions.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "normals", meshData.restNormals.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "tangents", meshData.restTangents.computeBuffer);
+                    ropeShader.SetBuffer(updateKernel, "colors", meshData.restColors.computeBuffer);
+
+                    for (int i = 0; i < batchList.Count; ++i)
+                    {
+                        var batch = batchList[i];
+                        int threadGroups = ComputeMath.ThreadGroupCount(batch.rendererCount, 16);
+
+                        ropeShader.SetInt("firstRenderer", batch.firstRenderer);
+                        ropeShader.SetInt("rendererCount", batch.rendererCount);
+
+                        ropeShader.SetBuffer(updateKernel, "vertices", batch.gpuVertexBuffer);
+
+                        ropeShader.Dispatch(updateKernel, threadGroups, 1, 1);
+
+                        var rp = batch.renderParams;
+                        rp.worldBounds = m_Solver.bounds;
+
+                        for (int m = 0; m < batch.materials.Length; ++m)
+                        {
+                            rp.material = batch.materials[m];
+                            Graphics.RenderMesh(rp, batch.mesh, m, m_Solver.transform.localToWorldMatrix, m_Solver.transform.localToWorldMatrix);
+                        }
+                    }
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..eb2668678
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputeMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f880620ed267d4cb4a701183bcadfe15
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs
new file mode 100644
index 000000000..9f363f237
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ComputePathSmootherRenderSystem : ObiPathSmootherRenderSystem
+    {
+
+        private ComputeShader pathShader;
+        private int parallelTransportKernel;
+        private int decimateKernel;
+        private int smoothKernel;
+
+        public ComputePathSmootherRenderSystem(ObiSolver solver) : base(solver)
+        {
+            pathShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/PathSmoothing"));
+            parallelTransportKernel = pathShader.FindKernel("ParallelTransport");
+            decimateKernel = pathShader.FindKernel("Decimate");
+            smoothKernel = pathShader.FindKernel("ChaikinSmooth");
+        }
+
+        public override void Setup()
+        {
+            base.Setup();
+
+            particleIndices.AsComputeBuffer<int>();
+            rawFrameOffsets.AsComputeBuffer<int>();
+            pathData.AsComputeBuffer<BurstPathSmootherData>();
+            rawFrames.AsComputeBuffer<ObiPathFrame>();
+            decimatedFrameCounts.AsComputeBuffer<int>();
+
+            smoothFrames.AsComputeBuffer<ObiPathFrame>();
+            smoothFrameOffsets.AsComputeBuffer<int>();
+            smoothFrameCounts.AsComputeBuffer<int>();
+        }
+
+        public override void Render()
+        {
+            using (m_RenderMarker.Auto())
+            {
+                //base.Render();
+
+                var computeSolver = m_Solver.implementation as ComputeSolverImpl;
+
+                if (computeSolver.renderablePositionsBuffer != null && computeSolver.renderablePositionsBuffer.count > 0)
+                {
+                    // wait for gpu data to be transferred:
+                    pathData.WaitForReadback();
+                    smoothFrames.WaitForReadback();
+
+                    // update rest lenghts and upload to gpu:
+                    base.Render();
+                    pathData.Upload();
+
+                    int threadGroups = ComputeMath.ThreadGroupCount(rawFrameOffsets.count, 128);
+                    pathShader.SetInt("chunkCount", rawFrameOffsets.count);
+
+                    pathShader.SetBuffer(parallelTransportKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "particleIndices", particleIndices.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "renderablePositions", computeSolver.renderablePositionsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "renderableOrientations", computeSolver.renderableOrientationsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "principalRadii", computeSolver.principalRadiiBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "colors", computeSolver.colorsBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "pathData", pathData.computeBuffer);
+                    pathShader.SetBuffer(parallelTransportKernel, "pathFrames", rawFrames.computeBuffer);
+
+                    pathShader.Dispatch(parallelTransportKernel, threadGroups, 1, 1);
+
+                    pathShader.SetBuffer(decimateKernel, "pathFrames", rawFrames.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "decimatedFrameCounts", decimatedFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(decimateKernel, "pathData", pathData.computeBuffer);
+
+                    pathShader.Dispatch(decimateKernel, threadGroups, 1, 1);
+
+                    pathShader.SetBuffer(smoothKernel, "pathFrames", rawFrames.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "frameOffsets", rawFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "decimatedFrameCounts", decimatedFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrames", smoothFrames.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrameOffsets", smoothFrameOffsets.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "smoothFrameCounts", smoothFrameCounts.computeBuffer);
+                    pathShader.SetBuffer(smoothKernel, "pathData", pathData.computeBuffer);
+
+                    pathShader.Dispatch(smoothKernel, threadGroups, 1, 1);
+
+                    pathData.Readback();
+                    smoothFrames.Readback();
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta
new file mode 100644
index 000000000..acdff97c5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Rendering/RopeAndRod/ComputePathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7ed459657fb054e7b8e0c806e8e5016e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta
similarity index 77%
rename from Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta
rename to Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta
index aa7f2cd0d..3c8e3c2f1 100644
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Solver.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: e2f8381840ff54c2f9122f2329cf9366
+guid: e6a74baa6b875488ea6366478aece6a3
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs
new file mode 100644
index 000000000..ad4cf37f3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs
@@ -0,0 +1,1438 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public class ComputeSolverImpl : ISolverImpl
+    {
+        ObiSolver m_Solver;
+
+        public ObiSolver abstraction
+        {
+            get { return m_Solver; }
+        }
+
+        public int particleCount
+        {
+            get { return m_Solver.positions.count; }
+        }
+
+        public int activeParticleCount
+        {
+            get { return m_Solver.activeParticles.count; }
+        }
+
+        public int deformableTriangleCount
+        {
+            get { return m_Solver.deformableTriangles.count / 3; }
+        }
+
+        public int deformableEdgeCount
+        {
+            get { return m_Solver.deformableEdges.count / 2; }
+        }
+
+        public InertialFrame inertialFrame
+        {
+            get { return m_InertialFrame; }
+        }
+
+        public uint activeFoamParticleCount { private set; get; }
+
+        // Per-type constraints array:
+        IComputeConstraintsImpl[] constraints;
+
+        // Per-type iteration padding array:
+        private int[] padding = new int[Oni.ConstraintTypeCount];
+
+        // job handle:
+        private ComputeJobHandle jobHandle;
+
+        // particle contact generation:
+        public ComputeParticleGrid particleGrid;
+
+        // collider contact generation:
+        public ComputeColliderWorld colliderGrid;
+
+        // spatial queries:
+        public SpatialQueries spatialQueries;
+
+        // misc data:
+        private InertialFrame m_InertialFrame;
+
+        // cached particle data arrays (just wrappers over raw unmanaged data held by the abstract solver)
+        public GraphicsBuffer deadIndicesBuffer;
+        public GraphicsBuffer positionsBuffer;
+        public GraphicsBuffer orientationsBuffer;
+        public GraphicsBuffer startPositionsBuffer;
+        public GraphicsBuffer endPositionsBuffer;
+        public GraphicsBuffer startOrientationsBuffer;
+        public GraphicsBuffer endOrientationsBuffer;
+        public GraphicsBuffer restPositionsBuffer;
+        public GraphicsBuffer prevPositionsBuffer;
+        public GraphicsBuffer restOrientationsBuffer;
+        public GraphicsBuffer prevOrientationsBuffer;
+        public GraphicsBuffer renderablePositionsBuffer;
+        public GraphicsBuffer renderableOrientationsBuffer;
+        public GraphicsBuffer renderableRadiiBuffer;
+        public GraphicsBuffer colorsBuffer;
+        public GraphicsBuffer collisionMaterialIndexBuffer;
+
+        public GraphicsBuffer principalRadiiBuffer;
+        public GraphicsBuffer velocitiesBuffer;
+        public GraphicsBuffer invMassesBuffer;
+        public GraphicsBuffer phasesBuffer;
+        public GraphicsBuffer filtersBuffer;
+
+        public GraphicsBuffer angularVelocitiesBuffer;
+        public GraphicsBuffer invRotationalMassesBuffer;
+        public GraphicsBuffer externalForcesBuffer;
+        public GraphicsBuffer externalTorquesBuffer;
+        public GraphicsBuffer windBuffer;
+
+        public GraphicsBuffer lifeBuffer;
+        public GraphicsBuffer fluidDataBuffer;
+        public GraphicsBuffer userDataBuffer;
+        public GraphicsBuffer fluidMaterialsBuffer;
+        public GraphicsBuffer fluidMaterials2Buffer;
+        public GraphicsBuffer fluidInterfaceBuffer;
+        public GraphicsBuffer anisotropiesBuffer;
+
+        public GraphicsBuffer auxPositions;
+        public GraphicsBuffer auxVelocities;
+        public GraphicsBuffer auxColors;
+        public GraphicsBuffer auxAttributes;
+        public GraphicsBuffer auxOffsetInCell;
+        public GraphicsBuffer auxSortedToOriginal;
+
+        public GraphicsBuffer normalsBuffer;
+        public GraphicsBuffer cellCoordsBuffer;
+
+        public GraphicsBuffer positionDeltasIntBuffer;
+        public GraphicsBuffer orientationDeltasIntBuffer;
+
+        public GraphicsBuffer positionConstraintCountBuffer;
+        public GraphicsBuffer orientationConstraintCountBuffer;
+
+        public GraphicsBuffer activeParticlesBuffer;
+        public GraphicsBuffer fluidDispatchBuffer;
+
+        public GraphicsBuffer tangentsIntBuffer;
+
+        public GraphicsBuffer deformableEdgesBuffer;
+        public GraphicsBuffer deformableTrianglesBuffer;
+
+        public GraphicsBuffer solverToWorldBuffer;
+        public GraphicsBuffer worldToSolverBuffer;
+        public GraphicsBuffer inertialFrameBuffer;
+        private AffineTransform[] solverToWorldArray;
+        private AffineTransform[] worldToSolverArray;
+        private InertialFrame[] inertialFrameArray;
+
+        public GraphicsBuffer rigidbodyLinearDeltasBuffer;
+        public GraphicsBuffer rigidbodyAngularDeltasBuffer;
+
+        public GraphicsBuffer rigidbodyLinearDeltasIntBuffer;
+        public GraphicsBuffer rigidbodyAngularDeltasIntBuffer;
+
+        public GraphicsBuffer reducedBounds;
+
+        // simplices:
+        public SimplexCounts simplexCounts;
+        public GraphicsBuffer simplices;
+        public GraphicsBuffer simplexBounds;
+
+        public Aabb solverBounds;
+        private AsyncGPUReadbackRequest boundsRequest;
+
+        private ComputeShader solverShader;
+        private int applyInertialForcesKernel;
+        private int applyRigidbodyDeltasKernel;
+        private int predictPositionsKernel;
+        private int updateVelocitiesKernel;
+        private int updatePositionsKernel;
+        private int updateLifetimesKernel;
+        private int enforceLimitsKernel;
+        private int interpolateKernel;
+
+        private ComputeShader boundsShader;
+        private int simplexBoundsKernel;
+        private int editSimplexBoundsKernel;
+        private int boundsReductionKernel;
+
+        private ComputeShader deformableTrisShader;
+        private int resetNormalsKernel;
+        private int updateNormalsKernel;
+        private int updateEdgeNormalsKernel;
+        private int orientationFromNormalsKernel;
+
+        private ComputeShader foamShader;
+        private int sortDataKernel;
+        private int emitShapeFoamKernel;
+        private int emitFoamKernel;
+        private int copyAliveKernel;
+        private int updateFoamKernel;
+        private int integrateFoamKernel;
+        private int copyKernel;
+
+        private ComputeShader foamDensityShader;
+        private int clearGridKernel;
+        private int insertGridKernel;
+        private int sortByGridKernel;
+        private int computeDensityKernel;
+        private int applyDensityKernel;
+
+        private ComputeShader foamCollisionShader;
+        private int solveDiffuseContactsKernel;
+
+        public ComputeSolverImpl(ObiSolver solver)
+        {
+            this.m_Solver = solver;
+
+            jobHandle = new ComputeJobHandle();
+            solverBounds = new Aabb(solver.transform.position - Vector3.one, solver.transform.position + Vector3.one);
+
+            solver.queryResults.ResizeUninitialized((int)abstraction.maxQueryResults);
+            solver.queryResults.SafeAsComputeBuffer<QueryResult>(GraphicsBuffer.Target.Counter);
+
+            solver.foamCount.AsComputeBuffer<int>(GraphicsBuffer.Target.IndirectArguments);
+            solver.foamPositions.AsComputeBuffer<Vector4>();
+            solver.foamVelocities.AsComputeBuffer<Vector4>();
+            solver.foamColors.AsComputeBuffer<Vector4>();
+            solver.foamAttributes.AsComputeBuffer<Vector4>();
+
+            solverShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/Solver"));
+            applyInertialForcesKernel = solverShader.FindKernel("ApplyInertialForces");
+            applyRigidbodyDeltasKernel = solverShader.FindKernel("ApplyRigidbodyDeltas");
+            updateLifetimesKernel = solverShader.FindKernel("UpdateLifetimes");
+            predictPositionsKernel = solverShader.FindKernel("PredictPositions");
+            updateVelocitiesKernel = solverShader.FindKernel("UpdateVelocities");
+            updatePositionsKernel = solverShader.FindKernel("UpdatePositions");
+            enforceLimitsKernel = solverShader.FindKernel("EnforceLimits");
+            interpolateKernel = solverShader.FindKernel("Interpolate");
+
+            boundsShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/BoundsReduction"));
+            simplexBoundsKernel = boundsShader.FindKernel("RuntimeSimplexBounds");
+            editSimplexBoundsKernel = boundsShader.FindKernel("EditSimplexBounds");
+            boundsReductionKernel = boundsShader.FindKernel("Reduce");
+
+            deformableTrisShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/DeformableTriangles"));
+            resetNormalsKernel = deformableTrisShader.FindKernel("ResetNormals");
+            updateNormalsKernel = deformableTrisShader.FindKernel("UpdateNormals");
+            updateEdgeNormalsKernel = deformableTrisShader.FindKernel("UpdateEdgeNormals");
+            orientationFromNormalsKernel = deformableTrisShader.FindKernel("OrientationFromNormals");
+
+            foamShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoam"));
+            sortDataKernel = foamShader.FindKernel("SortFluidData");
+            emitShapeFoamKernel = foamShader.FindKernel("EmitShape");
+            emitFoamKernel = foamShader.FindKernel("Emit");
+            copyAliveKernel = foamShader.FindKernel("CopyAliveCount");
+            updateFoamKernel = foamShader.FindKernel("Update");
+            copyKernel = foamShader.FindKernel("Copy");
+            integrateFoamKernel = foamShader.FindKernel("Integrate");
+
+            foamDensityShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoamDensity"));
+            clearGridKernel = foamDensityShader.FindKernel("Clear");
+            insertGridKernel = foamDensityShader.FindKernel("InsertInGrid");
+            sortByGridKernel = foamDensityShader.FindKernel("SortByGrid");
+            computeDensityKernel = foamDensityShader.FindKernel("ComputeDensity");
+            applyDensityKernel = foamDensityShader.FindKernel("ApplyDensity");
+
+            foamCollisionShader = GameObject.Instantiate(Resources.Load<ComputeShader>("Compute/FluidFoamCollisions"));
+            solveDiffuseContactsKernel = foamCollisionShader.FindKernel("SolveDiffuseContacts");
+
+            solverToWorldBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 48);
+            solverToWorldArray = new AffineTransform[1];
+            worldToSolverBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 48);
+            worldToSolverArray = new AffineTransform[1];
+            inertialFrameBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, 1, 160);
+            inertialFrameArray = new InertialFrame[1];
+
+            fluidDispatchBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 4, sizeof(uint));
+
+            // Initialize collision world:
+            GetOrCreateColliderWorld();
+            colliderGrid.IncreaseReferenceCount();
+
+            // Initialize contact generation acceleration structure:
+            particleGrid = new ComputeParticleGrid();
+
+            // Initialize spatial query system.
+            spatialQueries = new SpatialQueries(solver.maxQueryResults);
+
+            // Initialize constraint arrays:
+            constraints = new IComputeConstraintsImpl[Oni.ConstraintTypeCount];
+            constraints[(int)Oni.ConstraintType.Tether] = new ComputeTetherConstraints(this);
+            constraints[(int)Oni.ConstraintType.Volume] = new ComputeVolumeConstraints(this);
+            constraints[(int)Oni.ConstraintType.Chain] = new ComputeChainConstraints(this);
+            constraints[(int)Oni.ConstraintType.Bending] = new ComputeBendConstraints(this);
+            constraints[(int)Oni.ConstraintType.Distance] = new ComputeDistanceConstraints(this);
+            constraints[(int)Oni.ConstraintType.ShapeMatching] = new ComputeShapeMatchingConstraints(this);
+            constraints[(int)Oni.ConstraintType.BendTwist] = new ComputeBendTwistConstraints(this);
+            constraints[(int)Oni.ConstraintType.StretchShear] = new ComputeStretchShearConstraints(this);
+            constraints[(int)Oni.ConstraintType.Pin] = new ComputePinConstraints(this);
+            constraints[(int)Oni.ConstraintType.Pinhole] = new ComputePinholeConstraints(this);
+            constraints[(int)Oni.ConstraintType.Skin] = new ComputeSkinConstraints(this);
+            constraints[(int)Oni.ConstraintType.Aerodynamics] = new ComputeAerodynamicConstraints(this);
+            constraints[(int)Oni.ConstraintType.Stitch] = new ComputeStitchConstraints(this);
+
+            constraints[(int)Oni.ConstraintType.ParticleCollision] = new ComputeParticleCollisionConstraints(this);
+            constraints[(int)Oni.ConstraintType.ParticleCollision].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Collision] = new ComputeColliderCollisionConstraints(this);
+            constraints[(int)Oni.ConstraintType.Collision].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.ParticleFriction] = new ComputeParticleFrictionConstraints(this);
+            constraints[(int)Oni.ConstraintType.ParticleFriction].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Friction] = new ComputeColliderFrictionConstraints(this);
+            constraints[(int)Oni.ConstraintType.Friction].CreateConstraintsBatch();
+
+            constraints[(int)Oni.ConstraintType.Density] = new ComputeDensityConstraints(this);
+            constraints[(int)Oni.ConstraintType.Density].CreateConstraintsBatch();
+        }
+
+        public void Destroy()
+        {
+
+            reducedBounds?.Dispose();
+            solverToWorldBuffer?.Dispose();
+            worldToSolverBuffer?.Dispose();
+            inertialFrameBuffer?.Dispose();
+            fluidDispatchBuffer?.Dispose();
+
+            for (int i = 0; i < constraints.Length; ++i)
+                if (constraints[i] != null)
+                    constraints[i].Dispose();
+
+            // Get rid of particle and collider grids/queries:
+            particleGrid?.Dispose();
+
+            // cannot use null-coalescing because this is a GameObject, and Unity overrides !=
+            if (colliderGrid != null)
+                colliderGrid.DecreaseReferenceCount();
+
+            spatialQueries?.Dispose();
+
+            positionDeltasIntBuffer?.Dispose();
+            orientationDeltasIntBuffer?.Dispose();
+
+            rigidbodyLinearDeltasIntBuffer?.Dispose();
+            rigidbodyAngularDeltasIntBuffer?.Dispose();
+
+            tangentsIntBuffer?.Dispose();
+
+            simplexBounds?.Dispose();
+
+            auxPositions?.Dispose();
+            auxVelocities?.Dispose();
+            auxColors?.Dispose();
+            auxAttributes?.Dispose();
+            auxOffsetInCell?.Dispose();
+            auxSortedToOriginal?.Dispose();
+        }
+
+        private void GetOrCreateColliderWorld()
+        {
+            colliderGrid = GameObject.FindObjectOfType<ComputeColliderWorld>();
+            if (colliderGrid == null)
+            {
+                var world = new GameObject("ComputeCollisionWorld", typeof(ComputeColliderWorld));
+                colliderGrid = world.GetComponent<ComputeColliderWorld>();
+            }
+        }
+
+        public void PushData()
+        {
+            // Send data to the GPU:
+            abstraction.positions.Upload();
+            abstraction.orientations.Upload();
+            abstraction.velocities.Upload();
+            abstraction.angularVelocities.Upload();
+            abstraction.colors.Upload();
+
+            abstraction.startPositions.Upload();
+            abstraction.startOrientations.Upload();
+            abstraction.endPositions.Upload();
+            abstraction.endOrientations.Upload();
+
+            abstraction.restPositions.Upload();
+            abstraction.restOrientations.Upload();
+            abstraction.normals.Upload();
+            abstraction.principalRadii.Upload();
+            abstraction.invMasses.Upload();
+            abstraction.invRotationalMasses.Upload();
+            abstraction.phases.Upload();
+            abstraction.filters.Upload();
+            abstraction.externalForces.Upload();
+            abstraction.externalTorques.Upload();
+            abstraction.wind.Upload();
+
+            abstraction.life.Upload();
+            abstraction.fluidData.Upload();
+            abstraction.userData.Upload();
+            abstraction.fluidInterface.Upload();
+            abstraction.fluidMaterials.Upload();
+            abstraction.fluidMaterials2.Upload();
+
+            rigidbodyLinearDeltasIntBuffer.SetData(abstraction.rigidbodyLinearDeltas.AsNativeArray<VInt4>());
+            rigidbodyAngularDeltasIntBuffer.SetData(abstraction.rigidbodyAngularDeltas.AsNativeArray<VInt4>());
+        }
+
+        public void RequestReadback()
+        {
+            // Copy rigidbody deltas (int) to output buffers (float), then request readback:
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "linearDeltasAsInt", rigidbodyLinearDeltasIntBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "angularDeltasAsInt", rigidbodyAngularDeltasIntBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "linearDeltas", rigidbodyLinearDeltasBuffer);
+            solverShader.SetBuffer(applyRigidbodyDeltasKernel, "angularDeltas", rigidbodyAngularDeltasBuffer);
+
+            solverShader.SetInt("particleCount", abstraction.rigidbodyLinearDeltas.count);
+
+            int threadGroups = ComputeMath.ThreadGroupCount(abstraction.rigidbodyLinearDeltas.count, 128);
+            solverShader.Dispatch(applyRigidbodyDeltasKernel, threadGroups, 1, 1);
+
+            abstraction.rigidbodyLinearDeltas.Readback();
+            abstraction.rigidbodyAngularDeltas.Readback();
+
+            // begin particle data async GPU -> CPU transfer.
+            // by default, only positions and velocities are read back.
+            // ObiActors can request whatever data they need in RequestReadback,
+            // then wait for it in SimulationEnd.
+            abstraction.positions.Readback();
+            abstraction.velocities.Readback();
+
+            // begin constraint data async GPU -> CPU transfer.
+            var sm = constraints[(int)Oni.ConstraintType.ShapeMatching] as ComputeShapeMatchingConstraints;
+            if (sm != null)
+                sm.RequestDataReadback();
+
+            // needed for tearing.
+            var dm = constraints[(int)Oni.ConstraintType.Distance] as ComputeDistanceConstraints;
+            if (dm != null)
+                dm.RequestDataReadback();
+
+            var pm = constraints[(int)Oni.ConstraintType.Pin] as ComputePinConstraints;
+            if (pm != null)
+                pm.RequestDataReadback();
+
+            var phm = constraints[(int)Oni.ConstraintType.Pinhole] as ComputePinholeConstraints;
+            if (phm != null)
+                phm.RequestDataReadback();
+        }
+
+        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
+        {
+            m_InertialFrame = new InertialFrame(translation, scale, rotation);
+        }
+
+        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
+        {
+            m_InertialFrame.Update(translation, scale, rotation, deltaTime);
+
+            solverToWorldArray[0] = m_InertialFrame.frame;
+            solverToWorldBuffer.SetData(solverToWorldArray);
+
+            worldToSolverArray[0] = m_InertialFrame.frame.Inverse();
+            worldToSolverBuffer.SetData(worldToSolverArray);
+
+            inertialFrameArray[0] = m_InertialFrame;
+            inertialFrameBuffer.SetData(inertialFrameArray);
+        }
+
+        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
+        {
+            if (activeParticleCount > 0)
+            {
+                // inverse linear part:
+                Matrix4x4 linear = Matrix4x4.TRS(Vector3.zero, inertialFrame.frame.rotation, new Vector3(1 / inertialFrame.frame.scale.x, 1 / inertialFrame.frame.scale.y, 1 / inertialFrame.frame.scale.z));
+                Matrix4x4 linearInv = Matrix4x4.Transpose(linear);
+
+                // non-inertial frame accelerations:
+                Vector4 angularVel = (linearInv * Matrix4x4.Scale(inertialFrame.angularVelocity) * linear).Diagonal();
+                Vector4 eulerAccel = (linearInv * Matrix4x4.Scale(inertialFrame.angularAcceleration) * linear).Diagonal();
+                Vector4 inertialAccel = linearInv * inertialFrame.acceleration;
+
+                int threadGroups = ComputeMath.ThreadGroupCount(activeParticleCount, 128);
+                solverShader.SetInt("particleCount", activeParticleCount);
+
+                solverShader.SetFloat("deltaTime", deltaTime);
+                solverShader.SetFloat("worldLinearInertiaScale", abstraction.worldLinearInertiaScale);
+                solverShader.SetFloat("worldAngularInertiaScale", abstraction.worldAngularInertiaScale);
+                solverShader.SetVector("angularVel", angularVel);
+                solverShader.SetVector("eulerAccel", eulerAccel);
+                solverShader.SetVector("inertialAccel", inertialAccel);
+                solverShader.SetVector("ambientWind", abstraction.parameters.ambientWind);
+                solverShader.SetBool("inertialWind", abstraction.windSpace == Space.World);
+
+                solverShader.SetBuffer(applyInertialForcesKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "positions", positionsBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "velocities", velocitiesBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "invMasses", invMassesBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "wind", windBuffer);
+                solverShader.SetBuffer(applyInertialForcesKernel, "inertialSolverFrame", inertialFrameBuffer);
+
+                solverShader.Dispatch(applyInertialForcesKernel, threadGroups, 1, 1);
+            }
+
+            return jobHandle;
+        }
+
+        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
+        {
+            if (indices.count > 0)
+            {
+                deformableTrianglesBuffer = indices.AsComputeBuffer<int>();
+                var deformableUVsBuffer = uvs.AsComputeBuffer<Vector2>();
+
+                deformableTrisShader.SetBuffer(updateNormalsKernel, "deformableTriangles", deformableTrianglesBuffer);
+                deformableTrisShader.SetBuffer(updateNormalsKernel, "deformableTriangleUVs", deformableUVsBuffer);
+                deformableTrisShader.SetInt("triangleCount", deformableTriangleCount);
+            }
+        }
+
+        public void SetDeformableEdges(ObiNativeIntList indices)
+        {
+            if (indices.count > 0)
+            {
+                deformableEdgesBuffer = indices.AsComputeBuffer<int>();
+
+                deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "deformableEdges", deformableEdgesBuffer);
+                deformableTrisShader.SetInt("edgeCount", deformableEdgeCount);
+            }
+        }
+
+        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
+        {
+            this.simplexCounts = counts;
+
+            if (simplices.count > 0)
+            {
+                boundsShader.SetInt("pointCount", simplexCounts.pointCount);
+                boundsShader.SetInt("edgeCount", simplexCounts.edgeCount);
+                boundsShader.SetInt("triangleCount", simplexCounts.triangleCount);
+
+                this.simplices = simplices.AsComputeBuffer<int>();
+                cellCoordsBuffer = abstraction.cellCoords.AsComputeBuffer<VInt4>();
+
+                if (simplexBounds == null || counts.simplexCount > simplexBounds.count)
+                {
+                    simplexBounds?.Dispose();
+                    simplexBounds = new GraphicsBuffer(GraphicsBuffer.Target.Structured, counts.simplexCount * 2, 32);
+
+                    reducedBounds?.Dispose();
+                    reducedBounds = new GraphicsBuffer(GraphicsBuffer.Target.Structured, ComputeMath.NextMultiple(counts.simplexCount * 2, 256), 32);
+                }
+
+                // Even though we usually store simplices for collision detection, the grid is reused for fluid meshing
+                // so the capacity we set should be at least the total amount of particles in the solver.
+                if (particleGrid != null)
+                {
+                    if (particleGrid.SetCapacity(Mathf.Max(counts.simplexCount, particleCount),
+                                            (uint)Mathf.Max(1, abstraction.maxParticleContacts),
+                                            (uint)Mathf.Max(1, abstraction.maxParticleNeighbors)))
+                    {
+                        // resize to maximum number of contacts:
+                        abstraction.colliderContacts.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.colliderContacts.SafeAsComputeBuffer<Oni.Contact>(GraphicsBuffer.Target.Counter);
+
+                        abstraction.particleContacts.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.particleContacts.SafeAsComputeBuffer<Oni.Contact>(GraphicsBuffer.Target.Counter);
+
+                        abstraction.contactEffectiveMasses.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.contactEffectiveMasses.SafeAsComputeBuffer<ContactEffectiveMasses>();
+
+                        abstraction.particleContactEffectiveMasses.ResizeUninitialized(particleGrid.contactPairs.count);
+                        abstraction.particleContactEffectiveMasses.SafeAsComputeBuffer<ContactEffectiveMasses>();
+                    }
+                }
+            }
+            else
+                this.simplices = null;
+        }
+
+        public void SetActiveParticles(ObiNativeIntList indices)
+        {
+            // TODO: indices.computebuffer has been deleted when adding an item. We now need to
+            // update the compute buffer if needed.
+            if (indices.computeBuffer == null || indices.computeBuffer.count != indices.capacity)
+            {
+                //Debug.Log("create");
+                activeParticlesBuffer = indices.AsComputeBuffer<int>(indices.capacity);
+            }
+            else
+            {
+                //Debug.Log("update");
+                indices.UploadFullCapacity(); //unmaps the entire memory buffer up to capacity.
+            }
+
+            if (activeParticlesBuffer != null)
+            {
+                solverShader.SetBuffer(predictPositionsKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(updateVelocitiesKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(updatePositionsKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(enforceLimitsKernel, "activeParticles", activeParticlesBuffer);
+            }
+        }
+
+        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
+        {
+            if (activeParticleCount > 0 && reducedBounds != null)
+            {
+                boundsShader.SetFloat("deltaTime", stepTime);
+                boundsShader.SetFloat("collisionMargin", abstraction.parameters.collisionMargin);
+                boundsShader.SetFloat("particleCCD", abstraction.parameters.particleCCD);
+
+                int boundsCount = simplexCounts.simplexCount;
+                int threadGroups = ComputeMath.ThreadGroupCount(boundsCount, 256);
+
+                // at edit time, the collision materials buffer will be null since
+                // the collider world is not updated.
+                if (colliderGrid.materialsBuffer != null)
+                {
+                    boundsShader.SetBuffer(simplexBoundsKernel, "simplexBounds", simplexBounds);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "simplices", simplices);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "reducedBounds", reducedBounds);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "activeParticles", activeParticlesBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "positions", positionsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "velocities", velocitiesBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "principalRadii", principalRadiiBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "fluidMaterials", fluidMaterialsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "collisionMaterials", colliderGrid.materialsBuffer);
+                    boundsShader.SetBuffer(simplexBoundsKernel, "collisionMaterialIndices", collisionMaterialIndexBuffer);
+                    boundsShader.Dispatch(simplexBoundsKernel, threadGroups, 1, 1);
+                }
+                else
+                {
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "simplexBounds", simplexBounds);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "simplices", simplices);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "reducedBounds", reducedBounds);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "activeParticles", activeParticlesBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "positions", positionsBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "velocities", velocitiesBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "principalRadii", principalRadiiBuffer);
+                    boundsShader.SetBuffer(editSimplexBoundsKernel, "fluidMaterials", fluidMaterialsBuffer);
+                    boundsShader.Dispatch(editSimplexBoundsKernel, threadGroups, 1, 1);
+                }
+
+                boundsShader.SetBuffer(boundsReductionKernel, "reducedBounds", reducedBounds);
+                do
+                {
+                    boundsShader.Dispatch(boundsReductionKernel, threadGroups, 1, 1);
+                    threadGroups = ComputeMath.ThreadGroupCount(boundsCount, 256);
+                    boundsCount /= 256;
+                }
+                while (threadGroups > 1);
+
+                boundsRequest = AsyncGPUReadback.Request(reducedBounds, 32, 0);
+
+                // update lifetimes:
+                solverShader.SetFloat("deltaTime",stepTime);
+                solverShader.SetBuffer(updateLifetimesKernel, "activeParticles", activeParticlesBuffer);
+                solverShader.SetBuffer(updateLifetimesKernel, "life", lifeBuffer);
+                solverShader.SetBuffer(updateLifetimesKernel, "deadParticles", deadIndicesBuffer);
+                solverShader.Dispatch(updateLifetimesKernel, ComputeMath.ThreadGroupCount(activeParticleCount, 128), 1, 1);
+            }
+
+            return inputDeps;
+        }
+
+        public void GetBounds(ref Vector3 min, ref Vector3 max)
+        {
+            // wait for last pending bounds async request:
+            boundsRequest.WaitForCompletion();
+            if (boundsRequest.done && !boundsRequest.hasError)
+                solverBounds = boundsRequest.GetData<Aabb>(0)[0];
+
+            min = solverBounds.min;
+            max = solverBounds.max;
+        }
+
+        public int GetConstraintCount(Oni.ConstraintType type)
+        {
+            /*if ((int)type > 0 && (int)type < constraints.Length)
+            {
+                int count = 0;
+                for (int i = 0; i < constraints[(int)type].Count; ++i)
+                {
+                    count += constraints[(int)type][i].GetConstraintCount();
+                }
+                return count;
+            }
+            return 0;*/
+            return 0;
+        }
+
+        public void SetParameters(Oni.SolverParameters parameters)
+        {
+            // These should be better passed using a constant buffer, but constant buffers do not work in 2021 :(
+            //https://issuetracker.unity3d.com/issues/compute-shader-is-not-using-defined-constants-when-setting-data-with-setconstantbuffer
+
+            solverShader.SetInt("mode", (int)parameters.mode);
+            solverShader.SetInt("interpolation", (int)parameters.interpolation);
+            solverShader.SetVector("gravity", parameters.gravity);
+            solverShader.SetFloat("damping", parameters.damping);
+            solverShader.SetFloat("sleepThreshold", parameters.sleepThreshold);
+            solverShader.SetFloat("collisionMargin", parameters.collisionMargin);
+            solverShader.SetFloat("maxVelocity", parameters.maxVelocity);
+            solverShader.SetFloat("maxAngularVelocity", parameters.maxAngularVelocity);
+        }
+
+        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
+        {
+            // No need to implement. This backend grabs parameters from the abstraction when it needs them.
+        }
+
+        public void ParticleCountChanged(ObiSolver solver)
+        {
+            deadIndicesBuffer = abstraction.deadParticles.AsComputeBuffer<int>(abstraction.deadParticles.capacity, GraphicsBuffer.Target.Counter);
+            colorsBuffer = abstraction.colors.AsComputeBuffer<Vector4>();
+            positionsBuffer = abstraction.positions.AsComputeBuffer<Vector4>();
+            orientationsBuffer = abstraction.orientations.AsComputeBuffer<Quaternion>();
+            startPositionsBuffer = abstraction.startPositions.AsComputeBuffer<Vector4>();
+            endPositionsBuffer = abstraction.endPositions.AsComputeBuffer<Vector4>();
+            startOrientationsBuffer = abstraction.startOrientations.AsComputeBuffer<Quaternion>();
+            endOrientationsBuffer = abstraction.endOrientations.AsComputeBuffer<Quaternion>();
+            restPositionsBuffer = abstraction.restPositions.AsComputeBuffer<Vector4>();
+            restOrientationsBuffer = abstraction.restOrientations.AsComputeBuffer<Vector4>();
+            prevPositionsBuffer = abstraction.prevPositions.AsComputeBuffer<Vector4>();
+            prevOrientationsBuffer = abstraction.prevOrientations.AsComputeBuffer<Quaternion>();
+            renderablePositionsBuffer = abstraction.renderablePositions.AsComputeBuffer<Vector4>();
+            renderableOrientationsBuffer = abstraction.renderableOrientations.AsComputeBuffer<Quaternion>();
+            renderableRadiiBuffer = abstraction.renderableRadii.AsComputeBuffer<Vector4>();
+            collisionMaterialIndexBuffer = abstraction.collisionMaterials.AsComputeBuffer<int>();
+
+            angularVelocitiesBuffer = abstraction.angularVelocities.AsComputeBuffer<Vector4>();
+            invRotationalMassesBuffer = abstraction.invRotationalMasses.AsComputeBuffer<float>();
+            externalForcesBuffer = abstraction.externalForces.AsComputeBuffer<Vector4>();
+            externalTorquesBuffer = abstraction.externalTorques.AsComputeBuffer<Vector4>();
+            windBuffer = abstraction.wind.AsComputeBuffer<Vector4>();
+
+            velocitiesBuffer = abstraction.velocities.AsComputeBuffer<Vector4>();
+            principalRadiiBuffer = abstraction.principalRadii.AsComputeBuffer<Vector4>();
+            invMassesBuffer = abstraction.invMasses.AsComputeBuffer<float>();
+            phasesBuffer = abstraction.phases.AsComputeBuffer<int>();
+            filtersBuffer = abstraction.filters.AsComputeBuffer<int>();
+
+            lifeBuffer = abstraction.life.AsComputeBuffer<float>();
+            fluidDataBuffer = abstraction.fluidData.AsComputeBuffer<Vector4>();
+            userDataBuffer = abstraction.userData.AsComputeBuffer<Vector4>();
+            fluidInterfaceBuffer = abstraction.fluidInterface.AsComputeBuffer<Vector4>();
+            fluidMaterialsBuffer = abstraction.fluidMaterials.AsComputeBuffer<Vector4>();
+            fluidMaterials2Buffer = abstraction.fluidMaterials2.AsComputeBuffer<Vector4>();
+            anisotropiesBuffer = abstraction.anisotropies.AsComputeBuffer<Matrix4x4>();
+
+            normalsBuffer = abstraction.normals.AsComputeBuffer<Vector4>();
+            positionConstraintCountBuffer = abstraction.positionConstraintCounts.AsComputeBuffer<int>();
+            orientationConstraintCountBuffer = abstraction.orientationConstraintCounts.AsComputeBuffer<int>();
+
+            if (positionDeltasIntBuffer != null)
+            {
+                positionDeltasIntBuffer.Dispose();
+                positionDeltasIntBuffer = null;
+            }
+
+            if (abstraction.positionDeltas.count > 0)
+            {
+                positionDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.positionDeltas.count, abstraction.positionDeltas.stride);
+                positionDeltasIntBuffer.SetData(new Vector4[abstraction.positionDeltas.count]);
+            }
+
+            if (orientationDeltasIntBuffer != null)
+            {
+                orientationDeltasIntBuffer.Dispose();
+                orientationDeltasIntBuffer = null;
+            }
+
+            if (abstraction.orientationDeltas.count > 0)
+            {
+                orientationDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.orientationDeltas.count, abstraction.orientationDeltas.stride);
+                orientationDeltasIntBuffer.SetData(new Vector4[abstraction.orientationDeltas.count]);
+            }
+
+            if (tangentsIntBuffer != null)
+            {
+                tangentsIntBuffer.Dispose();
+                tangentsIntBuffer = null;
+            }
+
+            if (abstraction.normals.count > 0)
+            {
+                tangentsIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, abstraction.normals.count, abstraction.normals.stride);
+                tangentsIntBuffer.SetData(new VInt4[abstraction.normals.count]);
+            }
+
+            if (positionsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "velocities", velocitiesBuffer);
+            if (invMassesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "invMasses", invMassesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "angularVelocities", angularVelocitiesBuffer);
+            if (invRotationalMassesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "invRotationalMasses", invRotationalMassesBuffer);
+            if (externalForcesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "externalForces", externalForcesBuffer);
+            if (externalTorquesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "externalTorques", externalTorquesBuffer);
+            if (phasesBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "phases", phasesBuffer);
+            if (fluidInterfaceBuffer != null) solverShader.SetBuffer(predictPositionsKernel, "buoyancies", fluidInterfaceBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "velocities", velocitiesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "angularVelocities", angularVelocitiesBuffer);
+            if (invMassesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "invMasses", invMassesBuffer);
+            if (invRotationalMassesBuffer != null) solverShader.SetBuffer(updateVelocitiesKernel, "invRotationalMasses", invRotationalMassesBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "prevPositions", prevPositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "orientations", orientationsBuffer);
+            if (prevOrientationsBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "prevOrientations", prevOrientationsBuffer);
+            if (velocitiesBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "velocities", velocitiesBuffer);
+            if (angularVelocitiesBuffer != null) solverShader.SetBuffer(updatePositionsKernel, "angularVelocities", angularVelocitiesBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(enforceLimitsKernel, "positions", positionsBuffer);
+            if (prevPositionsBuffer != null) solverShader.SetBuffer(enforceLimitsKernel, "prevPositions", prevPositionsBuffer);
+            if (lifeBuffer != null) solverShader.SetBuffer(enforceLimitsKernel, "life", lifeBuffer);
+            if (phasesBuffer != null) solverShader.SetBuffer(enforceLimitsKernel, "phases", phasesBuffer);
+
+            if (positionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "positions", positionsBuffer);
+            if (startPositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "startPositions", startPositionsBuffer);
+            if (endPositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "endPositions", endPositionsBuffer);
+            if (renderablePositionsBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderablePositions", renderablePositionsBuffer);
+            if (orientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "orientations", orientationsBuffer);
+            if (startOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "startOrientations", startOrientationsBuffer);
+            if (endOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "endOrientations", endOrientationsBuffer);
+            if (renderableOrientationsBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderableOrientations", renderableOrientationsBuffer);
+            if (principalRadiiBuffer != null) solverShader.SetBuffer(interpolateKernel, "principalRadii", principalRadiiBuffer);
+            if (renderableRadiiBuffer != null) solverShader.SetBuffer(interpolateKernel, "renderableRadii", renderableRadiiBuffer);
+        }
+
+        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+            auxPositions?.Dispose();
+            auxVelocities?.Dispose();
+            auxColors?.Dispose();
+            auxAttributes?.Dispose();
+            auxOffsetInCell?.Dispose();
+            auxSortedToOriginal?.Dispose();
+
+            if (m_Solver.maxFoamParticles > 0)
+            {
+                solver.foamPositions.AsComputeBuffer<Vector4>();
+                solver.foamVelocities.AsComputeBuffer<Vector4>();
+                solver.foamColors.AsComputeBuffer<Vector4>();
+                solver.foamAttributes.AsComputeBuffer<Vector4>();
+
+                auxPositions = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxVelocities = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxColors = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxAttributes = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 16);
+                auxOffsetInCell = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 4);
+                auxSortedToOriginal = new GraphicsBuffer(GraphicsBuffer.Target.Structured, (int)m_Solver.maxFoamParticles, 4);
+            }
+        }
+
+        public void SetRigidbodyArrays(ObiSolver solver)
+        {
+            rigidbodyLinearDeltasBuffer = solver.rigidbodyLinearDeltas.SafeAsComputeBuffer<Vector4>();
+            rigidbodyAngularDeltasBuffer = solver.rigidbodyAngularDeltas.SafeAsComputeBuffer<Vector4>();
+
+            if (rigidbodyLinearDeltasIntBuffer != null)
+            {
+                rigidbodyLinearDeltasIntBuffer.Dispose();
+                rigidbodyLinearDeltasIntBuffer = null;
+            }
+
+            if (rigidbodyAngularDeltasIntBuffer != null)
+            {
+                rigidbodyAngularDeltasIntBuffer.Dispose();
+                rigidbodyAngularDeltasIntBuffer = null;
+            }
+
+            rigidbodyLinearDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, rigidbodyLinearDeltasBuffer.count, solver.rigidbodyLinearDeltas.stride);
+            rigidbodyLinearDeltasIntBuffer.SetData(new Vector4[rigidbodyLinearDeltasBuffer.count]);
+
+            rigidbodyAngularDeltasIntBuffer = new GraphicsBuffer(GraphicsBuffer.Target.Structured, rigidbodyAngularDeltasBuffer.count, solver.rigidbodyAngularDeltas.stride);
+            rigidbodyAngularDeltasIntBuffer.SetData(new Vector4[rigidbodyAngularDeltasBuffer.count]);
+        }
+
+        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type)
+        {
+            if (constraints[(int)type] != null)
+                return constraints[(int)type].CreateConstraintsBatch();
+            return null;
+        }
+
+        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
+        {
+            if (batch != null && constraints[(int)batch.constraintType] != null)
+                constraints[(int)batch.constraintType].RemoveBatch(batch);
+        }
+
+        public void FinishSimulation()
+        {
+            // Make sure GPU->CPU readbacks have finished.
+            // by default, only positions and velocities are read back.
+            // ObiActors can request whatever data they need in RequestData,
+            // then wait for it in SimulationEnd.
+            abstraction.positions.WaitForReadback();
+            abstraction.velocities.WaitForReadback();
+
+            abstraction.rigidbodyLinearDeltas.WaitForReadback();
+            abstraction.rigidbodyAngularDeltas.WaitForReadback();
+
+            var sm = constraints[(int)Oni.ConstraintType.ShapeMatching] as ComputeShapeMatchingConstraints;
+            if (sm != null)
+                sm.WaitForReadback();
+
+            var dm = constraints[(int)Oni.ConstraintType.Distance] as ComputeDistanceConstraints;
+            if (dm != null)
+                dm.WaitForReadback();
+
+            var pm = constraints[(int)Oni.ConstraintType.Pin] as ComputePinConstraints;
+            if (pm != null)
+                pm.WaitForReadback();
+
+            var phm = constraints[(int)Oni.ConstraintType.Pinhole] as ComputePinholeConstraints;
+            if (phm != null)
+                phm.WaitForReadback();
+
+            abstraction.externalForces.WipeToZero();
+            abstraction.externalTorques.WipeToZero();
+            abstraction.externalForces.Upload();
+            abstraction.externalTorques.Upload();
+
+            // copy end to start positions.
+            abstraction.startPositions.CopyFrom(abstraction.endPositions);
            abstraction.startOrientations.CopyFrom(abstraction.endOrientations);
+
+            // now that we got position / orientation data in the CPU set them as this step's end positions / orientations.
+            abstraction.endPositions.CopyFrom(abstraction.positions);
            abstraction.endOrientations.CopyFrom(abstraction.orientations);
+
+            abstraction.startPositions.Upload(true);
+            abstraction.startOrientations.Upload(true);
+            abstraction.endPositions.Upload(true);
+            abstraction.endOrientations.Upload(true);
+        }
+
+        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
+        {
+            var collisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Collision);
            var particleCollisionParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            var densityParameters = abstraction.GetConstraintParameters(Oni.ConstraintType.Density);
+
+            if (particleCollisionParameters.enabled ||
+                densityParameters.enabled)
            {
+                UpdateDiffuseDensity(stepTime);
+
+                UnityEngine.Profiling.Profiler.BeginSample("Build Simplex Grid");
+                particleGrid.BuildGrid(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+
+                if (densityParameters.enabled)
                {
+                    UnityEngine.Profiling.Profiler.BeginSample("Generate Fluid Neighborhoods");
+                    particleGrid.GenerateFluidNeighborhoods(this);
+                    UnityEngine.Profiling.Profiler.EndSample();
+                }
+
+                if (particleCollisionParameters.enabled)
                {
+                    UnityEngine.Profiling.Profiler.BeginSample("Generate Particle Contacts");
+                    particleGrid.GenerateContacts(this);
+                    UnityEngine.Profiling.Profiler.EndSample();
+                }
+            }
+
+            if (collisionParameters.enabled)
+            {
+                UnityEngine.Profiling.Profiler.BeginSample("Generate Collider Contacts");
+                colliderGrid.GenerateContacts(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+
+                UnityEngine.Profiling.Profiler.BeginSample("Apply Force Zones");
+                colliderGrid.ApplyForceZones(this, stepTime);
+                UnityEngine.Profiling.Profiler.EndSample();
+            }
+
+            return inputDeps;
+        }
+
+        public IObiJobHandle Substep(IObiJobHandle handle, float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            int threadGroups = ComputeMath.ThreadGroupCount(activeParticleCount, 128);
+            solverShader.SetInt("particleCount", activeParticleCount);
+
+            // if there's no active particles yet, don't do anything:
+            if (activeParticleCount > 0)
+            {
+                solverShader.SetFloat("deltaTime", substepTime);
+                solverShader.SetFloat("velocityScale", Mathf.Pow(1 - Mathf.Clamp(m_Solver.parameters.damping, 0, 1), substepTime));
+
+                // Predict positions:
+                solverShader.Dispatch(predictPositionsKernel, threadGroups, 1, 1);
+
+                ApplyConstraints(stepTime, substepTime, steps, timeLeft);
+
+                EnforceLimits(threadGroups);
+
+                // Update velocities:
+                solverShader.Dispatch(updateVelocitiesKernel, threadGroups, 1, 1);
+
+                // Calculate velocity adjustments (forces, etc):
+                CalculateVelocityCorrections(stepTime, substepTime, steps, timeLeft);
+            }
+
+            // Update diffuse particles: (need to have calculated velocity corrections first, to measure vorticity/velocity)
+            int substepsLeft = Mathf.RoundToInt(timeLeft / substepTime);
+            int foamPadding = Mathf.CeilToInt(abstraction.substeps / (float)abstraction.foamSubsteps);
+
+            if (substepsLeft % foamPadding == 0)
+            {
+                UpdateDiffuseParticles(substepTime * foamPadding);
+                UpdateDiffuseCollisions(substepTime * foamPadding);
+                IntegrateDiffuseParticles(substepTime * foamPadding);
+            }
+
+            // Update particle positions:
+            if (activeParticleCount > 0)
+            {
+                UpdatePositions(substepTime, threadGroups);
+            }
+
+            return handle;
+        }
+
+        private void CalculateVelocityCorrections(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // Apply aerodynamic constraints:
+            constraints[(int)Oni.ConstraintType.Aerodynamics].Project(stepTime, substepTime, steps, timeLeft);
+
+            var densityParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
+
+            if (densityParameters.enabled)
+            {
+                var d = constraints[(int)Oni.ConstraintType.Density] as ComputeDensityConstraints;
+                if (d != null)
+                    d.CalculateVelocityCorrections(substepTime);
+            }
+        }
+
+        private void UpdatePositions(float deltaTime, int threadGroups)
+        {
+            var densityParameters = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
+
+            if (densityParameters.enabled)
+            {
+                var d = constraints[(int)Oni.ConstraintType.Density] as ComputeDensityConstraints;
+                if (d != null)
+                    d.ApplyVelocityCorrections(deltaTime);
+            }
+
+            // Update positions:
+            solverShader.Dispatch(updatePositionsKernel, threadGroups, 1, 1);
+        }
+
+        private void ApplyConstraints(float stepTime, float substepTime, int steps, float timeLeft)
+        {
+            // calculate max amount of iterations required, and initialize constraints..
+            int maxIterations = 0;
            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled)
                {
                    maxIterations = Mathf.Max(maxIterations, parameters.iterations);
                    constraints[i].Initialize(stepTime, substepTime, steps, timeLeft);
                }
            }
+
+            // calculate iteration paddings:
+            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                if (parameters.enabled && parameters.iterations > 0)
                    padding[i] = Mathf.CeilToInt(maxIterations / (float)parameters.iterations);
                else
                    padding[i] = maxIterations;
            }
+
+            // perform projection iterations:
+            for (int i = 1; i < maxIterations; ++i)
            {
                for (int j = 0; j < Oni.ConstraintTypeCount; ++j)
                {
                    if (j != (int)Oni.ConstraintType.Aerodynamics)
                    {
                        var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)j);
                        if (parameters.enabled && i % padding[j] == 0)
                            constraints[j].Project(stepTime, substepTime, steps, timeLeft);
                    }
                }
            }
+
+            // final iteration, all groups together:
+            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
            {
                if (i != (int)Oni.ConstraintType.Aerodynamics)
                {
                    var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)i);
                    if (parameters.enabled && parameters.iterations > 0)
                        constraints[i].Project(stepTime, substepTime, steps, timeLeft);
                }
            }
+
+            // Despite friction constraints being applied after collision (since coulomb friction depends on normal impulse)
+            // we perform a collision iteration right at the end to ensure the final state meets the Signorini-Fichera conditions.
+            var param = m_Solver.GetConstraintParameters(Oni.ConstraintType.ParticleCollision);
            if (param.enabled && param.iterations > 0)
                constraints[(int)Oni.ConstraintType.ParticleCollision].Project(stepTime, substepTime, steps, timeLeft);
            param = m_Solver.GetConstraintParameters(Oni.ConstraintType.Collision);
            if (param.enabled && param.iterations > 0)
                constraints[(int)Oni.ConstraintType.Collision].Project(stepTime, substepTime, steps, timeLeft);
+        }
+
+        private void EnforceLimits(int threadGroups)
+        {
+            if (abstraction.useLimits)
+            {
+                // keep particles within bounds:
+                solverShader.SetBool("killOffLimits", abstraction.killOffLimitsParticles);
+                solverShader.SetVector("boundaryLimitsMin", abstraction.boundaryLimits.min);
+                solverShader.SetVector("boundaryLimitsMax", abstraction.boundaryLimits.max);
+                solverShader.Dispatch(enforceLimitsKernel, threadGroups, 1, 1);
+            }
+        }
+
+        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
+        {
+            if (particleCount <= 0)
+                return inputDeps;
+
+            int threadGroups = ComputeMath.ThreadGroupCount(particleCount, 128);
+            solverShader.SetInt("particleCount", particleCount);
+
+            solverShader.SetFloat("deltaTime", stepTime);
+            solverShader.SetFloat("blendFactor", stepTime > 0 ? unsimulatedTime / stepTime : 0);
+            solverShader.SetInt("interpolate", (int)m_Solver.parameters.interpolation);
+
+            // Interpolate particle state:
+            solverShader.Dispatch(interpolateKernel, threadGroups, 1, 1);
+
+            // Reset normals:
+            if ((deformableTriangleCount > 0 || deformableEdgeCount > 0) && normalsBuffer != null)
+            {
+                threadGroups = ComputeMath.ThreadGroupCount(normalsBuffer.count, 128);
+                deformableTrisShader.SetInt("normalsCount", normalsBuffer.count);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "phases", phasesBuffer);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "normals", normalsBuffer);
+                deformableTrisShader.SetBuffer(resetNormalsKernel, "tangentsInt", tangentsIntBuffer);
+
+                deformableTrisShader.Dispatch(resetNormalsKernel, threadGroups, 1, 1);
+
+                // Update deformable triangle normals
+                if (deformableTriangleCount > 0)
+                {
+                    threadGroups = ComputeMath.ThreadGroupCount(deformableTriangleCount, 128);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "renderablePositions", renderablePositionsBuffer);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "normalsInt", normalsBuffer);
+                    deformableTrisShader.SetBuffer(updateNormalsKernel, "tangentsInt", tangentsIntBuffer);
+
+                    deformableTrisShader.Dispatch(updateNormalsKernel, threadGroups, 1, 1);
+                }
+
+                // Update deformable edge normals
+                if (deformableEdgeCount > 0)
+                {
+                    threadGroups = ComputeMath.ThreadGroupCount(deformableEdgeCount, 128);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "renderablePositions", renderablePositionsBuffer);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "velocities", velocitiesBuffer);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "wind", windBuffer);
+                    deformableTrisShader.SetBuffer(updateEdgeNormalsKernel, "normalsInt", normalsBuffer);
+
+                    deformableTrisShader.Dispatch(updateEdgeNormalsKernel, threadGroups, 1, 1);
+                }
+
+                // Update particle orientations
+                threadGroups = ComputeMath.ThreadGroupCount(normalsBuffer.count, 128);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "phases", phasesBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "renderableOrientations", renderableOrientationsBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "normals", normalsBuffer);
+                deformableTrisShader.SetBuffer(orientationFromNormalsKernel, "tangentsInt", tangentsIntBuffer);
+
+                deformableTrisShader.Dispatch(orientationFromNormalsKernel, threadGroups, 1, 1);
+            }
+
+            // project renderable position/orientation of pinned particles:
+            var pinparam = abstraction.GetConstraintParameters(Oni.ConstraintType.Pin);
            if (pinparam.enabled && pinparam.iterations > 0)
+            {
+                var d = constraints[(int)Oni.ConstraintType.Pin] as ComputePinConstraints;
+                if (Application.isPlaying && d != null)
+                    d.ProjectRenderablePositions();
            }
+
+            //make sure density constraints are enabled, otherwise particles have no neighbors and neighbor lists will be uninitialized.
+            var param = m_Solver.GetConstraintParameters(Oni.ConstraintType.Density);
            if (param.enabled && param.iterations > 0)
+            {
+                // Fluid laplacian/anisotropy (only if we're in play mode, in-editor we have no particlegrid/sorted data).
+                var d = constraints[(int)Oni.ConstraintType.Density] as ComputeDensityConstraints;
+                if (Application.isPlaying && d != null)
+                    d.CalculateAnisotropyLaplacianSmoothing();
+            }
+
+            return inputDeps;
+        }
+
+        private void UpdateDiffuseDensity(float deltaTime)
+        {
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as ComputeFoamRenderSystem;
+            if (system != null && m_Solver.maxFoamParticles > 0 && particleGrid.cellCounts != null)
+            {
+                for (int i = 0; i < system.renderers.Count; ++i)
+                { 
+                    // solver indices compute buffer may be null 
+                    if (system.renderers[i].pressure > 0 && 
+                        system.renderers[i].actor.solverIndices?.computeBuffer != null)
+                    {
+                        float scale = 0.01f + Mathf.Clamp01(1 - system.renderers[i].density);
+                        float radius = system.renderers[i].size * scale;
+
+                        int cellThreadGroups = ComputeMath.ThreadGroupCount(particleGrid.cellCounts.count, 128);
+                        foamDensityShader.SetFloat("deltaTime", deltaTime);
+                        foamDensityShader.SetInt("maxCells", particleGrid.cellCounts.count);
+                        foamDensityShader.SetInt("maxFoamParticles", abstraction.foamPositions.computeBuffer.count);
+                        foamDensityShader.SetInt("mode", (int)abstraction.parameters.mode);
+                        foamDensityShader.SetFloat("pressure", system.renderers[i].pressure);
+                        foamDensityShader.SetFloat("particleRadius", radius);
+                        foamDensityShader.SetFloat("smoothingRadius", radius * 2 * system.renderers[i].smoothingRadius);
+                        foamDensityShader.SetFloat("surfaceTension", system.renderers[i].surfaceTension);
+                        foamDensityShader.SetFloat("viscosity", system.renderers[i].viscosity);
+                        foamDensityShader.SetVector("volumeLightDirection", system.renderers[i].volumeLight != null ? abstraction.transform.InverseTransformDirection(system.renderers[i].volumeLight.transform.forward) : Vector3.down);
+
+                        foamDensityShader.SetBuffer(clearGridKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(clearGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.Dispatch(clearGridKernel, cellThreadGroups, 1, 1);
+
+                        foamDensityShader.SetBuffer(insertGridKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(insertGridKernel, "offsetInCell", auxOffsetInCell); 
+                        foamDensityShader.SetBuffer(insertGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(insertGridKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(insertGridKernel, abstraction.foamCount.computeBuffer);
+
+                        // prefix sum
+                        particleGrid.cellsPrefixSum.Sum(particleGrid.cellCounts, particleGrid.cellOffsets);
+
+                        foamDensityShader.SetBuffer(sortByGridKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "inputVelocities", abstraction.foamVelocities.computeBuffer);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "sortedVelocities", auxVelocities);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "sortedToOriginal", auxSortedToOriginal);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "offsetInCell", auxOffsetInCell);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(sortByGridKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(sortByGridKernel, abstraction.foamCount.computeBuffer);
+
+                        foamDensityShader.SetBuffer(computeDensityKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "fluidData", auxColors);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(computeDensityKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(computeDensityKernel, abstraction.foamCount.computeBuffer);
+
+                        foamDensityShader.SetBuffer(applyDensityKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "inputVelocities", abstraction.foamVelocities.computeBuffer);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "sortedPositions", auxPositions);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "sortedVelocities", auxVelocities);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "sortedToOriginal", auxSortedToOriginal);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "fluidData", auxColors);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "cellStart", particleGrid.cellOffsets);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "cellCounts", particleGrid.cellCounts);
+                        foamDensityShader.SetBuffer(applyDensityKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                        foamDensityShader.DispatchIndirect(applyDensityKernel, abstraction.foamCount.computeBuffer);
+                    }
+                }
+            }
+            else
+                activeFoamParticleCount = 0;
+        }
+
+        private void UpdateDiffuseCollisions(float deltaTime)
+        {
+            if (!abstraction.foamCollisions) return;
+
+            foamCollisionShader.SetFloat("radiusScale", 0.3f);
+            foamCollisionShader.SetFloat("colliderCount", colliderGrid.colliderCount);
+            foamCollisionShader.SetInt("maxCells", ComputeColliderWorld.maxCells);
+            foamCollisionShader.SetInt("cellsPerCollider", ComputeColliderWorld.cellsPerCollider);
+            foamCollisionShader.SetInt("shapeTypeCount", Oni.ColliderShapeTypeCount);
+            foamCollisionShader.SetFloat("deltaTime", deltaTime);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "inputVelocities", abstraction.foamVelocities.computeBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "inputAttributes", abstraction.foamAttributes.computeBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "aabbs", colliderGrid.aabbsBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "transforms", colliderGrid.transformsBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "shapes", colliderGrid.shapesBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "rigidbodies", colliderGrid.rigidbodiesBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "sortedColliderIndices", colliderGrid.sortedColliderIndicesBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "levelPopulation", colliderGrid.levelPopulation);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "cellOffsets", colliderGrid.cellOffsetsBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "cellCounts", colliderGrid.cellCountsBuffer);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "triangleMeshHeaders", colliderGrid.triangleMeshHeaders);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "bihNodes", colliderGrid.bihNodes);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "triangles", colliderGrid.triangles);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "vertices", colliderGrid.vertices);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "edgeMeshHeaders", colliderGrid.edgeMeshHeaders);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "edgeBihNodes", colliderGrid.edgeBihNodes);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "edges", colliderGrid.edges);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "edgeVertices", colliderGrid.edgeVertices);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "distanceFieldHeaders", colliderGrid.distanceFieldHeaders);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "dfNodes", colliderGrid.dfNodes);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "heightFieldHeaders", colliderGrid.heightFieldHeaders);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "heightFieldSamples", colliderGrid.heightFieldSamples);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "worldToSolver", worldToSolverBuffer);
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "solverToWorld", solverToWorldBuffer);
+
+            foamCollisionShader.SetBuffer(solveDiffuseContactsKernel, "dispatch", abstraction.foamCount.computeBuffer);
+            foamCollisionShader.DispatchIndirect(solveDiffuseContactsKernel, abstraction.foamCount.computeBuffer);
+        }
+
+        private void UpdateDiffuseParticles(float deltaTime)
+        {
+            var system = abstraction.GetRenderSystem<ObiFoamGenerator>() as ComputeFoamRenderSystem;
+            if (system != null && m_Solver.maxFoamParticles > 0 && particleGrid.sortedLinearVel != null)
+            {
+                foamShader.SetFloat("deltaTime", deltaTime);
+                foamShader.SetFloat("randomSeed", Time.frameCount % 16535 + Random.value);
+                foamShader.SetVector("gravity", m_Solver.parameters.gravity * m_Solver.parameters.foamGravityScale);
+                foamShader.SetVector("agingOverPopulation", new Vector3(m_Solver.foamAccelAgingRange.x, m_Solver.foamAccelAgingRange.y, m_Solver.foamAccelAging));
+                foamShader.SetInt("maxFoamParticles", abstraction.foamPositions.computeBuffer.count);
+                foamShader.SetInt("minFluidNeighbors", abstraction.foamMinNeighbors);
+                foamShader.SetInt("maxCells", particleGrid.maxCells);
+
+                foamShader.SetInt("pointCount", simplexCounts.pointCount);
+                foamShader.SetInt("edgeCount", simplexCounts.edgeCount);
+                foamShader.SetInt("triangleCount", simplexCounts.triangleCount);
+
+                foamShader.SetBuffer(sortDataKernel, "positions", positionsBuffer);
+                foamShader.SetBuffer(sortDataKernel, "velocities", velocitiesBuffer);
+                foamShader.SetBuffer(sortDataKernel, "angularVelocities", angularVelocitiesBuffer);
+                foamShader.SetBuffer(sortDataKernel, "orientations", renderableOrientationsBuffer);
+                foamShader.SetBuffer(sortDataKernel, "principalRadii", renderableRadiiBuffer);
+                foamShader.SetBuffer(sortDataKernel, "sortedPositions", particleGrid.sortedPositions);
+                foamShader.SetBuffer(sortDataKernel, "sortedVelocities", particleGrid.sortedLinearVel); 
+                foamShader.SetBuffer(sortDataKernel, "sortedAngularVelocities", particleGrid.sortedAngularVel);
+                foamShader.SetBuffer(sortDataKernel, "sortedOrientations", particleGrid.sortedPrevPosOrientations);
+                foamShader.SetBuffer(sortDataKernel, "sortedRadii", particleGrid.sortedPrincipalRadii); 
+                foamShader.SetBuffer(sortDataKernel, "sortedToOriginal", particleGrid.sortedFluidIndices);
+                foamShader.SetBuffer(sortDataKernel, "dispatch", fluidDispatchBuffer);
+                foamShader.DispatchIndirect(sortDataKernel, fluidDispatchBuffer);
+
+                int threadGroups;
+                foamShader.SetBuffer(emitFoamKernel, "positions", positionsBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "velocities", velocitiesBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "angularVelocities", angularVelocitiesBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "fluidData", fluidDataBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "principalRadii", principalRadiiBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "outputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(emitFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+
+                foamShader.SetBuffer(emitShapeFoamKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(emitShapeFoamKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(emitShapeFoamKernel, "outputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(emitShapeFoamKernel, "outputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(emitShapeFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                for (int i = 0; i < system.renderers.Count; ++i)
+                {
+                    // solver indices compute buffer may be null 
+                    if (system.renderers[i].actor.solverIndices?.computeBuffer != null)
+                    {
+                        threadGroups = ComputeMath.ThreadGroupCount(system.renderers[i].actor.activeParticleCount, 128);
+                        foamShader.SetInt("activeParticleCount", system.renderers[i].actor.activeParticleCount);
+                        foamShader.SetVector("vorticityRange", system.renderers[i].vorticityRange);
+                        foamShader.SetVector("velocityRange", system.renderers[i].velocityRange);
+                        foamShader.SetFloat("foamGenerationRate", system.renderers[i].foamGenerationRate);
+                        foamShader.SetFloat("potentialIncrease", system.renderers[i].foamPotential);
+                        foamShader.SetFloat("potentialDiffusion", Mathf.Pow(1 - Mathf.Clamp01(system.renderers[i].foamPotentialDiffusion), deltaTime));
+                        foamShader.SetFloat("buoyancy", system.renderers[i].buoyancy);
+                        foamShader.SetFloat("drag", system.renderers[i].drag);
+                        foamShader.SetFloat("airDrag", Mathf.Pow(1 - Mathf.Clamp01(system.renderers[i].atmosphericDrag), deltaTime));
+                        foamShader.SetFloat("airAging", system.renderers[i].airAging);
+                        foamShader.SetFloat("isosurface", system.renderers[i].isosurface);
+
+                        foamShader.SetFloat("particleSize", system.renderers[i].size);
+                        foamShader.SetFloat("sizeRandom", system.renderers[i].sizeRandom);
+                        foamShader.SetFloat("lifetime", system.renderers[i].lifetime);
+                        foamShader.SetFloat("lifetimeRandom", system.renderers[i].lifetimeRandom);
+                        foamShader.SetVector("foamColor", system.renderers[i].color);
+
+                        if (system.renderers[i] is ObiFoamEmitter)
+                        {
+                            var emitter = system.renderers[i] as ObiFoamEmitter;
+                            int particlesToEmit = emitter.GetParticleNumberToEmit(deltaTime);
+                            threadGroups = ComputeMath.ThreadGroupCount(particlesToEmit, 128);
+                            foamShader.SetInt("particlesToEmit", particlesToEmit);
+                            foamShader.SetInt("emitterShape", (int)emitter.shape);
+                            foamShader.SetVector("emitterPosition", emitter.shapeTransform != null? abstraction.transform.InverseTransformPoint(emitter.shapeTransform.position) : Vector3.zero);
+                            foamShader.SetVector("emitterRotation", (emitter.shapeTransform != null ? emitter.shapeTransform.rotation * Quaternion.Inverse(abstraction.transform.rotation): Quaternion.identity).AsVector4());
+                            foamShader.SetVector("emitterSize", emitter.shapeSize);
+                            foamShader.Dispatch(emitShapeFoamKernel, threadGroups, 1, 1);
+                        }
+                        else // generator
+                        {
+                            foamShader.SetBuffer(emitFoamKernel, "activeParticles", system.renderers[i].actor.solverIndices.computeBuffer);
+                            foamShader.Dispatch(emitFoamKernel, threadGroups, 1, 1);
+                        }
+                    }
+                }
+
+                foamShader.SetBuffer(copyAliveKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.Dispatch(copyAliveKernel, 1, 1, 1);
+
+                foamShader.SetBuffer(updateFoamKernel, "cellOffsets", particleGrid.cellOffsets);
+                foamShader.SetBuffer(updateFoamKernel, "cellCounts", particleGrid.cellCounts);
+                foamShader.SetBuffer(updateFoamKernel, "gridHashToSortedIndex", particleGrid.cellHashToMortonIndex);
+                foamShader.SetBuffer(updateFoamKernel, "levelPopulation", particleGrid.levelPopulation);
+                foamShader.SetBuffer(updateFoamKernel, "solverBounds", reducedBounds);
+
+                foamShader.SetBuffer(updateFoamKernel, "positions", particleGrid.sortedPositions);
+                foamShader.SetBuffer(updateFoamKernel, "orientations", particleGrid.sortedPrevPosOrientations);
+                foamShader.SetBuffer(updateFoamKernel, "principalRadii", particleGrid.sortedPrincipalRadii);
+                foamShader.SetBuffer(updateFoamKernel, "velocities", particleGrid.sortedLinearVel);
+                foamShader.SetBuffer(updateFoamKernel, "angularVelocities", particleGrid.sortedAngularVel);
+                foamShader.SetBuffer(updateFoamKernel, "fluidMaterial", particleGrid.sortedFluidMaterials);
+                foamShader.SetBuffer(updateFoamKernel, "fluidData", particleGrid.sortedFluidData);
+                foamShader.SetBuffer(updateFoamKernel, "fluidSimplices", particleGrid.sortedSimplexToFluid);
+                foamShader.SetBuffer(updateFoamKernel, "sortedToOriginal", particleGrid.sortedFluidIndices);
+                foamShader.SetBuffer(updateFoamKernel, "inputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "inputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(updateFoamKernel, "outputPositions", auxPositions);
+                foamShader.SetBuffer(updateFoamKernel, "outputVelocities", auxVelocities);
+                foamShader.SetBuffer(updateFoamKernel, "outputColors", auxColors);
+                foamShader.SetBuffer(updateFoamKernel, "outputAttributes", auxAttributes);
+                foamShader.SetBuffer(updateFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.DispatchIndirect(updateFoamKernel, abstraction.foamCount.computeBuffer);
+
+                // copy aux buffers to solver buffers:
+                foamShader.SetBuffer(copyKernel, "inputPositions", auxPositions);
+                foamShader.SetBuffer(copyKernel, "inputVelocities", auxVelocities);
+                foamShader.SetBuffer(copyKernel, "inputColors", auxColors);
+                foamShader.SetBuffer(copyKernel, "inputAttributes", auxAttributes);
+                foamShader.SetBuffer(copyKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputColors", abstraction.foamColors.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "outputAttributes", abstraction.foamAttributes.computeBuffer);
+                foamShader.SetBuffer(copyKernel, "dispatch", abstraction.foamCount.computeBuffer);
+                foamShader.DispatchIndirect(copyKernel, abstraction.foamCount.computeBuffer, 16);
+
+                AsyncGPUReadback.Request(abstraction.foamCount.computeBuffer, 4, 12, (AsyncGPUReadbackRequest obj) =>
+                {
+                    if (obj.done && !obj.hasError)
+                        this.activeFoamParticleCount = obj.GetData<uint>()[0];
+                });
+            }
+            else
+                activeFoamParticleCount = 0;
+        }
+
+        private void IntegrateDiffuseParticles(float deltaTime)
+        {
+            foamShader.SetFloat("deltaTime", deltaTime);
+
+            foamShader.SetBuffer(integrateFoamKernel, "outputPositions", abstraction.foamPositions.computeBuffer);
+            foamShader.SetBuffer(integrateFoamKernel, "outputVelocities", abstraction.foamVelocities.computeBuffer);
+
+            foamShader.SetBuffer(integrateFoamKernel, "dispatch", abstraction.foamCount.computeBuffer);
+            foamShader.DispatchIndirect(integrateFoamKernel, abstraction.foamCount.computeBuffer);
+        }
+
+        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
        {
+            if (abstraction.queryResults.count != abstraction.maxQueryResults)
+            {
+                abstraction.queryResults.ResizeUninitialized((int)abstraction.maxQueryResults);
+                abstraction.queryResults.SafeAsComputeBuffer<QueryResult>(GraphicsBuffer.Target.Counter);
+            }
+
+            spatialQueries.SpatialQuery(this, shapes.SafeAsComputeBuffer<QueryShape>(),
+                                              transforms.SafeAsComputeBuffer<AffineTransform>(),
+                                              results.computeBuffer);
+        }
+
+        public int GetParticleGridSize()
+        {
+            //return particleGrid.grid.usedCells.Length;
+            return 0;
+        }
+        public void GetParticleGrid(ObiNativeAabbList cells)
+        {
+            //particleGrid.GetCells(cells);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta
new file mode 100644
index 000000000..53995cd7a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Compute/Solver/ComputeSolverImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9bd37b35dc8b04d69bd0c88ac12b2c5d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
index cce5b3afd..56a124c12 100644
--- a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
@@ -10,7 +10,8 @@ namespace Obi
 
         void UpdateWorld(float deltaTime);
 
-        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count);
+        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms);
+        void SetForceZones(ObiNativeForceZoneList forceZones);
         void SetRigidbodies(ObiNativeRigidbodyList rigidbody);
 
         void SetCollisionMaterials(ObiNativeCollisionMaterialList materials);
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs
new file mode 100644
index 000000000..24652e5f8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs
@@ -0,0 +1,8 @@
+
+namespace Obi
+{
+    public interface IPinholeConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetPinholeConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeFloatList edgeMus, ObiNativeIntList edgeRanges, ObiNativeFloatList edgeRangeMus, ObiNativeFloatList parameters, ObiNativeFloatList relativeVelocities, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..0cc8e50df
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinholeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 22a8bac3a0d2747b8ba78f201d67476a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta
new file mode 100644
index 000000000..a168ded5e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e9bb708333a524266935df041ba30a42
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs
new file mode 100644
index 000000000..16aff0175
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs
@@ -0,0 +1,99 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IRenderSystem
+    {
+        void Setup(); // build meshes, prepare render state, etc.
+        void Step(); // update constraints (currently only used by skinned cloth)
+        void Render(); // do the actual rendering.
+
+        void Dispose();
+
+        uint tier { get { return 1; } }
+        Oni.RenderingSystemType typeEnum { get; }
+
+        bool isEmpty { get; }
+        Type GetRendererType();
+    }
+
+    public class RendererSet<T> where T : ObiRenderer<T>
+    {
+        private List<T> list = new List<T>();
+
+        public T this[int i]
+        {
+            get { return list[i]; }
+            set { list[i] = value; }
+        }
+
+        public int Count
+        {
+            get { return list.Count; }
+        }
+
+        public bool AddRenderer(T renderer)
+        {
+            // Even though using a HashSet would keep us from checking for
+            // duplicates in O(n), the only way to iterate trough a set
+            // causes GC. Since we iterate trough renderers every frame,
+            // but we only add new renderers once in a blue moon,
+            // it's preferable to use a list instead.
+
+            if (!list.Contains(renderer))
+            {
+                list.Add(renderer);
+                return true;
+            }
+            return false;
+        }
+
+        public bool RemoveRenderer(T renderer)
+        {
+            return list.Remove(renderer);
+        }
+
+        public void RemoveAt(int i)
+        {
+            if (i >= 0 && i < list.Count)
+                list.RemoveAt(i);
+        }
+
+        public int IndexOf(T renderer)
+        {
+            return list.IndexOf(renderer);
+        }
+
+        public IReadOnlyList<T> AsReadOnly()
+        {
+            return list.AsReadOnly();
+        }
+
+        public void Clear()
+        {
+            list.Clear();
+        }
+    }
+
+    public interface RenderSystem<T> : IRenderSystem where T : ObiRenderer<T>
+    {
+        RendererSet<T> renderers { get; }
+
+        Type IRenderSystem.GetRendererType() { return typeof(T); }
+
+        bool IRenderSystem.isEmpty
+        {
+            get { return renderers.Count == 0; }
+        }
+
+        public virtual bool AddRenderer(T renderer)
+        {
+            return renderers.AddRenderer(renderer);
+        }
+        public virtual bool RemoveRenderer(T renderer)
+        {
+            return renderers.RemoveRenderer(renderer);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta
new file mode 100644
index 000000000..2828c5355
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Rendering/IRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cd2ee05999916460aa9ee269dc8136e4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
index d99359509..fb40d70f8 100644
--- a/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
@@ -1,4 +1,4 @@
-using UnityEngine;
+using UnityEngine;
 
 namespace Obi
 {
@@ -11,13 +11,14 @@ namespace Obi
         #region Inertial Frame
         void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation);
         void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime);
-        void ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime);
+        IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime);
         #endregion
 
         #region Particles
         void ParticleCountChanged(ObiSolver solver);
+        void MaxFoamParticleCountChanged(ObiSolver solver);
         void SetActiveParticles(ObiNativeIntList indices);
-        void InterpolateDiffuseProperties(ObiNativeVector4List properties, ObiNativeVector4List diffusePositions, ObiNativeVector4List diffuseProperties, ObiNativeIntList neighbourCount, int diffuseCount);
+        uint activeFoamParticleCount { get; }
         #endregion
 
         #region Rigidbodies
@@ -28,33 +29,36 @@ namespace Obi
         IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType type);
         void DestroyConstraintsBatch(IConstraintsBatchImpl batch);
         int GetConstraintCount(Oni.ConstraintType type);
-        void GetCollisionContacts(Oni.Contact[] contacts, int count);
-        void GetParticleCollisionContacts(Oni.Contact[] contacts, int count);
         void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters);
         #endregion
 
         #region Update
-        IObiJobHandle CollisionDetection(float stepTime);
-        IObiJobHandle Substep(float stepTime, float substepTime, int substeps);
-        void ApplyInterpolation(ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime);
+        IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime);
+        IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime);
+        IObiJobHandle Substep(IObiJobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft);
+        IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime);
+
+        void FinishSimulation();
+        void PushData();
+        void RequestReadback();
+        #endregion
+
+        #region Deformable shapes
+        void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs);
+        void SetDeformableEdges(ObiNativeIntList indices);
         #endregion
 
         #region Simplices
-        int GetDeformableTriangleCount();
-        void SetDeformableTriangles(int[] indices, int num, int destOffset);
-        int RemoveDeformableTriangles(int num, int sourceOffset);
-
         void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts);
         #endregion
 
         #region Utils
         void SetParameters(Oni.SolverParameters parameters);
         void GetBounds(ref Vector3 min, ref Vector3 max);
-        void ResetForces();
         int GetParticleGridSize();
         void GetParticleGrid(ObiNativeAabbList cells);
         void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results);
-        void ReleaseJobHandles();
         #endregion
+
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
index 0badd2fee..10cc2d691 100644
--- a/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
@@ -11,6 +11,5 @@
         {
         }
         #endregion
-
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
index 37dfe52e1..9e21824d9 100644
--- a/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
@@ -1,15 +1,23 @@
-using UnityEngine;
+using UnityEngine;
 using System;
 
 namespace Obi
 {
     public class NullSolverImpl : ISolverImpl
     {
+        public uint activeFoamParticleCount { private set; get; }
 
         public void Destroy()
         {
         }
 
+        public void PushData()
+        {
+        }
+        public void RequestReadback()
+        {
+        }
+
         public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
         {
         }
@@ -18,21 +26,24 @@ namespace Obi
         {
         }
 
-        public void ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
+        public IObiJobHandle ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
         {
+            return null;
         }
 
-        public int GetDeformableTriangleCount()
+        public IObiJobHandle ApplyForceZones(ObiNativeForceZoneList zones, ObiNativeAffineTransformList transforms)
         {
-            return 0;
+            return null;
         }
-        public void SetDeformableTriangles(int[] indices, int num, int destOffset)
+
+        public void SetDeformableTriangles(ObiNativeIntList indices, ObiNativeVector2List uvs)
         {
            
         }
-        public int RemoveDeformableTriangles(int num, int sourceOffset)
+
+        public void SetDeformableEdges(ObiNativeIntList indices)
         {
-            return 0;
+
         }
 
         public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
@@ -43,6 +54,11 @@ namespace Obi
         {
         }
 
+        public void MaxFoamParticleCountChanged(ObiSolver solver)
+        {
+
+        }
+
         public void SetRigidbodyArrays(ObiSolver solver)
         {
         }
@@ -51,10 +67,6 @@ namespace Obi
         {
         }
 
-        public void ResetForces()
-        {
-        }
-
         public void GetBounds(ref Vector3 min, ref Vector3 max)
         {
         }
@@ -68,14 +80,6 @@ namespace Obi
             return 0;
         }
 
-        public void GetCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-        }
-
-        public void GetParticleCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-        }
-
         public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
         {
         }
@@ -89,22 +93,29 @@ namespace Obi
         {
         }
 
-        public IObiJobHandle CollisionDetection(float stepTime)
+        public void FinishSimulation()
+        {
+
+        }
+
+        public IObiJobHandle UpdateBounds(IObiJobHandle inputDeps, float stepTime)
         {
             return null;
         }
 
-        public IObiJobHandle Substep(float stepTime, float substepTime, int index)
+        public IObiJobHandle CollisionDetection(IObiJobHandle inputDeps, float stepTime)
         {
             return null;
         }
 
-        public void ApplyInterpolation(ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
+        public IObiJobHandle Substep(IObiJobHandle inputDeps, float stepTime, float substepTime, int index, float timeLeft)
         {
+            return null;
         }
 
-        public void InterpolateDiffuseProperties(ObiNativeVector4List properties, ObiNativeVector4List diffusePositions, ObiNativeVector4List diffuseProperties, ObiNativeIntList neighbourCount, int diffuseCount)
+        public IObiJobHandle ApplyInterpolation(IObiJobHandle inputDeps, ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
         {
+            return null;
         }
 
         public int GetParticleGridSize()
@@ -119,10 +130,5 @@ namespace Obi
         public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
         {
         }
-
-        public void ReleaseJobHandles()
-        {
-
-        }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni.meta b/Assets/Obi/Scripts/Common/Backends/Oni.meta
deleted file mode 100644
index bcd65f30c..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 681a7c364e05c483f85cad1eb07018fd
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs
deleted file mode 100644
index 068dafad6..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniAerodynamicConstraintsBatchImpl : OniConstraintsBatchImpl, IAerodynamicConstraintsBatchImpl
-    {
-        public OniAerodynamicConstraintsBatchImpl(OniAerodynamicConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Aerodynamics)
-        {
-        }
-
-        public void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count)
-        {
-            Oni.SetAerodynamicConstraints(oniBatch, particleIndices.GetIntPtr(), aerodynamicCoeffs.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 093d4d364..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 2eaf9121855a4484d8f5765d4ad9d974
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
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-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs
deleted file mode 100644
index f50bf5650..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniAerodynamicConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniAerodynamicConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Aerodynamics)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch =  new OniAerodynamicConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs.meta
deleted file mode 100644
index a5a5b519f..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 990162413cc804203a6ca5d7d90e1ae3
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs
deleted file mode 100644
index 05fd5d83c..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniBendConstraintsBatchImpl : OniConstraintsBatchImpl, IBendConstraintsBatchImpl
-    {
-        public OniBendConstraintsBatchImpl(OniBendConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Bending)
-        {
-        }
-
-        public void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetBendingConstraints(oniBatch, particleIndices.GetIntPtr(), restBends.GetIntPtr(), bendingStiffnesses.GetIntPtr(), plasticity.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs.meta
deleted file mode 100644
index a3260da5b..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs
deleted file mode 100644
index 6c33c9fe3..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniBendConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniBendConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Bending)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniBendConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs.meta
deleted file mode 100644
index 7175df868..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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-  serializedVersion: 2
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-  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs
deleted file mode 100644
index 11ff42861..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniBendTwistConstraintsBatchImpl : OniConstraintsBatchImpl, IBendTwistConstraintsBatchImpl
-    {
-        public OniBendTwistConstraintsBatchImpl(OniBendTwistConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.BendTwist)
-        {
-        }
-
-        public void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetBendTwistConstraints(oniBatch, orientationIndices.GetIntPtr(), restOrientations.GetIntPtr(), stiffnesses.GetIntPtr(), plasticity.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 5e06b79bd..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: ba36c80996a534178a1db381ccbc8949
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs
deleted file mode 100644
index d84eb3989..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniBendTwistConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniBendTwistConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.BendTwist)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniBendTwistConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs.meta
deleted file mode 100644
index 0bd43da19..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs
deleted file mode 100644
index df76bc01d..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniChainConstraintsBatchImpl : OniConstraintsBatchImpl, IChainConstraintsBatchImpl
-    {
-        public OniChainConstraintsBatchImpl(OniChainConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Chain)
-        {
-        }
-
-        public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndices, int count)
-        {
-            Oni.SetChainConstraints(oniBatch, particleIndices.GetIntPtr(), restLengths.GetIntPtr(), firstIndex.GetIntPtr(), numIndices.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 26a1a272a..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs
deleted file mode 100644
index 0ce503c32..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniChainConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniChainConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniChainConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs.meta
deleted file mode 100644
index 78596a21d..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 5730de157a60b46e9b258ac099ff1980
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs
deleted file mode 100644
index 3c12fdc83..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniDistanceConstraintsBatchImpl : OniConstraintsBatchImpl, IDistanceConstraintsBatchImpl
-    {
-        public OniDistanceConstraintsBatchImpl(OniDistanceConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Distance)
-        {
-        }
-
-        public void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetDistanceConstraints(oniBatch, particleIndices.GetIntPtr(), restLengths.GetIntPtr(), stiffnesses.GetIntPtr(), lambdas.GetIntPtr(), count);   
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 01b5bdd79..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs
deleted file mode 100644
index 1ceae3345..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniDistanceConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniDistanceConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniDistanceConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs.meta
deleted file mode 100644
index e622b8d43..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 1317284f320be48c7be4a294d253fc95
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs
deleted file mode 100644
index 39e0a53b6..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,73 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniConstraintsBatchImpl : IConstraintsBatchImpl
-    {
-        protected IConstraints m_Constraints;
-        protected Oni.ConstraintType m_ConstraintType;
-        protected IntPtr m_OniBatch;
-        protected bool m_Enabled;
-
-        public IntPtr oniBatch
-        {
-            get { return m_OniBatch; }
-        }
-
-        public Oni.ConstraintType constraintType
-        {
-            get { return m_ConstraintType; }
-        }
-
-        public IConstraints constraints
-        {
-            get { return m_Constraints; } 
-        }
-
-        public bool enabled
-        {
-            set
-            {
-                if (m_Enabled != value)
-                {
-                    m_Enabled = value;
-                    Oni.EnableBatch(m_OniBatch, m_Enabled);
-                }
-            }
-            get { return m_Enabled; }
-        }
-
-        public OniConstraintsBatchImpl(IConstraints constraints, Oni.ConstraintType type)
-        {
-            this.m_Constraints = constraints;
-            this.m_ConstraintType = type;
-
-            m_OniBatch = Oni.CreateBatch((int)type);
-        }
-
-        public void Destroy()
-        {
-            //Oni.DestroyBatch(m_OniBatch);
-
-            // remove the constraint batch from the solver 
-            // (no need to destroy it as its destruction is managed by the solver)
-            // just reset the reference.
-            m_OniBatch = IntPtr.Zero;
-        }
-
-        public void SetConstraintCount(int constraintCount)
-        {
-            Oni.SetBatchConstraintCount(m_OniBatch, constraintCount);
-        }
-
-        public int GetConstraintCount()
-        {
-            return Oni.GetBatchConstraintCount(m_OniBatch);
-        }
-
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs.meta
deleted file mode 100644
index bc3d8d946..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs
deleted file mode 100644
index 61a86b1e5..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs
+++ /dev/null
@@ -1,45 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public interface IOniConstraintsImpl : IConstraints
-    {
-        IConstraintsBatchImpl CreateConstraintsBatch();
-        void RemoveBatch(IConstraintsBatchImpl batch);
-    }
-
-    public abstract class OniConstraintsImpl : IOniConstraintsImpl
-    {
-        protected OniSolverImpl m_Solver;
-        protected Oni.ConstraintType m_ConstraintType;
-
-        public ISolverImpl solver
-        {
-            get { return m_Solver; }
-        }
-
-        public Oni.ConstraintType constraintType
-        {
-            get { return m_ConstraintType; }
-        }
-
-        public OniConstraintsImpl(OniSolverImpl solver, Oni.ConstraintType constraintType)
-        {
-            m_ConstraintType = constraintType;
-            m_Solver = solver;
-        }
-
-        public abstract IConstraintsBatchImpl CreateConstraintsBatch();
-
-        public abstract void RemoveBatch(IConstraintsBatchImpl batch);
-
-        public int GetConstraintCount()
-        {
-            return Oni.GetConstraintCount(m_Solver.oniSolver, (int)m_ConstraintType);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs.meta
deleted file mode 100644
index 7d45f51b0..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs
deleted file mode 100644
index c6db3b8d7..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,21 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniPinConstraintsBatchImpl : OniConstraintsBatchImpl, IPinConstraintsBatchImpl
-    {
-        public OniPinConstraintsBatchImpl(OniPinConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Pin)
-        {
-        }
-
-        public void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetPinConstraints(oniBatch, particleIndices.GetIntPtr() ,offsets.GetIntPtr(), restDarbouxVectors.GetIntPtr(), colliderIndices.GetIntPtr(), stiffnesses.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 01264c16e..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 7027ecb8259ee445bb7280c585d5b401
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs
deleted file mode 100644
index 95ee95bf5..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniPinConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniPinConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Pin)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniPinConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs.meta
deleted file mode 100644
index a71ebc301..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 80f6683022e124b7ab5f002abb8df42a
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs
deleted file mode 100644
index b20dd1ff3..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,39 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniShapeMatchingConstraintsBatchImpl : OniConstraintsBatchImpl, IShapeMatchingConstraintsBatchImpl
-    {
-        public OniShapeMatchingConstraintsBatchImpl(OniShapeMatchingConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.ShapeMatching)
-        {
-        }
-
-        public void SetShapeMatchingConstraints(ObiNativeIntList particleIndices,
-                                                 ObiNativeIntList firstIndex,
-                                                 ObiNativeIntList numIndices,
-                                                 ObiNativeIntList explicitGroup,
-                                                 ObiNativeFloatList shapeMaterialParameters,
-                                                 ObiNativeVector4List restComs,
-                                                 ObiNativeVector4List coms,
-                                                 ObiNativeQuaternionList orientations,
-                                                 ObiNativeMatrix4x4List linearTransforms,
-                                                 ObiNativeMatrix4x4List plasticDeformations,
-                                                 ObiNativeFloatList lambdas,
-                                                 int count)
-        {
-            Oni.SetShapeMatchingConstraints(oniBatch, particleIndices.GetIntPtr(), firstIndex.GetIntPtr(), numIndices.GetIntPtr(), explicitGroup.GetIntPtr(),
-                                            shapeMaterialParameters.GetIntPtr(),restComs.GetIntPtr(), coms.GetIntPtr(), orientations.GetIntPtr(), linearTransforms.GetIntPtr(),
-                                            plasticDeformations.GetIntPtr(), count);
-        }
-
-        public void CalculateRestShapeMatching()
-        {
-            Oni.RecalculateInertiaTensors(((OniSolverImpl)this.constraints.solver).oniSolver);
-            Oni.CalculateRestShapeMatching(((OniSolverImpl)this.constraints.solver).oniSolver, oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 3fb2c1bf0..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 2d8b27a2b5372453881109f4d30710aa
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs
deleted file mode 100644
index 846ab6899..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniShapeMatchingConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniShapeMatchingConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.ShapeMatching)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniShapeMatchingConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs.meta
deleted file mode 100644
index 46b7bd743..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs
deleted file mode 100644
index 622e6cdb7..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniSkinConstraintsBatchImpl : OniConstraintsBatchImpl, ISkinConstraintsBatchImpl
-    {
-        public OniSkinConstraintsBatchImpl(OniSkinConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Skin)
-        {
-        }
-
-        public void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetSkinConstraints(oniBatch, particleIndices.GetIntPtr(), skinPoints.GetIntPtr(), skinNormals.GetIntPtr(), skinRadiiBackstop.GetIntPtr(), skinCompliance.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 93af2c035..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 52429ca8e52974c47811bb3da9a6d0d6
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs
deleted file mode 100644
index fbf0e5b93..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniSkinConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniSkinConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Skin)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniSkinConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs.meta
deleted file mode 100644
index 6db8a1710..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs
deleted file mode 100644
index ae0f953bd..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniStitchConstraintsBatchImpl : OniConstraintsBatchImpl, IStitchConstraintsBatchImpl
-    {
-        public OniStitchConstraintsBatchImpl(OniStitchConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Stitch)
-        {
-        }
-
-        public void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetStitchConstraints(oniBatch, particleIndices.GetIntPtr(), stiffnesses.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 799abfaef..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 4b6e4637dbd2c4bffbcc8924a90ab7f1
-MonoImporter:
-  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs
deleted file mode 100644
index 0209eda55..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniStitchConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniStitchConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Stitch)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniStitchConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs.meta
deleted file mode 100644
index dc799f6c6..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 8666f111d21594650832fc663f618da9
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs
deleted file mode 100644
index 995732e6e..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniStretchShearConstraintsBatchImpl : OniConstraintsBatchImpl, IStretchShearConstraintsBatchImpl
-    {
-        public OniStretchShearConstraintsBatchImpl(OniStretchShearConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.StretchShear)
-        {
-        }
-
-        public void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetStretchShearConstraints(oniBatch, particleIndices.GetIntPtr(), orientationIndices.GetIntPtr(), restLengths.GetIntPtr(), restOrientations.GetIntPtr(), stiffnesses.GetIntPtr(), lambdas.GetIntPtr(), count); 
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs.meta
deleted file mode 100644
index e5f998b85..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 8239fa7b75a3a4f9087095a893f26ecc
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs
deleted file mode 100644
index 23f870904..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniStretchShearConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniStretchShearConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.StretchShear)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniStretchShearConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs.meta
deleted file mode 100644
index ed0457b87..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs
deleted file mode 100644
index 47e6500a4..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniTetherConstraintsBatchImpl : OniConstraintsBatchImpl, ITetherConstraintsBatchImpl
-    {
-        public OniTetherConstraintsBatchImpl(OniTetherConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Tether)
-        {
-        }
-
-        public void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
-        {
-            Oni.SetTetherConstraints(oniBatch, particleIndices.GetIntPtr(), maxLengthScale.GetIntPtr(), stiffnesses.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs.meta
deleted file mode 100644
index f723e8829..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 8d972dca9090340739b46bfce8769234
-MonoImporter:
-  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs
deleted file mode 100644
index 5299af2e6..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniTetherConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniTetherConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Tether)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniTetherConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs.meta
deleted file mode 100644
index 3fb2ce97a..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs
deleted file mode 100644
index 8b808fbc7..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs
+++ /dev/null
@@ -1,26 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniVolumeConstraintsBatchImpl : OniConstraintsBatchImpl, IVolumeConstraintsBatchImpl
-    {
-        public OniVolumeConstraintsBatchImpl(OniVolumeConstraintsImpl constraints) : base(constraints, Oni.ConstraintType.Volume)
-        {
-        }
-
-        public void SetVolumeConstraints(ObiNativeIntList triangles,
-                                      ObiNativeIntList firstTriangle,
-                                      ObiNativeIntList numTriangles,
-                                      ObiNativeFloatList restVolumes,
-                                      ObiNativeVector2List pressureStiffness,
-                                      ObiNativeFloatList lambdas,
-                                      int count)
-        {
-            Oni.SetVolumeConstraints(oniBatch, triangles.GetIntPtr(), firstTriangle.GetIntPtr(), numTriangles.GetIntPtr(), restVolumes.GetIntPtr(), pressureStiffness.GetIntPtr(), lambdas.GetIntPtr(), count);
-        }
-    } 
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs.meta
deleted file mode 100644
index 002cbeb9f..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 1af520b0f02a347c4b1d36842ee90910
-MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs
deleted file mode 100644
index 7693a3df9..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs
+++ /dev/null
@@ -1,28 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniVolumeConstraintsImpl : OniConstraintsImpl
-    {
-
-        public OniVolumeConstraintsImpl(OniSolverImpl solver) : base(solver, Oni.ConstraintType.Volume)
-        {
-        }
-
-        public override IConstraintsBatchImpl CreateConstraintsBatch()
-        {
-            var batch = new OniVolumeConstraintsBatchImpl(this);
-            Oni.AddBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-            return batch;
-        }
-
-        public override void RemoveBatch(IConstraintsBatchImpl batch)
-        {
-            Oni.RemoveBatch(((OniSolverImpl)solver).oniSolver, ((OniConstraintsBatchImpl)batch).oniBatch);
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs.meta
deleted file mode 100644
index 739d47b6a..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs
deleted file mode 100644
index 1c9a0ec27..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs
+++ /dev/null
@@ -1,43 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using UnityEngine;
-using System;
-using System.Collections;
-
-namespace Obi
-{
-    public class OniBackend : IObiBackend
-    {
-        private OniColliderWorld colliderGrid;
-
-        #region Solver
-        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
-        {
-            GetOrCreateColliderWorld();
-            colliderGrid.IncreaseReferenceCount();
-            return new OniSolverImpl(Oni.CreateSolver(capacity));
-        }
-        public void DestroySolver(ISolverImpl solver)
-        {
-            if (solver != null)
-            {
-                if (colliderGrid != null)
-                    colliderGrid.DecreaseReferenceCount();
-                solver.Destroy();
-            }
-        }
-
-        // Single type of collision world. Each solver implementation should manage the data as it can.  
-        private void GetOrCreateColliderWorld()
-        {
-            colliderGrid = GameObject.FindObjectOfType<OniColliderWorld>();
-            if (colliderGrid == null)
-            {
-                var world = new GameObject("OniCollisionWorld", typeof(OniColliderWorld));
-                colliderGrid = world.GetComponent<OniColliderWorld>();
-            }
-        }
-        #endregion
-
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs.meta
deleted file mode 100644
index 11d4d33b8..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs
deleted file mode 100644
index e1af2010b..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs
+++ /dev/null
@@ -1,75 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-using UnityEngine;
-
-namespace Obi
-{
-    public class OniColliderWorld : MonoBehaviour, IColliderWorldImpl
-    {
-        private int refCount = 0;
-
-        public int referenceCount { get { return refCount; } }
-
-        public void Awake()
-        {
-            ObiColliderWorld.GetInstance().RegisterImplementation(this);
-        }
-
-        public void OnDestroy()
-        {
-            ObiColliderWorld.GetInstance().UnregisterImplementation(this);
-        }
-
-        public void IncreaseReferenceCount()
-        {
-            refCount++;
-        }
-        public void DecreaseReferenceCount()
-        {
-            if (--refCount <= 0 && gameObject != null)
-                DestroyImmediate(gameObject);
-        }
-
-        public void UpdateWorld(float deltaTime)
-        {
-            Oni.UpdateColliderGrid(deltaTime);
-        }
-
-        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count)
-        {
-            Oni.SetColliders(shapes.GetIntPtr(), bounds.GetIntPtr(), transforms.GetIntPtr(), count);
-        }
-
-        public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
-        {
-            Oni.SetRigidbodies(rigidbody.GetIntPtr());
-        }
-
-        public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
-        {
-            Oni.SetCollisionMaterials(materials.GetIntPtr());
-        }
-
-        public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
-        {
-            Oni.SetTriangleMeshData(headers.GetIntPtr(), nodes.GetIntPtr(), triangles.GetIntPtr(), vertices.GetIntPtr());
-        }
-
-        public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
-        {
-            Oni.SetEdgeMeshData(headers.GetIntPtr(), nodes.GetIntPtr(), edges.GetIntPtr(), vertices.GetIntPtr());   
-        }
-
-        public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes)
-        {
-            Oni.SetDistanceFieldData(headers.GetIntPtr(), nodes.GetIntPtr());
-        }
-
-        public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples)
-        {
-            Oni.SetHeightFieldData(headers.GetIntPtr(), samples.GetIntPtr());
-        }
-    }
-
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs.meta
deleted file mode 100644
index 2961feff3..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: d02d25c24c8574316883c920912e4fdb
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs
deleted file mode 100644
index 5acf0bb62..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs
+++ /dev/null
@@ -1,27 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using System;
-
-namespace Obi
-{
-    public class OniJobHandle : IObiJobHandle
-    {
-        private IntPtr pointer = IntPtr.Zero;
-
-        public OniJobHandle SetPointer(IntPtr newPtr)
-        {
-            pointer = newPtr;
-            return this;
-        }
-
-        public void Complete()
-        {
-            Oni.Complete(pointer);
-        }
-
-        public void Release()
-        {
-            pointer = IntPtr.Zero;
-        }
-    }
-}
-#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs.meta
deleted file mode 100644
index 3030ce29b..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 502f41bdafa70468985a879d9ffc67d9
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs
deleted file mode 100644
index e6b7f8948..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs
+++ /dev/null
@@ -1,226 +0,0 @@
-#if (OBI_ONI_SUPPORTED)
-using UnityEngine;
-using System;
-using System.Collections;
-using System.Runtime.InteropServices;
-
-namespace Obi
-{
-    public class OniSolverImpl : ISolverImpl
-    {
-        private IntPtr m_OniSolver;
-
-        // Per-type constraints array:
-        private IOniConstraintsImpl[] constraints;
-
-        // Pool job handles to avoid runtime alloc:
-        private JobHandlePool<OniJobHandle> jobHandlePool;
-
-        public IntPtr oniSolver
-        {
-            get { return m_OniSolver; }
-        }
-
-        public OniSolverImpl(IntPtr solver)
-        {
-            m_OniSolver = solver;
-
-            jobHandlePool = new JobHandlePool<OniJobHandle>(4);
-
-            constraints = new IOniConstraintsImpl[Oni.ConstraintTypeCount];
-            constraints[(int)Oni.ConstraintType.Tether] = new OniTetherConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Volume] = new OniVolumeConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Chain] = new OniChainConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Bending] = new OniBendConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Distance] = new OniDistanceConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.ShapeMatching] = new OniShapeMatchingConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.BendTwist] = new OniBendTwistConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.StretchShear] = new OniStretchShearConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Pin] = new OniPinConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Skin] = new OniSkinConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Aerodynamics] = new OniAerodynamicConstraintsImpl(this);
-            constraints[(int)Oni.ConstraintType.Stitch] = new OniStitchConstraintsImpl(this);
-        }
-
-        public void Destroy()
-        {
-            Oni.DestroySolver(m_OniSolver);
-            m_OniSolver = IntPtr.Zero;
-        }
-
-        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
-        {
-            Oni.InitializeFrame(oniSolver, ref translation, ref scale, ref rotation);
-        }
-
-        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
-        {
-            Oni.UpdateFrame(oniSolver, ref translation, ref scale, ref rotation, deltaTime);
-        }
-
-        public void ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
-        {
-            Oni.ApplyFrame(oniSolver, 0, 0, worldLinearInertiaScale, worldAngularInertiaScale, deltaTime);
-        }
-
-        public int GetDeformableTriangleCount()
-        {
-            return Oni.GetDeformableTriangleCount(m_OniSolver);
-        }
-        public void SetDeformableTriangles(int[] indices, int num, int destOffset)
-        {
-            Oni.SetDeformableTriangles(m_OniSolver, indices, num, destOffset);
-        }
-        public int RemoveDeformableTriangles(int num, int sourceOffset)
-        {
-            return Oni.RemoveDeformableTriangles(m_OniSolver, num, sourceOffset);
-        }
-
-        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
-        {
-            Oni.SetSimplices(m_OniSolver, simplices.AsNativeArray<int>().ToArray(), counts.pointCount, counts.edgeCount, counts.triangleCount);
-        }
-
-        public void ParticleCountChanged(ObiSolver solver)
-        {
-            Oni.SetParticlePositions(m_OniSolver, solver.positions.GetIntPtr());
-            Oni.SetParticlePreviousPositions(m_OniSolver, solver.prevPositions.GetIntPtr());
-            Oni.SetRestPositions(m_OniSolver, solver.restPositions.GetIntPtr());
-            Oni.SetParticleOrientations(m_OniSolver, solver.orientations.GetIntPtr());
-            Oni.SetParticlePreviousOrientations(m_OniSolver, solver.prevOrientations.GetIntPtr());
-            Oni.SetRestOrientations(m_OniSolver, solver.restOrientations.GetIntPtr());
-            Oni.SetParticleVelocities(m_OniSolver, solver.velocities.GetIntPtr());
-            Oni.SetParticleAngularVelocities(m_OniSolver, solver.angularVelocities.GetIntPtr());
-            Oni.SetParticleInverseMasses(m_OniSolver, solver.invMasses.GetIntPtr());
-            Oni.SetParticleInverseRotationalMasses(m_OniSolver, solver.invRotationalMasses.GetIntPtr());
-            Oni.SetParticlePrincipalRadii(m_OniSolver, solver.principalRadii.GetIntPtr());
-            Oni.SetParticleCollisionMaterials(m_OniSolver, solver.collisionMaterials.GetIntPtr());
-            Oni.SetParticlePhases(m_OniSolver, solver.phases.GetIntPtr());
-            Oni.SetParticleFilters(m_OniSolver, solver.filters.GetIntPtr());
-            Oni.SetRenderableParticlePositions(m_OniSolver, solver.renderablePositions.GetIntPtr());
-            Oni.SetRenderableParticleOrientations(m_OniSolver, solver.renderableOrientations.GetIntPtr());
-            Oni.SetParticleAnisotropies(m_OniSolver, solver.anisotropies.GetIntPtr());
-            Oni.SetParticleSmoothingRadii(m_OniSolver, solver.smoothingRadii.GetIntPtr());
-            Oni.SetParticleBuoyancy(m_OniSolver, solver.buoyancies.GetIntPtr());
-            Oni.SetParticleRestDensities(m_OniSolver, solver.restDensities.GetIntPtr());
-            Oni.SetParticleViscosities(m_OniSolver, solver.viscosities.GetIntPtr());
-            Oni.SetParticleSurfaceTension(m_OniSolver, solver.surfaceTension.GetIntPtr());
-            Oni.SetParticleVorticityConfinement(m_OniSolver, solver.vortConfinement.GetIntPtr());
-            Oni.SetParticleAtmosphericDragPressure(m_OniSolver, solver.atmosphericDrag.GetIntPtr(), solver.atmosphericPressure.GetIntPtr());
-            Oni.SetParticleDiffusion(m_OniSolver, solver.diffusion.GetIntPtr());
-            Oni.SetParticleVorticities(m_OniSolver, solver.vorticities.GetIntPtr());
-            Oni.SetParticleFluidData(m_OniSolver, solver.fluidData.GetIntPtr());
-            Oni.SetParticleUserData(m_OniSolver, solver.userData.GetIntPtr());
-            Oni.SetParticleExternalForces(m_OniSolver, solver.externalForces.GetIntPtr());
-            Oni.SetParticleExternalTorques(m_OniSolver, solver.externalTorques.GetIntPtr());
-            Oni.SetParticleWinds(m_OniSolver, solver.wind.GetIntPtr());
-            Oni.SetParticlePositionDeltas(m_OniSolver, solver.positionDeltas.GetIntPtr());
-            Oni.SetParticleOrientationDeltas(m_OniSolver, solver.orientationDeltas.GetIntPtr());
-            Oni.SetParticlePositionConstraintCounts(m_OniSolver, solver.positionConstraintCounts.GetIntPtr());
-            Oni.SetParticleOrientationConstraintCounts(m_OniSolver, solver.orientationConstraintCounts.GetIntPtr());
-            Oni.SetParticleNormals(m_OniSolver, solver.normals.GetIntPtr());
-            Oni.SetParticleInverseInertiaTensors(m_OniSolver, solver.invInertiaTensors.GetIntPtr());
-
-            Oni.SetCapacity(m_OniSolver, solver.positions.capacity);
-        }
-
-        public void SetRigidbodyArrays(ObiSolver solver)
-        {
-            Oni.SetRigidbodyLinearDeltas(m_OniSolver, solver.rigidbodyLinearDeltas.GetIntPtr());
-            Oni.SetRigidbodyAngularDeltas(m_OniSolver, solver.rigidbodyAngularDeltas.GetIntPtr());
-        }
-
-        public void SetActiveParticles(ObiNativeIntList indices)
-        {
-            Oni.SetActiveParticles(oniSolver, indices.AsNativeArray<int>().ToArray(), indices.count);
-        }
-
-        public void ResetForces()
-        {
-            Oni.ResetForces(oniSolver);
-        }
-
-        public void GetBounds(ref Vector3 min, ref Vector3 max)
-        {
-            Oni.GetBounds(oniSolver, ref min, ref max);
-        }
-
-        public void SetParameters(Oni.SolverParameters parameters)
-        {
-            Oni.SetSolverParameters(m_OniSolver, ref parameters);
-        }
-
-        public int GetConstraintCount(Oni.ConstraintType type)
-        {
-            return Oni.GetConstraintCount(m_OniSolver, (int)type);
-        }
-
-        public void GetCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-            Oni.GetCollisionContacts(m_OniSolver, contacts, count);
-        }
-
-        public void GetParticleCollisionContacts(Oni.Contact[] contacts, int count)
-        {
-            Oni.GetParticleCollisionContacts(m_OniSolver, contacts, count);
-        }
-
-        public void SetConstraintGroupParameters(Oni.ConstraintType type, ref Oni.ConstraintParameters parameters)
-        {
-            Oni.SetConstraintGroupParameters(m_OniSolver, (int)type, ref parameters);
-        }
-
-        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType constraintType)
-        {
-            return constraints[(int)constraintType].CreateConstraintsBatch();
-        }
-
-        public void DestroyConstraintsBatch(IConstraintsBatchImpl batch)
-        {
-            if (batch != null)
-                constraints[(int)batch.constraintType].RemoveBatch(batch);
-        }
-
-        public IObiJobHandle CollisionDetection(float stepTime)
-        {
-            Oni.RecalculateInertiaTensors(oniSolver);
-            return jobHandlePool.Borrow().SetPointer(Oni.CollisionDetection(oniSolver, stepTime));
-        }
-
-        public IObiJobHandle Substep(float stepTime, float substepTime, int substeps)
-        {
-            return jobHandlePool.Borrow().SetPointer(Oni.Step(oniSolver, stepTime, substepTime, substeps));
-        }
-
-        public void ApplyInterpolation(ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
-        {
-            Oni.ApplyPositionInterpolation(oniSolver, startPositions.GetIntPtr(), startOrientations.GetIntPtr(), stepTime, unsimulatedTime);
-        }
-
-        public void InterpolateDiffuseProperties(ObiNativeVector4List properties, ObiNativeVector4List diffusePositions, ObiNativeVector4List diffuseProperties, ObiNativeIntList neighbourCount, int diffuseCount)
-        {
-            Oni.InterpolateDiffuseParticles(oniSolver, properties.GetIntPtr(), diffusePositions.GetIntPtr(), diffuseProperties.GetIntPtr(), neighbourCount.GetIntPtr(), diffuseCount);
-        }
-
-        public int GetParticleGridSize()
-        {
-           return Oni.GetParticleGridSize(oniSolver);
-        }
-        public void GetParticleGrid(ObiNativeAabbList cells)
-        {
-            //Oni.GetParticleGrid(oniSolver, cells.GetIntPtr());
-        }
-        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
-        {
-            int count = Oni.SpatialQuery(oniSolver, shapes.GetIntPtr(), transforms.GetIntPtr(), shapes.count);
-
-            results.ResizeUninitialized(count);
-            Oni.GetQueryResults(oniSolver, results.GetIntPtr(), count);
-        }
-        public void ReleaseJobHandles()
-        {
-            jobHandlePool.ReleaseAll();
-        }
-    }
-}
-#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs.meta
deleted file mode 100644
index c71ef9fd9..000000000
--- a/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 3240362f8b8e047d7b9250344aaa0d6d
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
index e2a4df6c4..6e7c6c3be 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
@@ -76,8 +76,8 @@ namespace Obi
                 {
                     particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
                     aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3] = batch.aerodynamicCoeffs[i*3];
-                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 1] = user.drag;
-                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 2] = user.lift;
+                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 1] = user.GetDrag(batch, i);
+                    aerodynamicCoeffs[(m_ActiveConstraintCount + i) * 3 + 2] = user.GetLift(batch, i);
                 }
 
                 base.Merge(actor, other);
@@ -96,6 +96,10 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            aerodynamicCoeffs.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
index 8e46dadd8..a1cf35289 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
@@ -115,6 +115,12 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            restBends.Dispose();
+            bendingStiffnesses.Dispose();
+            plasticity.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
index e8c6b2fb3..522dd1930 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
@@ -116,6 +116,12 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            restDarbouxVectors.Dispose();
+            plasticity.Dispose();
+            stiffnesses.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
index 859c86517..1104490b7 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
@@ -120,6 +120,12 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            firstParticle.Dispose();
+            numParticles.Dispose();
+            lengths.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
index 11917cef4..53c42dff5 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
@@ -42,6 +42,7 @@ namespace Obi
         bool DeactivateConstraint(int constraintIndex);
         bool ActivateConstraint(int constraintIndex);
         void DeactivateAllConstraints();
+        void ActivateAllConstraints();
 
         void Clear();
 
@@ -100,8 +101,12 @@ namespace Obi
 
         protected abstract void SwapConstraints(int sourceIndex, int destIndex);
         public abstract void GetParticlesInvolved(int index, List<int> particles);
-        public abstract void AddToSolver(ObiSolver solver);
-        public abstract void RemoveFromSolver(ObiSolver solver);
+
+        public virtual void AddToSolver(ObiSolver solver) { }
+        public virtual void RemoveFromSolver(ObiSolver solver) {
+            particleIndices.Dispose();
+            lambdas.Dispose();
+        }
 
         protected virtual void CopyConstraint(ObiConstraintsBatch batch, int constraintIndex) { }
 
@@ -176,6 +181,11 @@ namespace Obi
             m_ActiveConstraintCount = 0;
         }
 
+        public void ActivateAllConstraints()
+        {
+            m_ActiveConstraintCount = m_ConstraintCount;
+        }
+
         // Swaps the constraint with the last one and reduces the amount of constraints by one.
         public void RemoveConstraint(int constraintIndex)
         {
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
index d412a6e81..92673df9a 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
@@ -30,7 +30,7 @@ namespace Obi
             get { return m_BatchImpl; }
         }
 
-        public ObiDistanceConstraintsBatch(int a = 0) 
+        public ObiDistanceConstraintsBatch(ObiDistanceConstraintsData constraints = null) : base()
         { 
         }
 
@@ -135,6 +135,11 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            restLengths.Dispose();
+            stiffnesses.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
index b49dbe5d8..08270d5c5 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
@@ -8,12 +8,12 @@ namespace Obi
     [Serializable]
     public class ObiPinConstraintsBatch : ObiConstraintsBatch
     {
-        protected IPinConstraintsBatchImpl m_BatchImpl;  
+        protected IPinConstraintsBatchImpl m_BatchImpl;
 
         /// <summary>
         /// for each constraint, handle of the pinned collider.
         /// </summary>
-        [HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();                        
+        [HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
 
         /// <summary>
         /// index of the pinned collider in the collider world.
@@ -23,22 +23,17 @@ namespace Obi
         /// <summary>
         /// Pin position expressed in the attachment's local space.
         /// </summary>
-        [HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();                        
+        [HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
 
         /// <summary>
         /// Rest Darboux vector for each constraint.
         /// </summary>
-        [HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();        
+        [HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();
 
         /// <summary>
         /// Compliances of pin constraits. 2 float per constraint (positional and rotational compliance).
         /// </summary>
-        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();                        
-
-        /// <summary>
-        /// One float per constraint: break threshold.
-        /// </summary>
-        [HideInInspector] public ObiNativeFloatList breakThresholds = new ObiNativeFloatList();                     
+        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
 
         public override Oni.ConstraintType constraintType
         {
@@ -54,18 +49,17 @@ namespace Obi
         {
         }
 
-        public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, float breakThreshold)
+        public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, bool projectRenderable = false)
         {
             RegisterConstraint();
 
             particleIndices.Add(solverIndex);
             pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
             colliderIndices.Add(body != null ? body.Handle.index : -1);
-            offsets.Add(offset);
+            offsets.Add(new Vector4(offset.x, offset.y, offset.z, projectRenderable ? 1:0));
             restDarbouxVectors.Add(restDarboux);
             stiffnesses.Add(linearCompliance);
             stiffnesses.Add(rotationalCompliance);
-            breakThresholds.Add(breakThreshold);
         }
 
         public override void Clear()
@@ -108,13 +102,11 @@ namespace Obi
                 offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
                 restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
                 stiffnesses.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
-                breakThresholds.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
                 lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 4);
 
                 offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
                 restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
                 stiffnesses.CopyFrom(batch.stiffnesses, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
-                breakThresholds.CopyFrom(batch.breakThresholds, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
 
                 for (int i = 0; i < batch.activeConstraintCount; ++i)
                 {
@@ -139,6 +131,13 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            restDarbouxVectors.Dispose();
+            colliderIndices.Dispose();
+            offsets.Dispose();
+            stiffnesses.Dispose();
+
             if (solver != null && solver.implementation != null)
                 solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs
new file mode 100644
index 000000000..3ae11a2ca
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs
@@ -0,0 +1,220 @@
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinholeConstraintsBatch : ObiConstraintsBatch
+    {
+        [Serializable]
+        public struct PinholeEdge
+        {
+            public int edgeIndex;
+            public float coordinate;
+
+            public PinholeEdge(int edgeIndex, float coordinate)
+            {
+                this.edgeIndex = edgeIndex;
+                this.coordinate = coordinate;
+            }
+
+            public float GetRopeCoordinate(ObiActor actor) 
+            {
+                int edgeCount = actor.GetDeformableEdgeCount();
+                return edgeCount > 0 ? Mathf.Clamp01((edgeIndex + coordinate) / edgeCount) : 0;
+            }
+        }
+
+        protected IPinholeConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// for each constraint, handle of the pinned collider.
+        /// </summary>
+        [HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();
+
+        /// <summary>
+        /// for each constraint, reference to the actor pinned.
+        /// </summary>
+        [HideInInspector] public List<ObiActor> pinActors = new List<ObiActor>();
+
+        /// <summary>
+        /// index of the pinned collider in the collider world.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList colliderIndices = new ObiNativeIntList();
+
+        /// <summary>
+        /// Pinhole position expressed in the attachment's local space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();
+
+        /// <summary>
+        // Normalized coordinate along current edge.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList edgeMus = new ObiNativeFloatList();
+
+        /// <summary>
+        /// Edge range as 2 ints (first edge, last edge) for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList edgeRanges = new ObiNativeIntList();
+
+        /// <summary>
+        /// Min/max cooridnate in each of the first and last edges as 2 floats for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList edgeRangeMus = new ObiNativeFloatList();
+
+        /// <summary>
+        /// Parameters of pinhole constraints. 5 floats per constraint (compliance, friction, motor speed, motor force and normalized coordinate along edge).
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList parameters = new ObiNativeFloatList();
+
+        /// <summary>
+        /// Relative velocities between rope and pinhole.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList relativeVelocities = new ObiNativeFloatList();
+
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Pinhole; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiPinholeConstraintsBatch(ObiPinholeConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(PinholeEdge edge, PinholeEdge firstEdge, PinholeEdge lastEdge, ObiActor actor, ObiColliderBase body, Vector3 offset, float compliance, float friction, float motorSpeed, float motorForce, bool clampAtEnds)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(edge.edgeIndex);
+            edgeMus.Add(edge.coordinate);
+            edgeRanges.Add(firstEdge.edgeIndex);
+            edgeRanges.Add(lastEdge.edgeIndex);
+            edgeRangeMus.Add(firstEdge.coordinate);
+            edgeRangeMus.Add(lastEdge.coordinate);
+
+            pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
+            pinActors.Add(actor);
+            colliderIndices.Add(body != null ? body.Handle.index : -1);
+            offsets.Add(offset);
+            parameters.Add(compliance);
+            parameters.Add(friction);
+            parameters.Add(motorSpeed);
+            parameters.Add(motorForce);
+            parameters.Add(clampAtEnds ? 1 : 0);
+            relativeVelocities.Add(0);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            pinBodies.Clear();
+            colliderIndices.Clear();
+            offsets.Clear();
+            edgeMus.Clear();
+            edgeRanges.Clear();
+            edgeRangeMus.Clear();
+            parameters.Clear();
+            relativeVelocities.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex, destIndex);
+            pinBodies.Swap(sourceIndex, destIndex);
+            colliderIndices.Swap(sourceIndex, destIndex);
+            offsets.Swap(sourceIndex, destIndex);
+            edgeMus.Swap(sourceIndex, destIndex);
+            edgeRanges.Swap(sourceIndex * 2, destIndex * 2);
+            edgeRanges.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            edgeRangeMus.Swap(sourceIndex * 2, destIndex * 2);
+            edgeRangeMus.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+
+            for (int i = 0; i < 5; ++i)
+                parameters.Swap(sourceIndex * 5 + i, destIndex * 5 + i);
+
+            relativeVelocities.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiPinholeConstraintsBatch;
+
+            if (batch != null)
+            {
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                offsets.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                edgeRanges.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                edgeRangeMus.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                edgeMus.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                parameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
+                relativeVelocities.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                edgeMus.CopyFrom(batch.edgeMus, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                edgeRangeMus.CopyFrom(batch.edgeRangeMus, 0, m_ActiveConstraintCount * 2, batch.activeConstraintCount * 2);
+                offsets.CopyFrom(batch.offsets, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                relativeVelocities.CopyFrom(batch.relativeVelocities, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                parameters.CopyFrom(batch.parameters, 0, m_ActiveConstraintCount * 5, batch.activeConstraintCount * 5);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    int currentEdge = -1, firstEdge = -1, lastEdge = -1; 
+                    if (batch.pinActors[i] != null)
+                    {
+                        currentEdge = batch.pinActors[i].deformableEdgesOffset + batch.particleIndices[i];
+                        firstEdge = batch.pinActors[i].deformableEdgesOffset + batch.edgeRanges[i * 2];
+                        lastEdge = batch.pinActors[i].deformableEdgesOffset + batch.edgeRanges[i * 2 + 1];
+                    }
+
+                    edgeRanges[(m_ActiveConstraintCount + i) * 2] = firstEdge;
+                    edgeRanges[(m_ActiveConstraintCount + i) * 2 + 1] = lastEdge;
+                    particleIndices[m_ActiveConstraintCount + i] = Mathf.Clamp(currentEdge, firstEdge, lastEdge);
+                    colliderIndices[m_ActiveConstraintCount + i] = batch.pinBodies[i] != null ? batch.pinBodies[i].index : -1;
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            if (solver != null && solver.implementation != null)
+            {
+                m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IPinholeConstraintsBatchImpl;
+
+                if (m_BatchImpl != null)
+                    m_BatchImpl.SetPinholeConstraints(particleIndices, colliderIndices, offsets, edgeMus, edgeRanges, edgeRangeMus, parameters, relativeVelocities, lambdas, m_ActiveConstraintCount);
+            }
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            base.RemoveFromSolver(solver);
+
+            edgeRanges.Dispose();
+            colliderIndices.Dispose();
+            offsets.Dispose();
+            parameters.Dispose();
+
+            if (solver != null && solver.implementation != null)
+                solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..a225abd0c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinholeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d642dbf4a869c4761b38ce3f65e22f05
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
index 9558a10e4..4c87bc322 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
@@ -8,38 +8,38 @@ namespace Obi
     [Serializable]
     public class ObiShapeMatchingConstraintsBatch : ObiConstraintsBatch
     {
-        protected IShapeMatchingConstraintsBatchImpl m_BatchImpl;  
+        protected IShapeMatchingConstraintsBatchImpl m_BatchImpl;
 
         /// <summary>
         /// index of the first particle in each constraint.
         /// </summary>
-        public ObiNativeIntList firstIndex = new ObiNativeIntList();           
+        public ObiNativeIntList firstIndex = new ObiNativeIntList();
 
         /// <summary>
         /// amount of particles in each constraint.
         /// </summary>
-        public ObiNativeIntList numIndices = new ObiNativeIntList();            
+        public ObiNativeIntList numIndices = new ObiNativeIntList();
 
         /// <summary>
         /// whether the constraint is implicit (0) or explicit (>0).
         /// </summary>
-        public ObiNativeIntList explicitGroup = new ObiNativeIntList();         
+        public ObiNativeIntList explicitGroup = new ObiNativeIntList();
 
         /// <summary>
         /// 5 floats per constraint: stiffness, plastic yield, creep, recovery and max deformation.
         /// </summary>
-        public ObiNativeFloatList materialParameters = new ObiNativeFloatList(); 
+        public ObiNativeFloatList materialParameters = new ObiNativeFloatList();
 
 
         /// <summary>
         /// rest center of mass for each constraint.
         /// </summary>
-        public ObiNativeVector4List restComs = new ObiNativeVector4List();      
+        public ObiNativeVector4List restComs = new ObiNativeVector4List();
 
         /// <summary>
         /// current center of mass for each constraint.
         /// </summary>
-        public ObiNativeVector4List coms = new ObiNativeVector4List();       
+        public ObiNativeVector4List coms = new ObiNativeVector4List();
 
         /// <summary>
         /// current best-match orientation for each constraint.
@@ -96,7 +96,7 @@ namespace Obi
         {
             int first = firstIndex[index];
             int num = numIndices[index];
-            for (int i = first; i < first + num; ++i) 
+            for (int i = first; i < first + num; ++i)
                 particles.Add(particleIndices[i]);
         }
 
@@ -154,7 +154,7 @@ namespace Obi
                 // shape matching constraint particle indices are not reordered when deactivating constraints,
                 // so instead of using batch.activeConstraintCount, batch.constraintCount. We need all of them.
                 int numActiveIndices = 0;
-                for (int i = 0; i < batch.constraintCount; ++i) 
+                for (int i = 0; i < batch.constraintCount; ++i)
                     numActiveIndices += batch.numIndices[i];
 
                 particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
@@ -209,6 +209,19 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            firstIndex.Dispose();
+            numIndices.Dispose();
+            explicitGroup.Dispose();
+            materialParameters.Dispose();
+
+            restComs.Dispose();
+            coms.Dispose();
+            orientations.Dispose();
+            linearTransforms.Dispose();
+            plasticDeformations.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
index 0edb2ac0f..f7b738cf1 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
@@ -131,6 +131,13 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            skinPoints.Dispose();
+            skinNormals.Dispose();
+            skinRadiiBackstop.Dispose();
+            skinCompliance.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
index 225074fdc..cce356d4b 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
@@ -141,6 +141,13 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            orientationIndices.Dispose();
+            restLengths.Dispose();
+            restOrientations.Dispose();
+            stiffnesses.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
index bfecd67a7..313e6ecaa 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
@@ -104,6 +104,11 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            maxLengthsScales.Dispose();
+            stiffnesses.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
index a4859dc86..882f1a77d 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
@@ -126,6 +126,13 @@ namespace Obi
 
         public override void RemoveFromSolver(ObiSolver solver)
         {
+            base.RemoveFromSolver(solver);
+
+            firstTriangle.Dispose();
+            numTriangles.Dispose();
+            restVolumes.Dispose();
+            pressureStiffness.Dispose();
+
             //Remove batch:
             solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
         }
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
index d2e05fb12..96657c004 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
@@ -13,18 +13,8 @@ namespace Obi
             set;
         }
 
-        float drag
-        {
-            get;
-            set;
-        }
-
-        float lift
-        {
-            get;
-            set;
-        }
-
+        float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex);
+        float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex);
     }
 
     [Serializable]
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs
new file mode 100644
index 000000000..522ff740f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinholeConstraintsData : ObiConstraints<ObiPinholeConstraintsBatch>
+    {
+
+        public override ObiPinholeConstraintsBatch CreateBatch(ObiPinholeConstraintsBatch source = null)
+        {
+            return new ObiPinholeConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs.meta
new file mode 100644
index 000000000..8df74c63a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinholeConstraintsData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: caeaf013c17424e0884d22017414ee1c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
index d4ccd6990..b8810adc6 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
@@ -8,8 +8,8 @@ namespace Obi
     {
         Oni.ConstraintType? GetConstraintType();
 
-        IObiConstraintsBatch GetBatch(int i); 
-        int GetBatchCount();
+        IObiConstraintsBatch GetBatch(int i);
+        int batchCount { get; }
         void Clear();
 
         bool AddToSolver(ObiSolver solver);
@@ -17,6 +17,7 @@ namespace Obi
 
         int GetConstraintCount();
         int GetActiveConstraintCount();
+        void ActivateAllConstraints();
         void DeactivateAllConstraints();
 
         void Merge(ObiActor actor, IObiConstraints other);
@@ -28,6 +29,8 @@ namespace Obi
         [NonSerialized] protected ObiSolver m_Solver;
         [HideInInspector] public List<T> batches = new List<T>();
 
+        public int batchCount { get => batches == null ? 0 : batches.Count; }
+
         // merges constraints from a given actor with this one.
         public void Merge(ObiActor actor, IObiConstraints other)
         {
@@ -42,11 +45,11 @@ namespace Obi
             actor.solverBatchOffsets[constraintType].Clear();
 
             // create new empty batches if needed:
-            int newBatches = Mathf.Max(0, others.GetBatchCount() - GetBatchCount());
+            int newBatches = Mathf.Max(0, others.batchCount - batchCount);
             for (int i = 0;  i < newBatches; ++i)
                 AddBatch(CreateBatch());
 
-            for (int i = 0; i < other.GetBatchCount(); ++i)
+            for (int i = 0; i < other.batchCount; ++i)
             {
                 // store this batch's offset:
                 actor.solverBatchOffsets[constraintType].Add(batches[i].activeConstraintCount);
@@ -64,11 +67,6 @@ namespace Obi
             return null;
         }
 
-        public int GetBatchCount()
-        {
-            return batches == null ? 0 : batches.Count;
-        }
-
         public int GetConstraintCount()
         {
             int count = 0;
@@ -101,6 +99,14 @@ namespace Obi
                         batch.DeactivateAllConstraints();
         }
 
+        public void ActivateAllConstraints()
+        {
+            if (batches != null)
+                foreach (T batch in batches)
+                    if (batch != null)
+                        batch.ActivateAllConstraints();
+        }
+
         public T GetFirstBatch()
         {
             return (batches != null && batches.Count > 0) ? batches[0] : null;
diff --git a/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
index fc4223716..3101bf7be 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
@@ -1,106 +1 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-namespace Obi
-{
-    /**
-     * General greedy graph coloring algorithm for constraints. Input:
-     * - List of particle indices used by all constraints.
-     * - List of per-constraint offsets of the first constrained particle in the previous array, with the total amount of particle indices in the last position.
-     * 
-     * The output is a color for each constraint. Constraints of the same color are guaranteed to not share any partices.
-     */
-    public class GraphColoring
-    {
-        private List<int> m_ParticleIndices;
-        private List<int> m_ConstraintIndices;
-        private List<List<int>> m_ConstraintsPerParticle;
-
-        public IReadOnlyList<int> particleIndices => m_ParticleIndices.AsReadOnly();
-        public IReadOnlyList<int> constraintIndices => m_ConstraintIndices.AsReadOnly();
-
-        public GraphColoring(int particleCount = 0)
-        {
-            m_ParticleIndices = new List<int>();
-            m_ConstraintIndices = new List<int>();
-            m_ConstraintsPerParticle = new List<List<int>>(particleCount);
-            for (int i = 0; i < particleCount; ++i)
-                m_ConstraintsPerParticle.Add(new List<int>());
-        }
-
-        public void Clear()
-        {
-            m_ParticleIndices.Clear();
-            m_ConstraintIndices.Clear();
-            for (int i = 0; i < m_ConstraintsPerParticle.Count; ++i)
-                m_ConstraintsPerParticle[i].Clear();
-        }
-
-        public void AddConstraint(int[] particles)
-        {
-            for (int i = 0; i < particles.Length; ++i)
-            {
-                while (particles[i] >= m_ConstraintsPerParticle.Count)
-                    m_ConstraintsPerParticle.Add(new List<int>());
-                m_ConstraintsPerParticle[particles[i]].Add(m_ConstraintIndices.Count);
-            }
-
-            m_ConstraintIndices.Add(m_ParticleIndices.Count);
-            m_ParticleIndices.AddRange(particles);
-        }
-
-        public IEnumerator Colorize(string progressDescription, List<int> colors)
-        {
-            m_ConstraintIndices.Add(m_ParticleIndices.Count);
-
-            int constraintCount = Mathf.Max(0, m_ConstraintIndices.Count - 1);
-            colors.Clear();
-
-            if (constraintCount == 0)
-                yield break;
-
-            colors.Capacity = constraintCount;
-            bool[] availability = new bool[constraintCount];
-
-            for (int i = 0; i < constraintCount; ++i)
-            {
-                colors.Add(-1);
-                availability[i] = true;
-            }
-
-            // For each constraint:
-            for (int i = 0; i < constraintCount; ++i)
-            {
-                // iterate over its particles:
-                for (int j = m_ConstraintIndices[i]; j < m_ConstraintIndices[i + 1]; ++j)
-                {
-                    // for each particle, get constraints affecting it:
-                    foreach (int k in m_ConstraintsPerParticle[m_ParticleIndices[j]])
-                    {
-                        // skip ourselves:
-                        if (i == k) continue;
-
-                        // both constraints share a particle so mark the neighbour color as unavailable:
-                        if (colors[k] >= 0)
-                            availability[colors[k]] = false;
-                    }
-                }
-
-                // Assign the first available color:
-                for (colors[i] = 0; colors[i] < constraintCount; ++colors[i])
-                    if (availability[colors[i]])
-                        break;
-
-                // Reset availability flags:
-                for (int j = 0; j < constraintCount; ++j)
-                    availability[j] = true;
-
-                yield return new CoroutineJob.ProgressInfo(progressDescription, i / (float)constraintCount);
-            }
-        }
-
-
-    }
-}
+using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

namespace Obi
{
    /**
     * General greedy graph coloring algorithm for constraints. Input:
     * - List of particle indices used by all constraints.
     * - List of per-constraint offsets of the first constrained particle in the previous array, with the total amount of particle indices in the last position.
     * 
     * The output is a color for each constraint. Constraints of the same color are guaranteed to not share any partices.
     */
    public class GraphColoring
    {
        private List<int> m_ParticleIndices;
        private List<int> m_ConstraintIndices;
        private List<List<int>> m_ConstraintsPerParticle;

        public IReadOnlyList<int> particleIndices => m_ParticleIndices.AsReadOnly();
        public IReadOnlyList<int> constraintIndices => m_ConstraintIndices.AsReadOnly();

        public GraphColoring(int particleCount = 0)
        {
            m_ParticleIndices = new List<int>();
            m_ConstraintIndices = new List<int>();
            m_ConstraintsPerParticle = new List<List<int>>(particleCount);
            for (int i = 0; i < particleCount; ++i)
                m_ConstraintsPerParticle.Add(new List<int>());
        }

        public void Clear()
        {
            m_ParticleIndices.Clear();
            m_ConstraintIndices.Clear();
            for (int i = 0; i < m_ConstraintsPerParticle.Count; ++i)
                m_ConstraintsPerParticle[i].Clear();
        }

        public void AddConstraint(int[] particles)
        {
            for (int i = 0; i < particles.Length; ++i)
            {
                while (particles[i] >= m_ConstraintsPerParticle.Count)
                    m_ConstraintsPerParticle.Add(new List<int>());
                m_ConstraintsPerParticle[particles[i]].Add(m_ConstraintIndices.Count);
            }

            m_ConstraintIndices.Add(m_ParticleIndices.Count);
            m_ParticleIndices.AddRange(particles);
        }

        public IEnumerator Colorize(string progressDescription, List<int> colors)
        {
            m_ConstraintIndices.Add(m_ParticleIndices.Count);

            int constraintCount = Mathf.Max(0, m_ConstraintIndices.Count - 1);
            colors.Clear();

            if (constraintCount == 0)
                yield break;

            colors.Capacity = constraintCount;
            bool[] availability = new bool[constraintCount];

            for (int i = 0; i < constraintCount; ++i)
            {
                colors.Add(-1);
                availability[i] = true;
            }

            // For each constraint:
            for (int i = 0; i < constraintCount; ++i)
            {
                // iterate over its particles:
                for (int j = m_ConstraintIndices[i]; j < m_ConstraintIndices[i + 1]; ++j)
                {
                    // for each particle, get constraints affecting it:
                    foreach (int k in m_ConstraintsPerParticle[m_ParticleIndices[j]])
                    {
                        // skip ourselves:
                        if (i == k) continue;

                        // both constraints share a particle so mark the neighbour color as unavailable:
                        if (colors[k] >= 0)
                            availability[colors[k]] = false;
                    }
                }

                // Assign the first available color:
                for (colors[i] = 0; colors[i] < constraintCount; ++colors[i])
                    if (availability[colors[i]])
                        break;

                // Reset availability flags:
                for (int j = 0; j < constraintCount; ++j)
                    availability[j] = true;

                if (i % 250 == 0)
                    yield return new CoroutineJob.ProgressInfo(progressDescription, i / (float)constraintCount);
            }
        }


    }
}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
index 894a445b1..a4ba94fdb 100644
--- a/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
@@ -3,6 +3,7 @@ using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.Serialization;
+using System.IO;
 
 #if UNITY_EDITOR
 using UnityEditor;
@@ -16,7 +17,9 @@ namespace Obi
         public delegate void BlueprintCallback(ObiActorBlueprint blueprint);
         public event BlueprintCallback OnBlueprintGenerate;
 
+        [HideInInspector] [SerializeField] protected uint m_Checksum;  
         [HideInInspector] [SerializeField] protected bool m_Empty = true;
+        [HideInInspector] [SerializeField] protected bool m_Edited = false;             /**< Whether there's been any modifications to blueprint data since generating it. This is used to tell whether it can be re-generated without data loss.*/
         [HideInInspector] [SerializeField] protected int m_ActiveParticleCount = 0;
         [HideInInspector] [SerializeField] protected int m_InitialActiveParticleCount = 0;
         [HideInInspector] [SerializeField] protected Bounds _bounds = new Bounds();
@@ -24,6 +27,7 @@ namespace Obi
         /**Particle components*/
         [HideInInspector] public Vector3[] positions = null;           /**< Particle positions.*/
         [HideInInspector] public Vector4[] restPositions = null;       /**< Particle rest positions, used to filter collisions.*/
+        [HideInInspector] public Vector4[] restNormals = null;         /**< Particle local-space normal in xyz, SDF in w. Used for softbody collisions.*/
 
         [HideInInspector] public Quaternion[] orientations = null;     /**< Particle orientations.*/
         [HideInInspector] public Quaternion[] restOrientations = null; /**< Particle rest orientations.*/
@@ -35,7 +39,7 @@ namespace Obi
         [HideInInspector] public float[] invRotationalMasses = null;
 
         [FormerlySerializedAs("phases")]
-        [HideInInspector] public int[] filters = null;                 /**< Particle filters*/       
+        [HideInInspector] public int[] filters = null;                 /**< Particle filters*/
         [HideInInspector] public Vector3[] principalRadii = null;      /**< Particle ellipsoid principal radii. These are the ellipsoid radius in each axis.*/
         [HideInInspector] public Color[] colors = null;                /**< Particle colors (not used by all actors, can be null)*/
 
@@ -59,6 +63,14 @@ namespace Obi
         /** Particle groups.*/
         [HideInInspector] public List<ObiParticleGroup> groups = new List<ObiParticleGroup>();
 
+        /**
+         * Checksum value generated from particle positions and orientations.
+         */
+        public uint checksum
+        {
+            get { return m_Checksum; }
+        }
+
         /**
          * Returns the amount of particles used by this blueprint.
          */
@@ -72,6 +84,16 @@ namespace Obi
             get { return m_ActiveParticleCount; }
         }
 
+        public Oni.SimplexType simplexTypes
+        {
+            get
+            {
+                return Oni.SimplexType.Point | // points (single particles) are always available.
+                       (edges != null ? Oni.SimplexType.Edge : 0) |
+                       (triangles != null ? Oni.SimplexType.Triangle : 0);
+            }
+        }
+
         /**
          * Returns whether this group uses oriented particles.
          */
@@ -80,12 +102,11 @@ namespace Obi
             get
             {
                 return invRotationalMasses != null && invRotationalMasses.Length > 0 &&
-                       orientations != null && orientations.Length > 0 &&
-                       restOrientations != null && restOrientations.Length > 0;
+                       orientations != null && orientations.Length > 0;
             }
         }
 
-        public virtual bool usesTethers 
+        public virtual bool usesTethers
         {
             get { return false; }
         }
@@ -99,6 +120,7 @@ namespace Obi
         {
             positions.Swap(index, m_ActiveParticleCount);
             restPositions.Swap(index, m_ActiveParticleCount);
+            restNormals.Swap(index, m_ActiveParticleCount);
             orientations.Swap(index, m_ActiveParticleCount);
             restOrientations.Swap(index, m_ActiveParticleCount);
             velocities.Swap(index, m_ActiveParticleCount);
@@ -108,6 +130,14 @@ namespace Obi
             filters.Swap(index, m_ActiveParticleCount);
             principalRadii.Swap(index, m_ActiveParticleCount);
             colors.Swap(index, m_ActiveParticleCount);
+
+            m_Edited = true;
+        }
+
+        public bool edited
+        {
+            get { return m_Edited; }
+            set { m_Edited = value; }
         }
 
         /** 
@@ -148,7 +178,7 @@ namespace Obi
         {
             if (positions.Length > 0)
             {
-                _bounds = new Bounds(positions[0],Vector3.zero);
+                _bounds = new Bounds(positions[0], Vector3.zero);
                 for (int i = 1; i < positions.Length; ++i)
                     _bounds.Encapsulate(positions[i]);
             }
@@ -161,27 +191,42 @@ namespace Obi
             get { return _bounds; }
         }
 
+        protected void GenerateChecksum()
+        {
+            using (MemoryStream ms = new MemoryStream())
+            {
+                if (positions != null)
+                    foreach (var p in positions) ms.Concatenate(p);
+
+                if (orientations != null)
+                    foreach (var o in orientations) ms.Concatenate(o);
+
+                ms.Flush();
+                m_Checksum = ObiUtils.Adler32(ms.ToArray());
+            }
+        }
+
         public IEnumerable<IObiConstraints> GetConstraints()
         {
-            if (distanceConstraintsData != null && distanceConstraintsData.GetBatchCount() > 0)
+            if (distanceConstraintsData != null && distanceConstraintsData.batchCount > 0)
                 yield return distanceConstraintsData;
-            if (bendConstraintsData != null && bendConstraintsData.GetBatchCount() > 0)
+            if (bendConstraintsData != null && bendConstraintsData.batchCount > 0)
                 yield return bendConstraintsData;
-            if (skinConstraintsData != null && skinConstraintsData.GetBatchCount() > 0)
+            if (skinConstraintsData != null && skinConstraintsData.batchCount > 0)
                 yield return skinConstraintsData;
-            if (tetherConstraintsData != null && tetherConstraintsData.GetBatchCount() > 0)
+            if (tetherConstraintsData != null && tetherConstraintsData.batchCount > 0)
                 yield return tetherConstraintsData;
-            if (stretchShearConstraintsData != null && stretchShearConstraintsData.GetBatchCount() > 0)
+            if (stretchShearConstraintsData != null && stretchShearConstraintsData.batchCount > 0)
                 yield return stretchShearConstraintsData;
-            if (bendTwistConstraintsData != null && bendTwistConstraintsData.GetBatchCount() > 0)
+            if (bendTwistConstraintsData != null && bendTwistConstraintsData.batchCount > 0)
                 yield return bendTwistConstraintsData;
-            if (shapeMatchingConstraintsData != null && shapeMatchingConstraintsData.GetBatchCount() > 0)
+            if (shapeMatchingConstraintsData != null && shapeMatchingConstraintsData.batchCount > 0)
                 yield return shapeMatchingConstraintsData;
-            if (aerodynamicConstraintsData != null && aerodynamicConstraintsData.GetBatchCount() > 0)
+            if (aerodynamicConstraintsData != null && aerodynamicConstraintsData.batchCount > 0)
                 yield return aerodynamicConstraintsData;
-            if (chainConstraintsData != null && chainConstraintsData.GetBatchCount() > 0)
+            if (chainConstraintsData != null && chainConstraintsData.batchCount > 0)
                 yield return chainConstraintsData;
-            if (volumeConstraintsData != null && volumeConstraintsData.GetBatchCount() > 0)
+            if (volumeConstraintsData != null && volumeConstraintsData.batchCount > 0)
                 yield return volumeConstraintsData;
         }
 
@@ -226,6 +271,24 @@ namespace Obi
             return Quaternion.identity;
         }
 
+        public Vector3 GetParticleRestPosition(int index)
+        {
+            if (restPositions != null && index < restPositions.Length)
+            {
+                return restPositions[index];
+            }
+            return Vector3.zero;
+        }
+
+        public Quaternion GetParticleRestOrientation(int index)
+        {
+            if (restOrientations != null && index < restOrientations.Length)
+            {
+                return restOrientations[index];
+            }
+            return Quaternion.identity;
+        }
+
         public void GetParticleAnisotropy(int index, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3)
         {
             if (orientations != null && index < orientations.Length)
@@ -270,7 +333,7 @@ namespace Obi
         public void GenerateImmediate()
         {
             var g = Generate();
-            while (g.MoveNext()){}
+            while (g.MoveNext()) { }
         }
 
         public IEnumerator Generate()
@@ -288,24 +351,37 @@ namespace Obi
             m_InitialActiveParticleCount = m_ActiveParticleCount;
 
             foreach (IObiConstraints constraints in GetConstraints())
-                for (int i = 0; i < constraints.GetBatchCount(); ++i)
+                for (int i = 0; i < constraints.batchCount; ++i)
                     constraints.GetBatch(i).initialActiveConstraintCount = constraints.GetBatch(i).activeConstraintCount;
 
+            CommitBlueprintChanges();
+
 #if UNITY_EDITOR
-            EditorUtility.SetDirty(this);
+            if (!Application.isPlaying)
+            {
+                EditorUtility.SetDirty(this);
+            }
 #endif
 
-            if (OnBlueprintGenerate != null)
-                OnBlueprintGenerate(this);
+            OnBlueprintGenerate?.Invoke(this);
+        }
+
+        // Called at the end of blueprint generation. Also automatically called when exiting blueprint editor.
+        // This generates a checksum for the blueprint, and in some case extra data (such as default skinmaps for cloth and softbodies).
+        public virtual void CommitBlueprintChanges()
+        {
+            GenerateChecksum();
         }
 
         public void Clear()
         {
             m_Empty = true;
+            edited = false;
 
             m_ActiveParticleCount = 0;
             positions = null;
             restPositions = null;
+            restNormals = null;
             orientations = null;
             restOrientations = null;
             velocities = null;
@@ -313,7 +389,6 @@ namespace Obi
             invMasses = null;
             invRotationalMasses = null;
             filters = null;
-            //phases = null;
             principalRadii = null;
             colors = null;
 
@@ -355,7 +430,7 @@ namespace Obi
                     {
                         EditorUtility.SetDirty(this);
                         if (saveImmediately)
-                            AssetDatabase.SaveAssets();
+                            AssetDatabase.SaveAssetIfDirty(this);
                     }
                 }
                 else
@@ -364,6 +439,8 @@ namespace Obi
                     groups.Insert(index, group);
                 }
 
+                edited = true;
+
                 return group;
             }
             return null;
@@ -393,7 +470,7 @@ namespace Obi
                     {
                         EditorUtility.SetDirty(this);
                         if (saveImmediately)
-                            AssetDatabase.SaveAssets();
+                            AssetDatabase.SaveAssetIfDirty(this);
                     }
                 }
                 else
@@ -406,6 +483,8 @@ namespace Obi
                         DestroyImmediate(group, true);
                 }
 
+                edited = true;
+
                 return true;
             }
             return false;
@@ -425,7 +504,7 @@ namespace Obi
                     {
                         EditorUtility.SetDirty(this);
                         if (saveImmediately)
-                            AssetDatabase.SaveAssets();
+                            AssetDatabase.SaveAssetIfDirty(this);
                     }
                 }
                 else
@@ -434,26 +513,39 @@ namespace Obi
                     groups[index].name = name;
                 }
 
+                edited = true;
+
                 return true;
             }
             return false;
         }
 
-        public void ClearParticleGroups(bool saveImmediately = true)
+        public void ClearParticleGroups(bool registerUndo = true, bool saveImmediately = true)
         {
+            if (groups.Count == 0) return;
+
 #if UNITY_EDITOR
             if (!Application.isPlaying)
             {
-                Undo.RecordObject(this, "Clear particle groups");
-                for (int i = 0; i < groups.Count; ++i)
-                    if (groups[i] != null)
-                        Undo.DestroyObjectImmediate(groups[i]);
+                if (registerUndo)
+                {
+                    Undo.RecordObject(this, "Clear particle groups");
+                    for (int i = 0; i < groups.Count; ++i)
+                        if (groups[i] != null)
+                            Undo.DestroyObjectImmediate(groups[i]);
+                }
+                else
+                {
+                    for (int i = 0; i < groups.Count; ++i)
+                        if (groups[i] != null)
+                            DestroyImmediate(groups[i], true);
+                }
 
                 if (EditorUtility.IsPersistent(this))
                 {
                     EditorUtility.SetDirty(this);
                     if (saveImmediately)
-                        AssetDatabase.SaveAssets();
+                        AssetDatabase.SaveAssetIfDirty(this);
                 }
             }
             else
@@ -488,7 +580,7 @@ namespace Obi
         private bool DoesParticleShareConstraints(IObiConstraints constraints, int index, List<int> particles, bool[] selected)
         {
             bool shared = false;
-            for (int i = 0; i < constraints.GetBatchCount(); ++i)
+            for (int i = 0; i < constraints.batchCount; ++i)
             {
                 var batch = constraints.GetBatch(i);
                 for (int j = 0; j < batch.activeConstraintCount; ++j)
@@ -508,7 +600,7 @@ namespace Obi
 
         private void DeactivateConstraintsWithInactiveParticles(IObiConstraints constraints, List<int> particles)
         {
-            for (int j = 0; j < constraints.GetBatchCount(); ++j)
+            for (int j = 0; j < constraints.batchCount; ++j)
             {
                 var batch = constraints.GetBatch(j);
 
@@ -526,6 +618,8 @@ namespace Obi
                     }
                 }
             }
+
+            edited = true;
         }
 
         private void ParticlesSwappedInGroups(int index, int newIndex)
@@ -541,9 +635,11 @@ namespace Obi
                         group.particleIndices[i] = newIndex;
                 }
             }
+
+            edited = true;
         }
 
-        public void RemoveSelectedParticles(ref bool[] selected, bool optimize = true)
+        public virtual void RemoveSelectedParticles(ref bool[] selected, bool optimize = true)
         {
             List<int> particles = new List<int>();
 
@@ -571,7 +667,7 @@ namespace Obi
 
                         // Update constraints:
                         foreach (IObiConstraints constraints in GetConstraints())
-                            for (int j = 0; j < constraints.GetBatchCount(); ++j)
+                            for (int j = 0; j < constraints.batchCount; ++j)
                                 constraints.GetBatch(j).ParticlesSwapped(i, m_ActiveParticleCount);
 
                         // Update groups:
@@ -585,6 +681,9 @@ namespace Obi
             foreach (IObiConstraints constraints in GetConstraints())
                 DeactivateConstraintsWithInactiveParticles(constraints, particles);
 
+            CommitBlueprintChanges();
+
+            edited = true;
         }
 
         public void RestoreRemovedParticles()
@@ -592,9 +691,10 @@ namespace Obi
             m_ActiveParticleCount = m_InitialActiveParticleCount;
 
             foreach (IObiConstraints constraints in GetConstraints())
-                for (int j = 0; j < constraints.GetBatchCount(); ++j)
+                for (int j = 0; j < constraints.batchCount; ++j)
                     constraints.GetBatch(j).activeConstraintCount = constraints.GetBatch(j).initialActiveConstraintCount;
-           
+
+            CommitBlueprintChanges();
         }
 
         public virtual void GenerateTethers(bool[] selected) { }
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
index dab43bce4..23fc16994 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
@@ -10,7 +10,7 @@ namespace Obi{
 			this.collider = collider;
 		}		
 	
-		public override bool UpdateIfNeeded (){
+		public override void UpdateIfNeeded (){
 
 			BoxCollider2D box = collider as BoxCollider2D;
 
@@ -19,12 +19,14 @@ namespace Obi{
 
             // update collider:
             var shape = world.colliderShapes[index];
-            shape.is2D = 1;
+            shape.is2D = true;
             shape.type = ColliderShape.ShapeType.Box;
             shape.filter = source.Filter;
-            shape.flags = box.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = box.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness + box.edgeRadius;
             shape.center = box.offset;
             shape.size = box.size;
@@ -37,9 +39,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(box.transform, true);
+            trfm.FromTransform2D(box.transform, source.Rigidbody as ObiRigidbody2D);
             world.colliderTransforms[index] = trfm;
-            return false;
 		}
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
index 277be12f7..96c23dd86 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
@@ -11,7 +11,7 @@ namespace Obi{
 			this.collider = collider;
 		}	
 	
-		public override bool UpdateIfNeeded ()
+		public override void UpdateIfNeeded ()
         {
 			CapsuleCollider2D capsule = collider as CapsuleCollider2D;
 
@@ -21,12 +21,14 @@ namespace Obi{
 
             // update collider:
             var shape = world.colliderShapes[index];
-            shape.is2D = 1;
+            shape.is2D = true;
             shape.type = ColliderShape.ShapeType.Capsule;
             shape.filter = source.Filter;
-            shape.flags = capsule.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = capsule.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.center = capsule.offset;
             Vector2 size = capsule.size;
@@ -42,10 +44,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(capsule.transform,true);
+            trfm.FromTransform2D(capsule.transform, source.Rigidbody as ObiRigidbody2D);
             world.colliderTransforms[index] = trfm;
-
-            return false;
 		}
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
index c75ffd90e..c2e702c7d 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
@@ -12,7 +12,7 @@ namespace Obi{
 			this.collider = collider;
 		}	
 
-		public override bool UpdateIfNeeded ()
+		public override void UpdateIfNeeded ()
         {
 
 			CircleCollider2D sphere = collider as CircleCollider2D;
@@ -23,12 +23,14 @@ namespace Obi{
 
             // update collider:
             var shape = world.colliderShapes[index];
-            shape.is2D = 1;
+            shape.is2D = true;
             shape.type = ColliderShape.ShapeType.Sphere;
             shape.filter = source.Filter;
-            shape.flags = sphere.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = sphere.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.center = sphere.offset;
             shape.size = Vector3.one * sphere.radius;
@@ -41,10 +43,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(sphere.transform,true);
+            trfm.FromTransform2D(sphere.transform, source.Rigidbody as ObiRigidbody2D);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
index dfdb9988f..e303037db 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
@@ -19,7 +19,7 @@ namespace Obi{
             ObiColliderWorld.GetInstance().DestroyEdgeMesh(handle);
         }
 	
-		public override bool UpdateIfNeeded (){
+		public override void UpdateIfNeeded (){
 
 			EdgeCollider2D edgeCollider = collider as EdgeCollider2D;
 
@@ -36,12 +36,14 @@ namespace Obi{
 
             // update collider:
             var shape = world.colliderShapes[index];
-            shape.is2D = 1;
+            shape.is2D = true;
             shape.type = ColliderShape.ShapeType.EdgeMesh;
             shape.filter = source.Filter;
-            shape.flags = edgeCollider.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = edgeCollider.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.center = edgeCollider.offset;
             shape.contactOffset = source.Thickness + edgeCollider.edgeRadius;
             shape.dataIndex = handle.index;
@@ -54,10 +56,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(edgeCollider.transform, true);
+            trfm.FromTransform2D(edgeCollider.transform, source.Rigidbody as ObiRigidbody2D);
             world.colliderTransforms[index] = trfm;
-
-            return true;
 		}
 
         public override void Destroy()
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
index afe993057..db6c08ae4 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
@@ -12,18 +12,10 @@ namespace Obi{
             this.collider = collider;
 		}		
 	
-		public override bool UpdateIfNeeded (){
+		public override void UpdateIfNeeded (){
 
 			BoxCollider box = collider as BoxCollider;
 
-            /*if (box != null && (box.size != size || box.center != center)){
-				size = box.size;
-				center = box.center;
-				adaptor.Set(center, size);
-				Oni.UpdateShape(oniShape,ref adaptor);
-				return true;
-			}*/
-
             // retrieve collision world and index:
             var world = ObiColliderWorld.GetInstance();
             int index = source.Handle.index;
@@ -32,9 +24,11 @@ namespace Obi{
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.Box;
             shape.filter = source.Filter;
-            shape.flags = box.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody        != null ? source.Rigidbody.handle.index         : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = box.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.center = box.center;
             shape.size = box.size;
@@ -47,10 +41,9 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(box.transform);
+            trfm.FromTransform3D(box.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
 
-            return true;
 		}
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
index e55f43b0d..252e13694 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
@@ -11,7 +11,7 @@ namespace Obi{
             this.source = source;
 		}	
 	
-		public override bool UpdateIfNeeded (){
+		public override void UpdateIfNeeded (){
 
             CapsuleCollider capsule = collider as CapsuleCollider;
 
@@ -23,9 +23,11 @@ namespace Obi{
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.Capsule;
             shape.filter = source.Filter;
-            shape.flags = capsule.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = capsule.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.center = capsule.center;
             shape.size = new Vector4(capsule.radius, capsule.height, capsule.direction, 0);
@@ -38,10 +40,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(capsule.transform);
+            trfm.FromTransform3D(capsule.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
index d50fcd280..d53e98095 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
@@ -13,7 +13,7 @@ namespace Obi
             this.source = source;
         }
 
-        public override bool UpdateIfNeeded()
+        public override void UpdateIfNeeded()
         {
 
             CharacterController character = collider as CharacterController;
@@ -26,9 +26,11 @@ namespace Obi
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.Capsule;
             shape.filter = source.Filter;
-            shape.flags = character.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = character.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.center = character.center;
             shape.size = new Vector4(character.radius, character.height, 1, 0);
@@ -41,10 +43,8 @@ namespace Obi
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(character.transform);
+            trfm.FromTransform3D(character.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
     }
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
index c25d6b9e2..4f36a755b 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
@@ -26,7 +26,7 @@ namespace Obi{
             ObiColliderWorld.GetInstance().DestroyDistanceField(handle);
         }
 
-        public override bool UpdateIfNeeded ()
+        public override void UpdateIfNeeded ()
         {
 
             bool trigger = false;
@@ -55,9 +55,11 @@ namespace Obi{
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.SignedDistanceField;
             shape.filter = source.Filter;
-            shape.flags = trigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = trigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.dataIndex = handle.index;
             world.colliderShapes[index] = shape;
@@ -69,10 +71,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(source.transform);
+            trfm.FromTransform3D(source.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
         public override void Destroy()
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
index e3831d9d4..d9bb7dfc1 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
@@ -9,6 +9,14 @@ namespace Obi{
 	{
         ObiTriangleMeshHandle handle;
 
+        public Mesh targetMesh
+        {
+            get {
+                var mc = collider as MeshCollider;
+                return mc?.sharedMesh;
+            }
+        }
+
 		public ObiMeshShapeTracker(ObiCollider source, MeshCollider collider){
 
             this.source = source;
@@ -23,7 +31,7 @@ namespace Obi{
             ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
         }
 	
-		public override bool UpdateIfNeeded ()
+		public override void UpdateIfNeeded ()
         {
 
             MeshCollider meshCollider = collider as MeshCollider;
@@ -51,9 +59,11 @@ namespace Obi{
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.TriangleMesh;
             shape.filter = source.Filter;
-            shape.flags = meshCollider.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = meshCollider.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.dataIndex = handle.index;
             world.colliderShapes[index] = shape;
@@ -65,10 +75,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(meshCollider.transform);
+            trfm.FromTransform3D(meshCollider.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
 		public override void Destroy()
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
index c3992da14..69bd4ba41 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
@@ -11,7 +11,7 @@ namespace Obi{
 		public virtual void Destroy(){
 		}
 
-		public abstract bool UpdateIfNeeded ();
+		public abstract void UpdateIfNeeded ();
 
 	}
 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
index ab4368c2f..3c1f59df1 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
@@ -12,59 +12,37 @@ namespace Obi{
 			this.collider = collider;
 		}	
 
-		public override bool UpdateIfNeeded()
+		public override void UpdateIfNeeded()
         {
-
 			SphereCollider sphere = collider as SphereCollider;
 
-            // TODO: testing for changes here is not needed? all we do is set variables...
-			//if (sphere != null && (sphere.radius != radius || sphere.center != center))
-            {
-                //radius = sphere.radius;
-                //center = sphere.center;
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
 
-                // retrieve collision world and index:
-                var world = ObiColliderWorld.GetInstance();
-                int index = source.Handle.index;
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.type = ColliderShape.ShapeType.Sphere;
+            shape.filter = source.Filter;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = sphere.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
+            shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = sphere.center;
+            shape.size = Vector3.one * sphere.radius;
+            world.colliderShapes[index] = shape;
 
-                // update collider:
-                var shape = world.colliderShapes[index];
-                shape.type = ColliderShape.ShapeType.Sphere;
-                shape.filter = source.Filter;
-                shape.flags = sphere.isTrigger ? 1 : 0;
-                shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
-                shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
-                shape.contactOffset = source.Thickness;
-                shape.center = sphere.center;
-                shape.size = Vector3.one * sphere.radius;
-                world.colliderShapes[index] = shape;
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(sphere.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
 
-                // update bounds:
-                var aabb = world.colliderAabbs[index];
-                aabb.FromBounds(sphere.bounds, shape.contactOffset);
-                world.colliderAabbs[index] = aabb;
-
-                // update transform:
-                var trfm = world.colliderTransforms[index];
-                trfm.FromTransform(sphere.transform);
-                world.colliderTransforms[index] = trfm;
-
-
-               /*var shape = source.colliderWorld.colliderShapes[source.shapeHandle.index];
-
-                // update the transform
-                shape.Set(collider as Collider, source.Phase, source.Thickness);
-
-                // update the shape:
-                shape.SetSphere(sphere.center, sphere.radius);
-
-                source.colliderWorld.colliderShapes[source.shapeHandle.index] = shape;*/
-
-                //adaptor.Set(center, radius);
-                //Oni.UpdateShape(oniShape,ref adaptor);
-                return true;
-			}
-			//return false;
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform3D(sphere.transform, source.Rigidbody as ObiRigidbody);
+            world.colliderTransforms[index] = trfm;
 		}
 
 	}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
index ed3faed03..69619683f 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
@@ -6,7 +6,6 @@ namespace Obi{
 
 	public class ObiTerrainShapeTracker : ObiShapeTracker
 	{
-		private bool heightmapDataHasChanged = false;
         ObiHeightFieldHandle handle;
 
         public ObiTerrainShapeTracker(ObiCollider source, TerrainCollider collider){
@@ -20,7 +19,7 @@ namespace Obi{
             ObiColliderWorld.GetInstance().DestroyHeightField(handle);
         }
 	
-		public override bool UpdateIfNeeded ()
+		public override void UpdateIfNeeded ()
         {
 
             TerrainCollider terrain = collider as TerrainCollider;
@@ -42,9 +41,11 @@ namespace Obi{
             var shape = world.colliderShapes[index];
             shape.type = ColliderShape.ShapeType.Heightmap;
             shape.filter = source.Filter;
-            shape.flags = terrain.isTrigger ? 1 : 0;
-            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.handle.index : -1;
+            shape.SetSign(source.Inverted);
+            shape.isTrigger = terrain.isTrigger;
+            shape.rigidbodyIndex = source.Rigidbody != null ? source.Rigidbody.Handle.index : -1;
             shape.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.forceZoneIndex = source.ForceZone != null ? source.ForceZone.Handle.index : -1;
             shape.contactOffset = source.Thickness;
             shape.dataIndex = handle.index;
             shape.size = terrain.terrainData.size;
@@ -58,10 +59,8 @@ namespace Obi{
 
             // update transform:
             var trfm = world.colliderTransforms[index];
-            trfm.FromTransform(terrain.transform);
+            trfm.FromTransform3D(terrain.transform, source.Rigidbody as ObiRigidbody);
             world.colliderTransforms[index] = trfm;
-
-            return true;
         }
 
 		public override void Destroy()
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
index 13ead10b3..71ad68ae9 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
@@ -30,9 +30,8 @@ namespace Obi
                     return;
                 }
 
-                m_SourceCollider = value;
-
                 RemoveCollider();
+                m_SourceCollider = value;
                 AddCollider();
 
             }
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
index 7700c7bd8..76471cf39 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
@@ -13,6 +13,9 @@ namespace Obi
         [SerializeProperty("Thickness")]
         [SerializeField] private float thickness = 0;
 
+        [SerializeProperty("Inverted")]
+        [SerializeField] private bool inverted = false;
+
         [SerializeProperty("CollisionMaterial")]
         [SerializeField] private ObiCollisionMaterial material;
 
@@ -22,7 +25,11 @@ namespace Obi
         {
             set
             {
-                material = value;
+                if (material != value)
+                {
+                    material = value;
+                    ForceUpdate();
+                }
             }
             get { return material; }
         }
@@ -34,7 +41,7 @@ namespace Obi
                 if (filter != value)
                 {
                     filter = value;
-                    dirty = true;
+                    ForceUpdate();
                 }
             }
             get { return filter; }
@@ -47,12 +54,25 @@ namespace Obi
                 if (!Mathf.Approximately(thickness, value))
                 {
                     thickness = value;
-                    dirty = true;
+                    ForceUpdate();
                 }
             }
             get { return thickness; }
         }
 
+        public bool Inverted
+        {
+            set
+            {
+                if (inverted != value)
+                {
+                    inverted = value;
+                    ForceUpdate();
+                }
+            }
+            get { return inverted; }
+        }
+
         public ObiShapeTracker Tracker
         {
             get { return tracker; }
@@ -68,15 +88,9 @@ namespace Obi
             }
         }
 
-        public IntPtr OniCollider
+        public ObiForceZone ForceZone 
         {
-            get
-            {
-                if (oniCollider == IntPtr.Zero)
-                    FindSourceCollider();
-
-                return oniCollider;
-            }
+            get; set;
         }
 
         public ObiRigidbodyBase Rigidbody
@@ -85,11 +99,8 @@ namespace Obi
         }
 
         protected ObiColliderHandle shapeHandle;
-
-        protected IntPtr oniCollider;
         protected ObiRigidbodyBase obiRigidbody;
         protected bool wasUnityColliderEnabled = true;
-        protected bool dirty = false;
 
         protected ObiShapeTracker tracker;                               /**< tracker object used to determine when to update the collider's shape*/
 
@@ -140,7 +151,6 @@ namespace Obi
 
         protected void AddCollider()
         {
-
             Component unityCollider = GetUnityCollider(ref wasUnityColliderEnabled);
 
             if (unityCollider != null && (shapeHandle == null || !shapeHandle.isValid))
@@ -154,7 +164,6 @@ namespace Obi
                 // Create rigidbody if necessary, and link ourselves to it:
                 CreateRigidbody();
             }
-
         }
 
         protected void RemoveCollider()
@@ -169,6 +178,15 @@ namespace Obi
             }
         }
 
+        /** 
+		 * Flags the collider as needing to be updated from now on. If the object it's on has any editor static flag enabled,
+         * the collider will be again flagged as *not* needing to be updated after its next update.
+		 */
+        public void ForceUpdate()
+        {
+            ObiColliderWorld.GetInstance().MarkColliderAsNeedingUpdate(shapeHandle);
+        }
+
         /** 
 		 * Check if the collider transform or its shape have changed any relevant property, and update their Oni counterparts.
 		 */
@@ -176,14 +194,18 @@ namespace Obi
         {
             bool unityColliderEnabled = false;
             Component unityCollider = GetUnityCollider(ref unityColliderEnabled);
-            var colliderWorld = ObiColliderWorld.GetInstance();
 
             if (unityCollider != null)
             {
-                // no need to test for changes, all we are doing is setting some variables here.
-                if (tracker != null)
+                // Only if this object is not static:
+                if (tracker != null) //&& needsUpdate)
+                {
                     tracker.UpdateIfNeeded();
+                }
 
+                // check isStatic, *after* updating the tracker at least once.
+                if (unityCollider.gameObject.isStatic)
+                    ObiColliderWorld.GetInstance().MarkColliderAsNotNeedingUpdate(shapeHandle);
             }
             // If the unity collider is null but its handle is valid, the unity collider has been destroyed.
             else if (shapeHandle != null && shapeHandle.isValid)
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
index 233c5818e..0adbb9551 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
@@ -44,6 +44,10 @@ namespace Obi
     {
         public ObiColliderHandle(int index = -1) : base(index) { }
     }
+    public class ObiForceZoneHandle : ObiResourceHandle<ObiForceZone>
+    {
+        public ObiForceZoneHandle(int index = -1) : base(index) { }
+    }
     public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
     {
         public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
@@ -53,7 +57,6 @@ namespace Obi
         public ObiRigidbodyHandle(int index = -1) : base(index) { }
     }
 
-    [ExecuteInEditMode]
     public class ObiColliderWorld
     {
         [NonSerialized] public List<IColliderWorldImpl> implementations;
@@ -63,7 +66,10 @@ namespace Obi
         [NonSerialized] public ObiNativeAabbList colliderAabbs;                   // list of collider bounds.
         [NonSerialized] public ObiNativeAffineTransformList colliderTransforms;   // list of collider transforms.
 
-        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
+        [NonSerialized] public List<ObiForceZoneHandle> forceZoneHandles;         // list of collider handles, used by ObiForceZone components to retrieve them.
+        [NonSerialized] public ObiNativeForceZoneList forceZones;                 // list of collider force zones.
+
+        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;  // list of material handles, used by ObiCollisionMaterial components to retrieve them.
         [NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
 
         [NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles;         // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
@@ -74,6 +80,19 @@ namespace Obi
         [NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
         [NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
 
+        private List<ObiColliderHandle> collidersToCreate;
+        private List<ObiColliderHandle> collidersToDestroy;
+
+        private List<ObiForceZoneHandle> forceZonesToCreate;
+        private List<ObiForceZoneHandle> forceZonesToDestroy;
+
+        private List<ObiRigidbodyHandle> rigidbodiesToCreate;
+        private List<ObiRigidbodyHandle> rigidbodiesToDestroy;
+
+        public int collidersToUpdateCount { private set; get; } = 0;    // amount of colliders that need to be updated. These are always grouped at the start of the collider arrays (handles, shapes, etc).
+
+        private bool dirty = false;
+
         private static ObiColliderWorld instance;
 
         public static ObiColliderWorld GetInstance()
@@ -101,6 +120,11 @@ namespace Obi
             if (colliderTransforms == null)
                 colliderTransforms = new ObiNativeAffineTransformList();
 
+            if (forceZoneHandles == null)
+                forceZoneHandles = new List<ObiForceZoneHandle>();
+            if (forceZones == null)
+                forceZones = new ObiNativeForceZoneList();
+
             if (materialHandles == null)
                 materialHandles = new List<ObiCollisionMaterialHandle>();
             if (collisionMaterials == null)
@@ -119,13 +143,29 @@ namespace Obi
                 distanceFieldContainer = new ObiDistanceFieldContainer();
             if (heightFieldContainer == null)
                 heightFieldContainer = new ObiHeightFieldContainer();
+
+            if (collidersToCreate == null)
+                collidersToCreate = new List<ObiColliderHandle>();
+            if (collidersToDestroy == null)
+                collidersToDestroy = new List<ObiColliderHandle>();
+
+            if (forceZonesToCreate == null)
+                forceZonesToCreate = new List<ObiForceZoneHandle>();
+            if (forceZonesToDestroy == null)
+                forceZonesToDestroy = new List<ObiForceZoneHandle>();
+
+            if (rigidbodiesToCreate == null)
+                rigidbodiesToCreate = new List<ObiRigidbodyHandle>();
+            if (rigidbodiesToDestroy == null)
+                rigidbodiesToDestroy = new List<ObiRigidbodyHandle>();
         }
 
         private void Destroy()
         {
+            dirty = false;
             for (int i = 0; i < implementations.Count; ++i)
             {
-                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
                 implementations[i].UpdateWorld(0);
             }
 
@@ -142,41 +182,48 @@ namespace Obi
                 foreach (var handle in materialHandles)
                     handle.Invalidate();
 
+            if (forceZoneHandles != null)
+                foreach (var handle in forceZoneHandles)
+                    handle.Invalidate();
+
             // Dispose of all lists:
             implementations = null;
             colliderHandles = null;
             rigidbodyHandles = null;
             materialHandles = null;
+            forceZoneHandles = null;
 
-            if (colliderShapes != null)
-                colliderShapes.Dispose();
-            if (colliderAabbs != null)
-                colliderAabbs.Dispose();
-            if (colliderTransforms != null)
-                colliderTransforms.Dispose();
+            collidersToCreate = null;
+            collidersToDestroy = null;
+            forceZonesToCreate = null;
+            forceZonesToDestroy = null;
+            rigidbodiesToCreate = null;
+            rigidbodiesToDestroy = null;
 
-            if (collisionMaterials != null)
-                collisionMaterials.Dispose();
+            colliderShapes?.Dispose();
+            colliderAabbs?.Dispose();
+            colliderTransforms?.Dispose();
+            forceZones?.Dispose();
+            collisionMaterials?.Dispose();
+            rigidbodies?.Dispose();
 
-            if (rigidbodies != null)
-                rigidbodies.Dispose();
-
-            if (triangleMeshContainer != null)
-                triangleMeshContainer.Dispose();
-            if (edgeMeshContainer != null)
-                edgeMeshContainer.Dispose();
-            if (distanceFieldContainer != null)
-                distanceFieldContainer.Dispose();
-            if (heightFieldContainer != null)
-                heightFieldContainer.Dispose();
+            triangleMeshContainer?.Dispose();
+            edgeMeshContainer?.Dispose();
+            distanceFieldContainer?.Dispose();
+            heightFieldContainer?.Dispose();
 
             instance = null;
         }
 
         private void DestroyIfUnused()
         {
-            // when there are no implementations and no colliders, the world gets destroyed.
-            if (colliderHandles.Count == 0 && rigidbodyHandles.Count == 0 && materialHandles.Count == 0 && implementations.Count == 0)
+            // when there is no data and no implementations, the world gets destroyed.
+            // don't check materialHandles.Count == 0, as these are scriptable objects and may outlive the world.
+            if (colliderHandles.Count == 0 &&
+                rigidbodyHandles.Count == 0 &&
+                forceZoneHandles.Count == 0 &&
+                implementations.Count == 0)
+
                 Destroy();
         }
 
@@ -194,22 +241,39 @@ namespace Obi
 
         public ObiColliderHandle CreateCollider()
         {
-            var handle = new ObiColliderHandle(colliderHandles.Count);
-            colliderHandles.Add(handle);
+            var handle = new ObiColliderHandle();
 
-            colliderShapes.Add(new ColliderShape() { materialIndex = -1, rigidbodyIndex = -1});
-            colliderAabbs.Add(new Aabb());
-            colliderTransforms.Add(new AffineTransform());
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateColliderData(handle);
+            else
+                collidersToCreate.Add(handle);
+
+            return handle;
+        }
+
+        public ObiForceZoneHandle CreateForceZone()
+        {
+            var handle = new ObiForceZoneHandle();
+
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateForceZoneData(handle);
+            else
+                forceZonesToCreate.Add(handle);
 
             return handle;
         }
 
         public ObiRigidbodyHandle CreateRigidbody()
         {
-            var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
-            rigidbodyHandles.Add(handle);
+            var handle = new ObiRigidbodyHandle();
 
-            rigidbodies.Add(new ColliderRigidbody());
+            // in-editor, we create data right away since the simulation is not running.
+            if (!Application.isPlaying)
+                CreateRigidbodyData(handle);
+            else
+                rigidbodiesToCreate.Add(handle);
 
             return handle;
         }
@@ -266,64 +330,41 @@ namespace Obi
 
         public void DestroyCollider(ObiColliderHandle handle)
         {
-            if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyColliderData(handle);
+            else
             {
-                int index = handle.index;
-                int lastIndex = colliderHandles.Count - 1;
-
-                // swap all collider info:
-                colliderHandles.Swap(index, lastIndex);
-                colliderShapes.Swap(index, lastIndex);
-                colliderAabbs.Swap(index, lastIndex);
-                colliderTransforms.Swap(index, lastIndex);
-
-                // update the index of the handle we swapped with:
-                colliderHandles[index].index = index;
-
-                // invalidate our handle:
-                // (after updating the swapped one!
-                // in case there's just one handle in the array,
-                // we need to write -1 after 0)
-                handle.Invalidate();
-
-                // remove last index:
-                colliderHandles.RemoveAt(lastIndex);
-                colliderShapes.count--;
-                colliderAabbs.count--;
-                colliderTransforms.count--;
-
-                DestroyIfUnused();
+                // In case the handle is in the creation queue, just remove it.
+                if (!collidersToCreate.Remove(handle))
+                    collidersToDestroy.Add(handle);
             }
+        }
 
+        public void DestroyForceZone(ObiForceZoneHandle handle)
+        {
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyForceZoneData(handle);
+            else
+            {
+                // In case the handle is in the creation queue, just remove it.
+                if (!forceZonesToCreate.Remove(handle))
+                    forceZonesToDestroy.Add(handle);
+            }
         }
 
         public void DestroyRigidbody(ObiRigidbodyHandle handle)
         {
-            if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
+            // Destroy data right away if no simulation is running.
+            if (!Application.isPlaying || implementations.Count == 0)
+                DestroyRigidbodyData(handle);
+            else
             {
-                int index = handle.index;
-                int lastIndex = rigidbodyHandles.Count - 1;
-
-                // swap all collider info:
-                rigidbodyHandles.Swap(index, lastIndex);
-                rigidbodies.Swap(index, lastIndex);
-
-                // update the index of the handle we swapped with:
-                rigidbodyHandles[index].index = index;
-
-                // invalidate our handle:
-                // (after updating the swapped one!
-                // in case there's just one handle in the array,
-                // we need to write -1 after 0)
-                handle.Invalidate();
-
-                // remove last index:
-                rigidbodyHandles.RemoveAt(lastIndex);
-                rigidbodies.count--;
-
-                DestroyIfUnused();
+                // In case the handle is in the creation queue, just remove it.
+                if (!rigidbodiesToCreate.Remove(handle))
+                    rigidbodiesToDestroy.Add(handle);
             }
-
         }
 
         public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
@@ -354,80 +395,309 @@ namespace Obi
             }
         }
 
-        public void UpdateColliders()
+        private void DestroyColliderData (ObiColliderHandle handle)
         {
+            if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = colliderHandles.Count - 1;
+
+                // swap all collider info:
+                colliderHandles.Swap(index, lastIndex);
+                colliderShapes.Swap(index, lastIndex);
+                colliderAabbs.Swap(index, lastIndex);
+                colliderTransforms.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                colliderHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                colliderHandles.RemoveAt(lastIndex);
+                colliderShapes.count--;
+                colliderAabbs.count--;
+                colliderTransforms.count--;
+
+                // force all colliders to update next frame, as the index of the data they reference
+                // (eg the mesh in a MeshCollider) may have changed as a result of deleting this collider's data.
+                collidersToUpdateCount = colliderHandles.Count;
+
+                DestroyIfUnused();
+            }
+        }
+
+        private void DestroyForceZoneData(ObiForceZoneHandle handle)
+        {
+            if (forceZones != null && handle != null && handle.isValid && handle.index < forceZoneHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = forceZoneHandles.Count - 1;
+
+                // swap all force zone info:
+                forceZoneHandles.Swap(index, lastIndex);
+                forceZones.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                forceZoneHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                forceZoneHandles.RemoveAt(lastIndex);
+                forceZones.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        private void DestroyRigidbodyData(ObiRigidbodyHandle handle)
+        {
+            if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = rigidbodyHandles.Count - 1;
+
+                // swap all collider info:
+                rigidbodyHandles.Swap(index, lastIndex);
+                rigidbodies.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                rigidbodyHandles[index].index = index;
+
+                // invalidate our handle:
+                // (after updating the swapped one!
+                // in case there's just one handle in the array,
+                // we need to write -1 after 0)
+                handle.Invalidate();
+
+                // remove last index:
+                rigidbodyHandles.RemoveAt(lastIndex);
+                rigidbodies.count--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        private void CreateColliderData(ObiColliderHandle handle)
+        {
+            handle.index = colliderHandles.Count;
+            colliderHandles.Add(handle);
+            colliderShapes.Add(new ColliderShape { materialIndex = -1, rigidbodyIndex = -1, dataIndex = -1 });
+            colliderAabbs.Add(new Aabb());
+            colliderTransforms.Add(new AffineTransform());
+
+            MarkColliderAsNeedingUpdate(handle);
+        }
+
+        private void CreateForceZoneData(ObiForceZoneHandle handle)
+        {
+            handle.index = forceZoneHandles.Count;
+            forceZoneHandles.Add(handle);
+            forceZones.Add(new ForceZone());
+        }
+
+        private void CreateRigidbodyData(ObiRigidbodyHandle handle)
+        {
+            handle.index = rigidbodyHandles.Count;
+            rigidbodyHandles.Add(handle);
+            rigidbodies.Add(new ColliderRigidbody());
+        }
+
+        public bool DoesColliderRequireToBeUpdated(ObiColliderHandle handle)
+        {
+            if (handle != null && handle.isValid &&
+                handle.index < colliderHandles.Count && handle.index < collidersToUpdateCount)
+                return true;
+            return false;
+        }
+
+        public void MarkColliderAsNeedingUpdate(ObiColliderHandle handle)
+        {
+            if (colliderShapes != null && handle != null && handle.isValid &&
+                handle.index < colliderHandles.Count && handle.index >= collidersToUpdateCount &&
+                collidersToUpdateCount < colliderHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = collidersToUpdateCount;
+
+                // swap all collider info:
+                colliderHandles.Swap(index, lastIndex);
+                colliderShapes.Swap(index, lastIndex);
+                colliderAabbs.Swap(index, lastIndex);
+                colliderTransforms.Swap(index, lastIndex);
+
+                // update handles:
+                colliderHandles[lastIndex].index = lastIndex;
+                colliderHandles[index].index = index;
+
+                collidersToUpdateCount++;
+            }
+        }
+
+        public void MarkColliderAsNotNeedingUpdate(ObiColliderHandle handle)
+        {
+            if (colliderShapes != null && handle != null && handle.isValid &&
+                handle.index < colliderHandles.Count && handle.index < collidersToUpdateCount)
+            {
+                int index = handle.index;
+                int lastIndex = collidersToUpdateCount-1;
+
+                // swap all collider info:
+                colliderHandles.Swap(index, lastIndex);
+                colliderShapes.Swap(index, lastIndex);
+                colliderAabbs.Swap(index, lastIndex);
+                colliderTransforms.Swap(index, lastIndex);
+
+                // update handles:
+                colliderHandles[lastIndex].index = lastIndex;
+                colliderHandles[index].index = index;
+
+                collidersToUpdateCount--;
+            }
+        }
+
+        public void FlushHandleBuffers()
+        {
+            // First process destruction, then process creation.
+            // In case we create a handle and then destroy it,
+            // we should enqueue it for destruction only if it's not in the creation queue.
+            // If it is, just remove if from the creation queue.
+
+            if (collidersToDestroy != null)
+            {
+                foreach (var handle in collidersToDestroy)
+                    DestroyColliderData(handle);
+                collidersToDestroy?.Clear();
+            }
+
+            if (forceZonesToDestroy != null)
+            {
+                foreach (var handle in forceZonesToDestroy)
+                    DestroyForceZoneData(handle);
+                forceZonesToDestroy?.Clear();
+            }
+
+            if (rigidbodiesToDestroy != null)
+            {
+                foreach (var handle in rigidbodiesToDestroy)
+                    DestroyRigidbodyData(handle);
+                rigidbodiesToDestroy?.Clear();
+            }
+
+            if (collidersToCreate != null)
+            {
+                foreach (var handle in collidersToCreate)
+                    CreateColliderData(handle);
+                collidersToCreate?.Clear();
+            }
+
+            if (forceZonesToCreate != null)
+            {
+                foreach (var handle in forceZonesToCreate)
+                    CreateForceZoneData(handle);
+                forceZonesToCreate?.Clear();
+            }
+
+            if (rigidbodiesToCreate != null)
+            {
+                foreach (var handle in rigidbodiesToCreate)
+                    CreateRigidbodyData(handle);
+                rigidbodiesToCreate?.Clear();
+            }
+          
+        }
+
+        public void UpdateWorld(float deltaTime, bool updateDynamics = true)
+        {
+            if (!dirty)
+                return;
+
+            dirty = false;
+
+            // ensure all objects have valid handles.
+            // May destroy the world if it's empty,
+            // so we next check that handle/implementations are not null.
+            FlushHandleBuffers();
+
             // update all colliders:
-            for (int i = 0; i < colliderHandles.Count; ++i)
-                colliderHandles[i].owner.UpdateIfNeeded();
-        }
+            if (colliderHandles != null)
+                for (int i = 0; i < collidersToUpdateCount; ++i)
+                    colliderHandles[i].owner.UpdateIfNeeded();
 
-        public void UpdateRigidbodies(List<ObiSolver> solvers, float stepTime)
-        {
-            // reset all solver's delta buffers to zero:
-            foreach (ObiSolver solver in solvers)
-            {
-                if (solver != null && solver.initialized)
-                {
-                    solver.EnsureRigidbodyArraysCapacity(rigidbodyHandles.Count);
-                    solver.rigidbodyLinearDeltas.WipeToZero();
-                    solver.rigidbodyAngularDeltas.WipeToZero();
-                }
-            }
-
-            for (int i = 0; i < rigidbodyHandles.Count; ++i)
-                rigidbodyHandles[i].owner.UpdateIfNeeded(stepTime);
-        }
-
-        public void UpdateWorld(float deltaTime)
-        {
-            for (int i = 0; i < implementations.Count; ++i)
-            {
-                if (implementations[i].referenceCount > 0)
-                {
-                    // set arrays:
-                    implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
-                    implementations[i].SetRigidbodies(rigidbodies);
-                    implementations[i].SetCollisionMaterials(collisionMaterials);
-                    implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
-                    implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
-                    implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
-                    implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
-
-                    // update world implementation:
-                    implementations[i].UpdateWorld(deltaTime);
-                }
-            }
-        }
-
-        public void UpdateRigidbodyVelocities(List<ObiSolver> solvers)
-        {
-            int count = 0;
-            foreach (ObiSolver solver in solvers)
-                if (solver != null && solver.initialized) count++;
-
-            if (count > 0)
-            {
-                // we want to average the deltas applied by all solvers, so calculate 1/solverCount.
-                float rcpCount = 1.0f / count;
+            // update all force zones:
+            if (forceZoneHandles != null)
+                for (int i = 0; i < forceZoneHandles.Count; ++i)
+                    forceZoneHandles[i].owner.UpdateIfNeeded();
 
+            // update rigidbodies:
+            if (rigidbodyHandles != null && updateDynamics)
                 for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                    rigidbodyHandles[i].owner.UpdateIfNeeded(deltaTime);
+
+            // update implementations:
+            if (implementations != null)
+                for (int i = 0; i < implementations.Count; ++i)
                 {
-                    Vector4 linearDelta = Vector4.zero;
-                    Vector4 angularDelta = Vector4.zero;
-
-                    foreach (ObiSolver solver in solvers)
+                    if (implementations[i].referenceCount > 0)
                     {
-                        if (solver != null && solver.initialized)
-                        {
-                            linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
-                            angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
-                        }
-                    }
+                        // set arrays:
+                        implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms);
+                        implementations[i].SetForceZones(forceZones);
+                        implementations[i].SetRigidbodies(rigidbodies);
+                        implementations[i].SetCollisionMaterials(collisionMaterials);
+                        implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
+                        implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
+                        implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
+                        implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
 
-                    // update rigidbody velocities
-                    rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
+                        // update world implementation:
+                        if (updateDynamics)
+                            implementations[i].UpdateWorld(deltaTime);
+                    }
                 }
+        }
+
+        public void SetDirty()
+        {
+            dirty = true;
+        }
+
+        public void UpdateCollisionMaterials()
+        {
+            if (implementations != null)
+                for (int i = 0; i < implementations.Count; ++i)
+                {
+                    if (implementations[i].referenceCount > 0)
+                    {
+                        implementations[i].SetCollisionMaterials(collisionMaterials);
+                    }
+                }
+        }
+
+        public void UpdateRigidbodyVelocities(ObiSolver solver)
+        {
+            if (solver != null && solver.initialized)
+            {
+                int count = Mathf.Min(rigidbodyHandles.Count, solver.rigidbodyLinearDeltas.count);
+
+                for (int i = 0; i < count; ++i)
+                    rigidbodyHandles[i].owner.UpdateVelocities(solver.rigidbodyLinearDeltas[i], solver.rigidbodyAngularDeltas[i]);
             }
+
+            solver.rigidbodyLinearDeltas.WipeToZero();
+            solver.rigidbodyAngularDeltas.WipeToZero();
+            solver.rigidbodyLinearDeltas.Upload();
+            solver.rigidbodyAngularDeltas.Upload();
         }
 
     }
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
index b20a92eb4..97940be21 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
@@ -36,17 +36,17 @@ namespace Obi{
             }
         }
 
-	    public void OnEnable()
+        private void OnEnable()
         {
             UpdateMaterial();
         }
 
-	    public void OnDisable()
+        private void OnDisable()
         {
             ObiColliderWorld.GetInstance().DestroyCollisionMaterial(materialHandle);
         }
 
-        public void OnValidate()
+        private void OnValidate()
         {
             // we can't create GameObjects in OnValidate(), so make sure the colliderworld already exists.
             UpdateMaterial();
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
index 0896b6524..468af6d74 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
@@ -2,17 +2,16 @@
 using System;
 using System.Collections;
 
-namespace Obi
-{
+namespace Obi{
 
-    /**
+	/**
 	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
 	 */
 
-    [ExecuteInEditMode]
-    [RequireComponent(typeof(Rigidbody))]
-    public class ObiRigidbody : ObiRigidbodyBase
-    {
+	[ExecuteInEditMode]
+	[RequireComponent(typeof(Rigidbody))]
+	public class ObiRigidbody : ObiRigidbodyBase
+	{
         public Rigidbody unityRigidbody { get; private set; }
 
         public Vector3 position => unityRigidbody.position;
@@ -24,22 +23,26 @@ namespace Obi
         private Quaternion prevRotation;
         private Vector3 prevPosition;
 
-        public override void OnEnable()
+        protected override void OnEnable()
+        {
+			unityRigidbody = GetComponent<Rigidbody>();
+            ResetPosition();
+            base.OnEnable();
+		}
+
+        public void ResetPosition()
         {
-            unityRigidbody = GetComponent<Rigidbody>();
             prevPosition = unityRigidbody.position;
             prevRotation = unityRigidbody.rotation;
-
             linearVelocity = unityRigidbody.linearVelocity;
             angularVelocity = unityRigidbody.angularVelocity;
-            base.OnEnable();
         }
 
-        private void UpdateVelocities(float stepTime)
+        private void CacheVelocities(float stepTime)
         {
             // differentiate positions/orientations to get our own velocites for kinematic objects.
-            // when calling Physics.Simulate, MovePosition/Rotation do not work correctly. Also useful for animations.
-            if (unityRigidbody.isKinematic)
+            // also useful for animations.
+            if (unityRigidbody.isKinematic && stepTime > 0)
             {
                 // differentiate positions to obtain linear velocity:
                 linearVelocity = (unityRigidbody.position - prevPosition) / stepTime;
@@ -59,21 +62,31 @@ namespace Obi
             prevRotation = unityRigidbody.rotation;
         }
 
-        public override void UpdateIfNeeded(float stepTime)
+		public override void UpdateIfNeeded(float stepTime)
         {
-            UpdateVelocities(stepTime);
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            // Conversely, rigidbodyHandle might be non-null but invalid.
+            if (unityRigidbody == null || !Handle.isValid) return;
+
+
+            CacheVelocities(stepTime);
             var world = ObiColliderWorld.GetInstance();
 
-            var rb = world.rigidbodies[handle.index];
+            var rb = world.rigidbodies[Handle.index];
             rb.FromRigidbody(this);
-            world.rigidbodies[handle.index] = rb;
+            world.rigidbodies[Handle.index] = rb;
         }
 
-        /**
+		/**
 		 * Reads velocities back from the solver.
 		 */
-        public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+		public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
         {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
             // kinematic rigidbodies are passed to Obi with zero velocity, so we must ignore the new velocities calculated by the solver:
             if (Application.isPlaying && !(unityRigidbody.isKinematic || kinematicForParticles))
             {
@@ -84,6 +97,6 @@ namespace Obi
                 }
             }
         }
-    }
+	}
 }
 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
index 6e831e839..5f453fb06 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
@@ -2,17 +2,16 @@
 using System;
 using System.Collections;
 
-namespace Obi
-{
+namespace Obi{
 
-    /**
+	/**
 	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
 	 */
 
-    [ExecuteInEditMode]
-    [RequireComponent(typeof(Rigidbody2D))]
-    public class ObiRigidbody2D : ObiRigidbodyBase
-    {
+	[ExecuteInEditMode]
+	[RequireComponent(typeof(Rigidbody2D))]
+	public class ObiRigidbody2D : ObiRigidbodyBase
+	{
         public Rigidbody2D unityRigidbody { get; private set; }
 
         public Vector2 position => unityRigidbody.position;
@@ -24,22 +23,26 @@ namespace Obi
         private Quaternion prevRotation;
         private Vector3 prevPosition;
 
-        public override void OnEnable()
+        protected override void OnEnable()
         {
             unityRigidbody = GetComponent<Rigidbody2D>();
-            prevPosition = transform.position;
-            prevRotation = transform.rotation;
-
-            linearVelocity = unityRigidbody.linearVelocity;
-            angularVelocity = unityRigidbody.angularVelocity;
+            ResetPosition();
             base.OnEnable();
         }
 
-        private void UpdateKinematicVelocities(float stepTime)
+        public void ResetPosition()
+        {
+            prevPosition = unityRigidbody.position;
+            prevRotation = Quaternion.AngleAxis(unityRigidbody.rotation, Vector3.forward);
+            linearVelocity = unityRigidbody.linearVelocity;
+            angularVelocity = unityRigidbody.angularVelocity;
+        }
+
+        private void CacheVelocities(float stepTime)
         {
             // differentiate positions/orientations to get our own velocites for kinematic objects.
             // when calling Physics.Simulate, MovePosition/Rotation do not work correctly. Also useful for animations.
-            if (unityRigidbody.isKinematic)
+            if (unityRigidbody.isKinematic && stepTime > 0)
             {
                 // differentiate positions to obtain linear velocity:
                 linearVelocity = (transform.position - prevPosition) / stepTime;
@@ -61,27 +64,35 @@ namespace Obi
 
         public override void UpdateIfNeeded(float stepTime)
         {
-            UpdateKinematicVelocities(stepTime);
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
+            CacheVelocities(stepTime);
             var world = ObiColliderWorld.GetInstance();
 
-            var rb = world.rigidbodies[handle.index];
+            var rb = world.rigidbodies[Handle.index];
             rb.FromRigidbody(this);
-            world.rigidbodies[handle.index] = rb;
+            world.rigidbodies[Handle.index] = rb;
         }
 
-        /**
+		/**
 		 * Reads velocities back from the solver.
 		 */
-        public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+		public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
         {
+            // Rigidbody might not exist, as rigidbody deletion is buffered.
+            // This means the unity rigidbody might be deleted before the rigidbody handle is invalidated.
+            if (unityRigidbody == null) return;
+
             // kinematic rigidbodies are passed to Obi with zero velocity, so we must ignore the new velocities calculated by the solver:
             if (Application.isPlaying && !(unityRigidbody.isKinematic || kinematicForParticles))
             {
-                unityRigidbody.linearVelocity += new Vector2(linearDelta.x, linearDelta.y);
-                unityRigidbody.angularVelocity += angularDelta[2] * Mathf.Rad2Deg;
-            }
+				unityRigidbody.linearVelocity += new Vector2(linearDelta.x, linearDelta.y);
+				unityRigidbody.angularVelocity += angularDelta[2] * Mathf.Rad2Deg;
+			}
 
-        }
-    }
+		}
+	}
 }
 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
index 69cbef4f5..c08d54b5f 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
@@ -5,28 +5,45 @@ using System.Collections;
 
 namespace Obi{
 
-	/**
+    /**
 	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
 	 */
 
-	[ExecuteInEditMode]
-	public abstract class ObiRigidbodyBase : MonoBehaviour
-	{
+    [ExecuteInEditMode]
+    public abstract class ObiRigidbodyBase : MonoBehaviour
+    {
 
         public bool kinematicForParticles = false;
 
-        public ObiRigidbodyHandle handle;
-
-        public virtual void OnEnable()
+        protected ObiRigidbodyHandle rigidbodyHandle;
+        public ObiRigidbodyHandle Handle
         {
-            handle = ObiColliderWorld.GetInstance().CreateRigidbody();
-            handle.owner = this;
-            UpdateIfNeeded(1);
+            get
+            {
+                // don't check rigidbodyHandle.isValid:
+                // CreateRigidbody may defer creation, so we get a non-null, but invalid handle.
+                // If calling handle again right away before it becomes valid, it will call CreateRigidbody() again and create a second handle to the same body.
+                if (rigidbodyHandle == null) 
+                {
+                    var world = ObiColliderWorld.GetInstance();
+
+                    // create the material:
+                    rigidbodyHandle = world.CreateRigidbody();
+                    rigidbodyHandle.owner = this;
+                }
+                return rigidbodyHandle;
+            }
+        }
+
+        protected virtual void OnEnable()
+        {
+            rigidbodyHandle = ObiColliderWorld.GetInstance().CreateRigidbody();
+            rigidbodyHandle.owner = this;
         }
 
 		public void OnDisable()
         {
-            ObiColliderWorld.GetInstance().DestroyRigidbody(handle);
+            ObiColliderWorld.GetInstance().DestroyRigidbody(rigidbodyHandle);
         }
 
 		public abstract void UpdateIfNeeded(float stepTime);
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
index 1fa9f41d0..3858bc697 100644
--- a/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
@@ -76,30 +76,38 @@ namespace Obi
             ObiTriangleMeshHandle handle = new ObiTriangleMeshHandle(null);
 
             if (source != null && !handles.TryGetValue(source, out handle))
-            { 
-                var sourceTris = source.triangles;
-                var sourceVertices = source.vertices;
-
-                // Build a bounding interval hierarchy from the triangles:
-                IBounded[] t = new IBounded[sourceTris.Length/3];
-                for (int i = 0; i < t.Length; ++i)
+            {
+                if (source.isReadable)
                 {
-                    int t1 = sourceTris[i * 3];
-                    int t2 = sourceTris[i * 3 + 1];
-                    int t3 = sourceTris[i * 3 + 2];
-                    t[i] = new Triangle(t1,t2,t3, sourceVertices[t1], sourceVertices[t2], sourceVertices[t3]);
+                    var sourceTris = source.triangles;
+                    var sourceVertices = source.vertices;
+
+                    // Build a bounding interval hierarchy from the triangles:
+                    IBounded[] t = new IBounded[sourceTris.Length / 3];
+                    for (int i = 0; i < t.Length; ++i)
+                    {
+                        int t1 = sourceTris[i * 3];
+                        int t2 = sourceTris[i * 3 + 1];
+                        int t3 = sourceTris[i * 3 + 2];
+                        t[i] = new Triangle(t1, t2, t3, sourceVertices[t1], sourceVertices[t2], sourceVertices[t3]);
+                    }
+                    var sourceBih = BIH.Build(ref t);
+
+                    Triangle[] tris = Array.ConvertAll(t, x => (Triangle)x);
+
+                    handle = new ObiTriangleMeshHandle(source, headers.count);
+                    handles.Add(source, handle);
+
+                    headers.Add(new TriangleMeshHeader(bihNodes.count, sourceBih.Length, triangles.count, tris.Length, vertices.count, sourceVertices.Length));
+                    bihNodes.AddRange(sourceBih);
+                    triangles.AddRange(tris);
+                    vertices.AddRange(sourceVertices);
+                }
+                else
+                {
+                    handle = new ObiTriangleMeshHandle(source);
+                    handles.Add(source, handle);
                 }
-                var sourceBih = BIH.Build(ref t);
-
-                Triangle[] tris = Array.ConvertAll(t, x => (Triangle)x);
-
-                handle = new ObiTriangleMeshHandle(source, headers.count);
-                handles.Add(source, handle);
-                headers.Add(new TriangleMeshHeader(bihNodes.count, sourceBih.Length, triangles.count, tris.Length, vertices.count, sourceVertices.Length));
-
-                bihNodes.AddRange(sourceBih);
-                triangles.AddRange(tris);
-                vertices.AddRange(sourceVertices);
             }
 
             return handle;
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
index 0121d6fc0..31892a9e4 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
@@ -1,5 +1,4 @@
 using System;
-using System.Runtime.InteropServices;
 using UnityEngine;
 
 namespace Obi
@@ -13,9 +12,11 @@ namespace Obi
         public int firstChild;
 
         // add 12 bytes of padding to ensure correct memory alignment:
+#pragma warning disable 0414
         private int pad0;
         private int pad1;
         private int pad2;
+#pragma warning restore 0414
 
         public DFNode(Vector4 center)
         {
diff --git a/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
index 6c8fa5f6e..e129482e5 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
@@ -1,4 +1,5 @@
-using UnityEngine;
+using System;
+using UnityEngine;
 
 namespace Obi
 {
@@ -19,16 +20,46 @@ namespace Obi
             this.scale = scale;
         }
 
-        public void FromTransform(Transform source, bool is2D = false)
+        public void FromTransform3D(Transform source, ObiRigidbody rb)
         {
-            translation = source.position;
-            rotation = source.rotation;
-            scale = source.lossyScale;
-
-            if (is2D)
+            if (rb != null && rb.unityRigidbody != null)
             {
-                translation[2] = 0;
+                translation = source.position - rb.unityRigidbody.transform.position + rb.position;
+                rotation = (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * rb.rotation;
             }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+        }
+
+        public void FromTransform2D(Transform source, ObiRigidbody2D rb)
+        {
+            if (rb != null && rb.unityRigidbody != null)
+            {
+                translation = source.position - rb.unityRigidbody.transform.position + (Vector3)rb.position;
+                rotation =  (source.rotation * Quaternion.Inverse(rb.unityRigidbody.transform.rotation)) * Quaternion.AngleAxis(rb.rotation, Vector3.forward);
+            }
+            else
+            {
+                translation = source.position;
+                rotation = source.rotation;
+            }
+
+            scale = source.lossyScale;
+            translation[2] = 0;
+        }
+
+        public AffineTransform Inverse()
+        {
+            var conj = Quaternion.Inverse(rotation);
+            var invScale = new Vector3(1 / scale.x, 1 / scale.y, 1 / scale.z);
+            return new AffineTransform(conj * Vector3.Scale(translation , -invScale),
+                                       conj,
+                                       invScale);
         }
     }
 }
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
index 10126adc9..e51423f4a 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
@@ -10,8 +10,8 @@ namespace Obi
         public Vector4 angularVelocity;
         public Vector4 com;
         public float inverseMass;
-
-        private int pad0;
+         
+        public int constraintCount;
         private int pad1;
         private int pad2;
 
@@ -20,7 +20,7 @@ namespace Obi
             bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
 
             //rotation = source.rotation;
-            velocity = rb.kinematicForParticles ? Vector3.zero : rb.linearVelocity;
+            velocity = rb.kinematicForParticles ? Vector3.zero : rb.linearVelocity + (rb.unityRigidbody.useGravity ? Physics.gravity * Time.fixedDeltaTime : Vector3.zero);
             angularVelocity = rb.kinematicForParticles ? Vector3.zero : rb.angularVelocity;
 
             // center of mass in unity is affected by local rotation and position, but not scale. We need it expressed in world space:
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
index 70ab4cdc9..f71030e2d 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
@@ -22,13 +22,34 @@ namespace Obi
                                           heightmap: width (x axis), height (y axis) and depth (z axis) in world units.*/
         public ShapeType type;
         public float contactOffset;
-
         public int dataIndex;
         public int rigidbodyIndex;  // index of the associated rigidbody in the collision world.
         public int materialIndex;   // index of the associated material in the collision world.
-
+        public int forceZoneIndex;  // index of the associated force zone in the collision world.
         public int filter;          // bitwise category/mask.
-        public int flags;           // for now, only used for trigger (1) or regular collider (0).
-        public int is2D;            // whether the collider is 2D (1) or 3D (0).
+        public int flags;           // first bit whether the collider is 2D (1) or 3D (0), second bit whether it's a trigger (1) or regular collider (0),
+                                    // third bit (sign) determines whether shape is inverted or not.
+
+        public bool is2D
+        {
+            get => (flags & 1) != 0;
+            set => flags |= value ? 1 : 0;
+        }
+        public bool isTrigger
+        {
+            get => ((flags & 1 << 1) != 0) || forceZoneIndex >= 0;
+            set => flags |= value ? 1 << 1 : 0;
+        }
+        public float sign
+        {
+            get => (flags & 1 << 2) != 0 ? -1 : 1;
+        }
+
+        public void SetSign(bool inverted)
+        {
+            if (inverted) flags |= 1 << 2;
+            else flags &= ~(1 << 2);
+        }
+
     }
 }
diff --git a/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
index 082f99c67..f0c815d5b 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
@@ -1,9 +1,10 @@
 using UnityEngine;
 using System.Collections;
+using System.Runtime.InteropServices;
 
 namespace Obi
 {
-
+    [StructLayout(LayoutKind.Sequential)]
     public struct CollisionMaterial 
     {
         public float dynamicFriction;
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs b/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
new file mode 100644
index 000000000..1f3a8d208
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+#endif
+
+namespace Obi
+{
+    public struct ContactEffectiveMasses
+    {
+        public float normalInvMassA;
+        public float tangentInvMassA;
+        public float bitangentInvMassA;
+
+        public float normalInvMassB;
+        public float tangentInvMassB;
+        public float bitangentInvMassB;
+
+        public float TotalNormalInvMass => normalInvMassA + normalInvMassB;
+        public float TotalTangentInvMass => tangentInvMassA + tangentInvMassB;
+        public float TotalBitangentInvMass => bitangentInvMassA + bitangentInvMassB;
+
+        public void ClearContactMassesA()
+        {
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = 0;
+        }
+
+        public void ClearContactMassesB()
+        {
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = 0;
+        }
+
+        #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+        public void CalculateContactMassesA(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rA = contactPoint - position;
+                float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, normal);
+                tangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, tangent);
+                bitangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, bitangent);
+            }
+        }
+
+        public void CalculateContactMassesB(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rB = contactPoint - position;
+                float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, normal);
+                tangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, tangent);
+                bitangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, bitangent);
+            }
+        }
+
+
+        public void CalculateContactMassesB(in BurstRigidbody rigidbody, in BurstAffineTransform solver2World, float4 pointB, float4 normal, float4 tangent, float4 bitangent)
+        {
+            float4 rB = solver2World.TransformPoint(pointB) - rigidbody.com;
+
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
+            normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
+            tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
+            bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
+        }
+        #endif
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta
new file mode 100644
index 000000000..bf8ca76fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7b11c7db3414246668eb72ef55dd737f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs b/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs
new file mode 100644
index 000000000..dfa50f31a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs
@@ -0,0 +1,40 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public struct EmitPoint
+    {
+        public Vector4 position;
+        public Vector4 direction;
+        public Vector4 velocity;
+        public Color color;
+
+        public EmitPoint(Vector3 position, Vector3 direction)
+        {
+            this.position = position;
+            this.direction = direction;
+            this.velocity = Vector4.zero;
+            this.color = Color.white;
+        }
+
+        public EmitPoint(Vector3 position, Vector3 direction, Color color)
+        {
+            this.position = position;
+            this.direction = direction;
+            this.velocity = Vector4.zero;
+            this.color = color;
+        }
+
+        public EmitPoint GetTransformed(Matrix4x4 transform, Matrix4x4 prevTransform, Color multiplyColor, float deltaTime)
+        {
+            var ep = new EmitPoint(transform.MultiplyPoint3x4(position),
+                                   transform.MultiplyVector(direction),
+                                   color * multiplyColor);
+
+            ep.velocity = deltaTime > 0 ? ((Vector3)ep.position - prevTransform.MultiplyPoint3x4(position)) / deltaTime : Vector3.zero;
+            return ep;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta
new file mode 100644
index 000000000..cc9dd0484
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/EmitPoint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d0c9d9016e8744477adde7f1afe28798
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs b/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs
new file mode 100644
index 000000000..9cf3c3e32
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct EmittedParticleData
+    {
+        public Vector4 fluidMaterial;
+        public Vector4 fluidMaterial2;
+        public Vector4 fluidInterface;
+        public Vector4 userData;
+        public int phase;
+        public float invMass;
+        public float radius;
+        public float volume;
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta
new file mode 100644
index 000000000..d57c77842
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/EmittedParticleData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 032673eb10713468fb72d04ad5cc6b26
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs b/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs
new file mode 100644
index 000000000..f2bcd63cf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs
@@ -0,0 +1,41 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public struct ForceZone
+    {
+        public enum ForceMode
+        {
+            Force,
+            Acceleration,
+            Wind,
+        }
+
+        public enum ZoneType
+        {
+            Directional,
+            Radial,
+            Vortex,
+            Void
+        }
+
+        public enum DampingDirection
+        {
+            All,   // damps motion in all directions
+            ForceDirection, // damps motion in the direction of force.
+            SurfaceDirection // damps motion toward/away from the surface of the zone.
+        }
+
+        public Color color;
+        public ZoneType type;
+        public ForceMode mode;
+        public DampingDirection dampingDir;
+        public float intensity;
+        public float minDistance;
+        public float maxDistance;
+        public float falloffPower;
+        public float damping;
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta
new file mode 100644
index 000000000..f39f401cb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ForceZone.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5c189f8dc8ade4e14a960f3b6eb11f14
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs b/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
new file mode 100644
index 000000000..4f2561f92
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct InertialFrame
+    {
+        public AffineTransform frame;
+        public AffineTransform prevFrame;
+
+        public Vector4 velocity;
+        public Vector4 angularVelocity;
+
+        public Vector4 acceleration;
+        public Vector4 angularAcceleration;
+
+        public InertialFrame(Vector4 position, Vector4 scale, Quaternion rotation)
+        {
+            this.frame = new AffineTransform(position, rotation, scale);
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public InertialFrame(AffineTransform frame)
+        {
+            this.frame = frame;
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public void Update(Vector4 position, Vector4 scale, Quaternion rotation, float dt)
+        {
+            prevFrame = frame;
+            Vector4 prevVelocity = velocity;
+            Vector4 prevAngularVelocity = angularVelocity;
+
+            frame.translation = position;
+            frame.rotation = rotation;
+            frame.scale = scale;
+
+            velocity = ObiIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
+            angularVelocity = ObiIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
+
+            acceleration = ObiIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
+            angularAcceleration = ObiIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta
new file mode 100644
index 000000000..56b8e9239
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7420f38eb63f04112a965d884f75d176
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
index c6a61babf..94e9cef26 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
@@ -12,11 +12,6 @@ namespace Obi
             for (int i = 0; i < capacity; ++i)
                 this[i] = Color.white;
         }
-        public ObiNativeColorList(int capacity, int alignment, Color defaultValue) : base(capacity, alignment)
-        {
-            for (int i = 0; i < capacity; ++i)
-                this[i] = defaultValue;
-        }
     }
 }
 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
index 23dc2862c..eb41d0f72 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 391ffe5ba25364d2393afabc3083daa1
+guid: f377d76dadb3945b39cfac818a54d1be
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs
new file mode 100644
index 000000000..339b196dd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeContactList : ObiNativeList<Oni.Contact>
+    {
+        public ObiNativeContactList() { }
+        public ObiNativeContactList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Oni.Contact();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta
new file mode 100644
index 000000000..74a33c11c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: aa58238d45b934704aede27415ce4242
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs
deleted file mode 100644
index d5ff11583..000000000
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs
+++ /dev/null
@@ -1,17 +0,0 @@
-using System;
-using UnityEngine;
-
-namespace Obi
-{
-    [Serializable]
-    public class ObiNativeContactShapeList : ObiNativeList<Oni.Contact>
-    {
-        public ObiNativeContactShapeList() { }
-        public ObiNativeContactShapeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
-        {
-            for (int i = 0; i < capacity; ++i)
-                this[i] = new Oni.Contact();
-        }
-    }
-}
-
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs.meta
deleted file mode 100644
index ab5d80836..000000000
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 5ac88e1dd7e0249b5b361d60655d8d88
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs
new file mode 100644
index 000000000..974f9f32a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEffectiveMassesList : ObiNativeList<ContactEffectiveMasses>
+    {
+        public ObiNativeEffectiveMassesList() { }
+        public ObiNativeEffectiveMassesList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ContactEffectiveMasses();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta
new file mode 100644
index 000000000..813424cbf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEffectiveMassesList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fc8b00cd716564eff82fc19de0c458a8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs
new file mode 100644
index 000000000..39abfa12b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEmitPointList : ObiNativeList<EmitPoint>
+    {
+        public ObiNativeEmitPointList() { }
+        public ObiNativeEmitPointList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new EmitPoint();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta
new file mode 100644
index 000000000..13c552e66
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEmitPointList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3cbd83091221b46c9a724f3275281d2e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs
new file mode 100644
index 000000000..442146f1d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeForceZoneList : ObiNativeList<ForceZone>
+    {
+        public ObiNativeForceZoneList() { }
+        public ObiNativeForceZoneList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ForceZone();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta
new file mode 100644
index 000000000..65b36912d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeForceZoneList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2815feee105f648149e0f5b1b22954bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
index c18c1821f..81d9d0692 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
@@ -1,5 +1,4 @@
 using System;
-using UnityEngine;
 
 namespace Obi
 {
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
index 9b2704cbc..63bf45700 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
@@ -1,5 +1,4 @@
 using System;
-using UnityEngine;
 
 namespace Obi
 {
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
index 6d3a84e60..24b4ce45e 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
@@ -5,10 +5,12 @@ using UnityEngine;
 using Unity.Collections;
 using Unity.Collections.LowLevel.Unsafe;
 using System.Collections;
+using UnityEngine.Rendering;
+using System.Linq;
 
 namespace Obi
 {
-    public unsafe abstract class ObiNativeList<T> : IEnumerable<T>, IDisposable, ISerializationCallbackReceiver where T : struct
+    public unsafe class ObiNativeList<T> : IEnumerable<T>, IDisposable, ISerializationCallbackReceiver where T : struct
     {
         public T[] serializedContents;
         protected void* m_AlignedPtr = null;
@@ -21,7 +23,13 @@ namespace Obi
 #if ENABLE_UNITY_COLLECTIONS_CHECKS
         protected AtomicSafetyHandle m_SafetyHandle;
 #endif
-        protected ComputeBuffer m_ComputeBuffer;
+
+        protected GraphicsBuffer.Target m_ComputeBufferType;
+        protected GraphicsBuffer m_ComputeBuffer;
+        protected GraphicsBuffer m_CountBuffer; // used to hold the counter value in case m_ComputeBufferType is Counter.
+        protected bool computeBufferDirty = false;
+        protected AsyncGPUReadbackRequest m_AsyncRequest;
+        protected AsyncGPUReadbackRequest m_CounterAsyncRequest;
 
         public int count
         {
@@ -33,6 +41,9 @@ namespace Obi
                     // we first ensure we can hold the previous count, and then set the new one.
                     EnsureCapacity(m_Count);
                     m_Count = Mathf.Min(m_Capacity, value);
+
+                    if (m_ComputeBuffer != null && m_ComputeBuffer.IsValid() && m_ComputeBufferType == GraphicsBuffer.Target.Counter)
+                        m_ComputeBuffer.SetCounterValue((uint)m_Count);
                 }
             }
             get { return m_Count; }
@@ -40,37 +51,61 @@ namespace Obi
 
         public int capacity
         {
-            set
-            {
-                if (value != m_Capacity)
-                    ChangeCapacity(value);
-            }
             get { return m_Capacity; }
         }
 
+        public int stride
+        {
+            get { return m_Stride; }
+        }
+
         public bool isCreated
         {
             get { return m_AlignedPtr != null; }
         }
 
+        public bool noReadbackInFlight
+        {
+            get { return m_AsyncRequest.done && (m_ComputeBufferType != GraphicsBuffer.Target.Counter || m_CounterAsyncRequest.done); }
+        }
+
+        // Returns the current compute buffer representation of this list. Will return null if AsComputeBuffer() hasn't been called yet,
+        // or if the list has been disposed of.
+        public GraphicsBuffer computeBuffer
+        {
+            get { return m_ComputeBuffer; }
+        }
+
         public T this[int index]
         {
             get
             {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                if (index < 0 || index >= m_Capacity)
+                {
+                    throw new IndexOutOfRangeException($"Reading from index {index} is out of range of '{m_Capacity}' Capacity.");
+                }
+#endif
                 return UnsafeUtility.ReadArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride);
             }
             set
             {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                if (index < 0 || index >= m_Capacity)
+                {
+                    throw new IndexOutOfRangeException($"Writing to index {index} is out of range of '{m_Capacity}' Capacity.");
+                }
+#endif
                 UnsafeUtility.WriteArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride, value);
-
-                if (m_ComputeBuffer != null)
-                    m_ComputeBuffer.SetData(AsNativeArray<T>(), index, index, 1);
+                computeBufferDirty = true;
             }
         }
 
         // Declare parameterless constructor, called by Unity upon deserialization.
         protected ObiNativeList()
         {
+            m_Stride = UnsafeUtility.SizeOf<T>();
+
 #if ENABLE_UNITY_COLLECTIONS_CHECKS
             m_SafetyHandle = AtomicSafetyHandle.Create();
 #endif
@@ -78,6 +113,8 @@ namespace Obi
 
         public ObiNativeList(int capacity = 8, int alignment = 16)
         {
+            m_Stride = UnsafeUtility.SizeOf<T>();
+
 #if ENABLE_UNITY_COLLECTIONS_CHECKS
             m_SafetyHandle = AtomicSafetyHandle.Create();
 #endif
@@ -92,32 +129,21 @@ namespace Obi
 
         protected void Dispose(bool disposing)
         {
+            DisposeOfComputeBuffer();
+
             if (isCreated)
             {
-
-                // dispose of compuse buffer representation:
-                if (m_ComputeBuffer != null)
-                {
-                    m_ComputeBuffer.Dispose();
-                }
-
                 // free unmanaged memory buffer:
                 UnsafeUtility.Free(m_AlignedPtr, Allocator.Persistent);
                 m_AlignedPtr = null;
-            }
+                m_Count = m_Capacity = 0;
+
 #if ENABLE_UNITY_COLLECTIONS_CHECKS
-            // dispose of atomic safety handle:
-            try
-            {
+                // dispose of atomic safety handle:
                 AtomicSafetyHandle.CheckDeallocateAndThrow(m_SafetyHandle);
                 AtomicSafetyHandle.Release(m_SafetyHandle);
-            }
-            catch (Exception e)
-            {
-                
-            }
-            
 #endif
+            }
         }
 
         public void Dispose()
@@ -125,6 +151,26 @@ namespace Obi
             Dispose(true);
         }
 
+        public void DisposeOfComputeBuffer()
+        {
+            // dispose of compute buffer representation:
+            if (m_ComputeBuffer != null)
+            {
+                // if there's any pending async readback, finalize it.
+                // otherwise we pull the rug from under the readbacks' feet and that's no good.
+                WaitForReadback();
+
+                m_ComputeBuffer.Dispose();
+                m_ComputeBuffer = null;
+            }
+
+            if (m_CountBuffer != null)
+            {
+                m_CountBuffer.Dispose();
+                m_CountBuffer = null;
+            }
+        }
+
         public void OnBeforeSerialize()
         {
             if (isCreated)
@@ -169,38 +215,144 @@ namespace Obi
             return AsNativeArray<U>(m_Count);
         }
 
-        // Reinterprets the data in the list as a native array.
+        public NativeArray<T> AsNativeArray()
+        {
+            return AsNativeArray<T>(m_Count);
+        }
+
+        // Reinterprets the data in the list as a native array of the given length, up to the list's capacity.
         public NativeArray<U> AsNativeArray<U>(int arrayLength) where U : struct
         {
             unsafe
             {
-                NativeArray<U> array = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<U>(m_AlignedPtr, arrayLength, Allocator.None);
+                NativeArray<U> array = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<U>(m_AlignedPtr, Mathf.Min(arrayLength, m_Capacity), Allocator.None);
 
 #if ENABLE_UNITY_COLLECTIONS_CHECKS
                 NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref array, m_SafetyHandle);
 #endif
+                // assume the NativeArray will write new data, so we'll need to update the computeBuffer upon Upload().
+                computeBufferDirty = true;
                 return array;
             }
         }
 
-        // Reinterprets the data in the list as a compute buffer. Note: This also calls AsNativeArray() internally, to be able to pass the raw pointer to the compute buffer 
-        public ComputeBuffer AsComputeBuffer<U>() where U : struct
+        // Reinterprets the data in the list as a compute buffer, in case of an empty list it returns a buffer of size 1 with uninitialized content.
+        public GraphicsBuffer SafeAsComputeBuffer<U>(GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
         {
-            if (m_ComputeBuffer != null)
-            {
-                m_ComputeBuffer.Dispose();
-            }
+            return AsComputeBuffer<U>(Mathf.Max(1,m_Count), bufferType);
+        }
 
-            m_ComputeBuffer = new ComputeBuffer(m_Count, m_Stride);
-            m_ComputeBuffer.SetData(AsNativeArray<U>());
-            return m_ComputeBuffer;
+        // Reinterprets the data in the list as a compute buffer.
+        public GraphicsBuffer AsComputeBuffer<U>(GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
+        {
+            return AsComputeBuffer<U>(m_Count, bufferType);
+        }
+
+        // Reinterprets the data in the list as a compute buffer of the given length. Returns null if the list is empty.
+        public GraphicsBuffer AsComputeBuffer<U>(int arrayLength, GraphicsBuffer.Target bufferType = GraphicsBuffer.Target.Structured) where U : struct
+        {
+            DisposeOfComputeBuffer();
+
+            if (arrayLength > 0)
+            {
+                m_ComputeBufferType = bufferType;
+                m_ComputeBuffer = new GraphicsBuffer(bufferType, arrayLength, UnsafeUtility.SizeOf<U>());
+                m_ComputeBuffer.SetData(AsNativeArray<U>(arrayLength));
+
+                if (bufferType == GraphicsBuffer.Target.Counter)
+                {
+                    // initialize count to zero, since counter buffers always start empty:
+                    m_Count = 0;
+                    m_ComputeBuffer.SetCounterValue((uint)m_Count);
+                    m_CountBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 1, 4);
+                    GraphicsBuffer.CopyCount(m_ComputeBuffer, m_CountBuffer, 0);
+                }
+
+                return m_ComputeBuffer;
+            }
+            return null;
+        }
+
+        // Kicks a GPU readback request, to bring compute buffer data to this list.
+        public void Readback<U>(int readcount, bool async) where U : struct
+        {
+            if (m_ComputeBuffer != null && m_ComputeBuffer.IsValid() && noReadbackInFlight)
+            {
+                var nativeArray = AsNativeArray<U>(readcount);
+
+                // When using SafeAsComputeBuffer, we'll get a compute buffer of size 1 even if the list (and the NativeArray) is empty.
+                // Guard against trying to readback into a smaller NativeArray. Also guard against requesting zero items.
+                if (nativeArray.Length >= readcount && readcount > 0)
+                    m_AsyncRequest = AsyncGPUReadback.RequestIntoNativeArray(ref nativeArray, m_ComputeBuffer, readcount * UnsafeUtility.SizeOf<U>(), 0);
+
+                // For counter buffers, request the counter value too:
+                if (m_ComputeBufferType == GraphicsBuffer.Target.Counter)
+                {
+                    GraphicsBuffer.CopyCount(m_ComputeBuffer, m_CountBuffer, 0);
+                    m_CounterAsyncRequest = AsyncGPUReadback.Request(m_CountBuffer, m_CountBuffer.stride, 0, (AsyncGPUReadbackRequest request)=>
+                    {
+                        if (!request.hasError)
+                            m_Count = Mathf.Min(m_Capacity, request.GetData<int>()[0]);
+                    });
+                }
+
+                if (!async)
+                    WaitForReadback();
+            }
+        }
+
+        public void Readback(bool async = true)
+        {
+            // On counter buffers, we shouldn't read data up to m_Count and then update m_Count with the compute buffer's counter value *afterwards*.
+            // This would lead to reading back less data than we should, so we need to request the entire compute buffer.
+            if (m_ComputeBuffer != null)
+                Readback<T>(m_ComputeBuffer.count, async);
+        }
+
+        public void Readback(int readcount ,bool async = true)
+        {
+            Readback<T>(readcount, async);
+        }
+
+        // Makes sure any pending changes by the CPU are sent to the GPU. 
+        // If the list data has been changed on the CPU since the last time Unmap() was called and there's a compute buffer associated to it,
+        // will write the current contents of the list to the compute buffer.
+        public void Upload<U>(int length, bool force = false) where U : struct
+        {
+            if ((computeBufferDirty || force) && m_ComputeBuffer != null && m_ComputeBuffer.IsValid())
+                m_ComputeBuffer.SetData(AsNativeArray<U>(length));
+
+            computeBufferDirty = false;
+        }
+
+        public void Upload(bool force = false)
+        {
+            Upload<T>(m_Count,force);
+        }
+
+        public void UploadFullCapacity()
+        {
+            Upload<T>(m_Capacity, true);
+        }
+
+        // Waits for the last readback request to be complete, this brings back data from the GPU to the CPU:
+        public void WaitForReadback()
+        {
+            if (isCreated)
+            {
+                m_AsyncRequest.WaitForCompletion();
+                m_CounterAsyncRequest.WaitForCompletion();
+            }
         }
 
         protected void ChangeCapacity(int newCapacity)
         {
+            // invalidate compute buffer:
+            DisposeOfComputeBuffer();
+
             // allocate a new buffer:
             m_Stride = UnsafeUtility.SizeOf<T>();
-            var newAlignedPtr = UnsafeUtility.Malloc(newCapacity * m_Stride, 16, Allocator.Persistent);
+            var newAlignedPtr = UnsafeUtility.Malloc(newCapacity * m_Stride, m_AlignBytes, Allocator.Persistent);
 
             // if there was a previous allocation:
             if (isCreated)
@@ -257,7 +409,45 @@ namespace Obi
             void* sourceAddress = source.AddressOfElement(sourceIndex);
             void* destAddress = AddressOfElement(destIndex);
             UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+        }
 
+        public void CopyFrom<U>(NativeArray<U> source, int sourceIndex, int destIndex, int length) where U : struct
+        {
+            if (!isCreated || !source.IsCreated || UnsafeUtility.SizeOf<U>() != m_Stride)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.Length == 0)
+                return;
+
+            if (sourceIndex >= source.Length || sourceIndex < 0 || destIndex >= m_Count || destIndex < 0 ||
+                sourceIndex + length > source.Length || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = (byte*)source.GetUnsafePtr() + sourceIndex * m_Stride;
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+        }
+
+        public void CopyFrom(T[] source, int sourceIndex, int destIndex, int length)
+        {
+            if (source == null || !isCreated)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.Length == 0)
+                return;
+
+            if (sourceIndex < 0 || destIndex < 0 ||
+                sourceIndex + length > source.Length || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            // pin the managed array and get its address:
+            ulong sourceHandle;
+            void* sourceAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(source, out sourceHandle);
+            void* destAddress = UnsafeUtility.AddressOf(ref UnsafeUtility.ArrayElementAsRef<T>(m_AlignedPtr, destIndex));
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+
+            // unpin the managed array:
+            UnsafeUtility.ReleaseGCObject(sourceHandle);
         }
 
         public void CopyReplicate(T value, int destIndex, int length)
@@ -301,9 +491,53 @@ namespace Obi
         public void Add(T item)
         {
             EnsureCapacity(m_Count + 1);
+            computeBufferDirty = true;
             this[m_Count++] = item;
         }
 
+        public void AddReplicate(T value, int times)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + times);
+            CopyReplicate(value, appendAt, times);
+        }
+
+        public void AddRange(T[] array)
+        {
+            AddRange(array, array.Length);
+        }
+
+        public void AddRange(T[] array, int length)
+        {
+            AddRange(array, 0, length);
+        }
+
+        public void AddRange(T[] array, int start, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, start, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, 0, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array, int start, int length)
+        {
+            int appendAt = m_Count;
+            ResizeUninitialized(m_Count + length);
+            CopyFrom(array, start, appendAt, length);
+        }
+
+        public void AddRange(ObiNativeList<T> array)
+        {
+            AddRange(array, array.count);
+        }
+
         public void AddRange(IEnumerable<T> enumerable)
         {
             ICollection<T> collection = enumerable as ICollection<T>;
@@ -351,7 +585,9 @@ namespace Obi
         {
             newCount = Mathf.Max(0, newCount);
             bool realloc = EnsureCapacity(newCount);
+
             m_Count = newCount;
+
             return realloc;
         }
 
@@ -389,7 +625,25 @@ namespace Obi
             unsafe
             {
                 if (isCreated)
+                {
                     UnsafeUtility.MemClear(m_AlignedPtr, count * m_Stride);
+
+                    computeBufferDirty = true;
+                }
+            }
+        }
+
+        public void WipeToValue(T value)
+        {
+            unsafe
+            {
+                if (isCreated)
+                {
+                    void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+                    UnsafeUtility.MemCpyReplicate(m_AlignedPtr, sourceAddress, m_Stride, count);
+
+                    computeBufferDirty = true;
+                }
             }
         }
 
@@ -411,10 +665,14 @@ namespace Obi
 
         public void* AddressOfElement(int index)
         {
-            // UnsafeUtility.AddressOf(ref UnsafeUtilityEx.ArrayElementAsRef<T>(m_AlignedPtr, m_Count));
             return (void*) ((byte*)m_AlignedPtr + m_Stride * index);
         }
 
+        public NativeReference<int> GetCountReference(Allocator alloc)
+        {
+            return new NativeReference<int>(m_Count, alloc);
+        }
+
         public IntPtr GetIntPtr()
         {
             if (isCreated)
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
index 32d189542..64cffb4d9 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
@@ -6,11 +6,18 @@ namespace Obi
     [Serializable]
     public class ObiNativeMatrix4x4List : ObiNativeList<Matrix4x4>
     {
+        public ObiNativeMatrix4x4List() { } // TODO: WTF???? why does this prevent a crash?
         public ObiNativeMatrix4x4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
         {
             for (int i = 0; i < capacity; ++i)
                 this[i] = Matrix4x4.identity;
         }
+
+        public ObiNativeMatrix4x4List(int capacity, int alignment, Matrix4x4 defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
     }
 }
 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
index 8e6aebecc..c90054257 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: f6b7295a6ebb4475fb050c4c5b3770cc
+guid: 57e079b439b8f4d71966919ca4fa4838
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs
new file mode 100644
index 000000000..542f40f3a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeUIntList : ObiNativeList<uint>
+    {
+
+        public ObiNativeUIntList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = 0;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta
new file mode 100644
index 000000000..b6f26ce34
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeUIntList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cee276900c5ce412aafe4e23112537eb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs b/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
index 0a44ef0d7..6c7b86aa2 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
@@ -110,7 +110,7 @@ namespace Obi
 
 			EnsureCapacity(++count);
 
-	        for (int i = count-1; i > index; ++i)
+	        for (int i = count-1; i > index; --i)
 			{
 				data[i] = data[i-1];
 			}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
index d165b565c..72245ed7e 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
@@ -6,11 +6,12 @@ namespace Obi
     [StructLayout(LayoutKind.Sequential, Size = 64)]
     public struct QueryResult
     {
-        public Vector4 simplexBary;   /**< Barycentric coords of nearest point in simplex  */
-        public Vector4 queryPoint;    /**< Nearest point in query shape*/
-        public Vector4 normal;        /**< Closest direction between simplex and query shape. */
-        public float distance;        /**< Distance between simplex and query shape.*/
-        public int simplexIndex;      /**< Index of the simplex in the solver.*/
-        public int queryIndex;        /**< Index of the query that spawned this result.*/
+        public Vector4 simplexBary;    /**< Barycentric coords of nearest point in simplex  */
+        public Vector4 queryPoint;     /**< Nearest point in query shape*/
+        public Vector4 normal;         /**< Closest direction between simplex and query shape. */
+        public float distance;         /**< Distance between simplex and query shape.*/
+        public float distanceAlongRay; /**< For ray queries, distance along the ray.*/
+        public int simplexIndex;       /**< Index of the simplex in the solver.*/
+        public int queryIndex;         /**< Index of the query that spawned this result.*/
     }
 }
diff --git a/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta
new file mode 100644
index 000000000..c9ad98ff6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2c4a05fed09dd4e9e9d346fa3f1ccd55
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs
new file mode 100644
index 000000000..5b92932f2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs
@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class RegularGrid<T>
+    {
+        private Dictionary<Vector3Int, List<T>> gridMap = new Dictionary<Vector3Int, List<T>>();
+        private float cellSize;
+        private Func<T, Vector3> getPosition;
+
+        public RegularGrid(float cellSize, Func<T, Vector3> getPosition)
+        {
+            this.cellSize = cellSize;
+
+            if (getPosition != null)
+                this.getPosition = getPosition;
+            else
+                getPosition = (x) => { return Vector3.zero; };
+        }
+
+        public Vector3Int GetCellCoords(Vector3 pos)
+        {
+            return new Vector3Int(Mathf.FloorToInt(pos.x / cellSize),
+                                  Mathf.FloorToInt(pos.y / cellSize),
+                                  Mathf.FloorToInt(pos.z / cellSize));
+        }
+
+        public void AddElement(T elm)
+        {
+            var coords = GetCellCoords(getPosition(elm));
+            if (gridMap.TryGetValue(coords, out List<T> cell))
+                cell.Add(elm);
+            else
+                gridMap[coords] = new List<T> { elm };
+        }
+
+        public bool RemoveElement(T elm)
+        {
+            var coords = GetCellCoords(getPosition(elm));
+            if (gridMap.TryGetValue(coords, out List<T> cell))
+            {
+                return cell.Remove(elm);
+            }
+            return false;
+        }
+
+        public IEnumerable<T> GetNeighborsEnumerator(T elm)
+        {
+            // if cells are infinitesimaly small,
+            // elements should have no neighbors.
+            if (cellSize < ObiUtils.epsilon)
+                yield break;
+
+            var position = getPosition(elm);
+            var coords = GetCellCoords(position);
+            List<T> cell;
+
+            for (int x = -1; x <= 1; ++x)
+                for (int y = -1; y <= 1; ++y)
+                    for (int z = -1; z <= 1; ++z)
+                    {
+                        if (gridMap.TryGetValue(coords + new Vector3Int(x,y,z), out cell))
+                        {
+                            foreach(T n in cell)
+                            {
+                                if (n.Equals(elm))
+                                    continue;
+
+                                float dist = Vector3.Distance(position, getPosition(n));
+                                if (dist <= cellSize)
+                                    yield return n;
+                            }
+                        }
+                    }
+        }
+
+        // TODO: single call passing position and element to ignore.
+        public IEnumerable<T> GetNeighborsEnumerator(Vector3 position)
+        {
+            // if cells are infinitesimaly small,
+            // elements should have no neighbors.
+            if (cellSize < ObiUtils.epsilon)
+                yield break;
+
+            var coords = GetCellCoords(position);
+            List<T> cell;
+
+            for (int x = -1; x <= 1; ++x)
+                for (int y = -1; y <= 1; ++y)
+                    for (int z = -1; z <= 1; ++z)
+                    {
+                        if (gridMap.TryGetValue(coords + new Vector3Int(x, y, z), out cell))
+                        {
+                            foreach (T n in cell)
+                            {
+                                float dist = Vector3.Distance(position, getPosition(n));
+                                if (dist <= cellSize)
+                                    yield return n;
+                            }
+                        }
+                    }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta
new file mode 100644
index 000000000..96fcea3bc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/RegularGrid/RegularGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9506e58093a7c491f944e8e74529bf74
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
index c9b8e2be0..f2adcf1e4 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
@@ -24,21 +24,20 @@ namespace Obi
 
         public int GetSimplexStartAndSize(int index, out int size)
         {
-            if (index < pointCount)
+            if (index < triangleCount)
             {
-                size = 1;
-                return index;
+                size = 3;
+                return index * 3;
             }
-            else if (index < pointCount + edgeCount)
+            else if (index < triangleCount + edgeCount)
             {
                 size = 2;
-                return pointCount + (index - pointCount) * 2;
+                return triangleCount * 3 + (index - triangleCount) * 2;
             }
             else if (index < simplexCount)
             {
-                size = 3;
-                int triStart = pointCount + edgeCount * 2;
-                return triStart + (index - pointCount - edgeCount) * 3;
+                size = 1;
+                return triangleCount * 3 + edgeCount * 2 + (index - triangleCount - edgeCount);
             }
             size = 0;
             return 0;
diff --git a/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
index 49a11bdf7..c0f3bc17e 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
@@ -1,8 +1,11 @@
-using UnityEngine;
-using System;
-using System.Collections;
+using System;
 using System.Runtime.InteropServices;
 
+#if (OBI_MATHEMATICS)
+using Unity.Mathematics;
+#endif
+
+
 namespace Obi
 {
     [Serializable]
@@ -29,5 +32,10 @@ namespace Obi
             this.z = x;
             this.w = x;
         }
+
+#if (OBI_MATHEMATICS)
+        public static implicit operator VInt4(int4 i) => new VInt4(i.x, i.y, i.z, i.w);
+        public static implicit operator int4(VInt4 i) => new int4(i.x, i.y, i.z, i.w);
+#endif
     }
 }
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
index c8224bfe9..5caa44552 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
@@ -80,7 +80,7 @@ namespace Obi
         };
 
         public readonly static Vector3Int[] faceNeighborhood =
-{
+        {
             new Vector3Int(-1,0,0),
             new Vector3Int(1,0,0),
             new Vector3Int(0,-1,0),
@@ -226,15 +226,15 @@ namespace Obi
         }
 
 
-        public IEnumerator Voxelize(Matrix4x4 transform, bool generateTriangleIndices = false)
+        public IEnumerator Voxelize(Matrix4x4 transform, Vector3Int axisMask, bool generateTriangleIndices = false)
         {
             voxelSize = Mathf.Max(0.0001f, voxelSize);
 
             var xfBounds = input.bounds.Transform(transform);
 
             // Calculate min and max voxels, adding a 1-voxel margin.
-            origin = GetPointVoxel(xfBounds.min) - new Vector3Int(1, 1, 1);
-            Vector3Int max = GetPointVoxel(xfBounds.max) + new Vector3Int(1, 1, 1); 
+            origin = GetPointVoxel(Vector3.Scale(xfBounds.min, axisMask)) - axisMask; 
+            Vector3Int max = GetPointVoxel(Vector3.Scale(xfBounds.max, axisMask)) + axisMask; 
 
             resolution = new Vector3Int(max.x - origin.x + 1, max.y - origin.y + 1, max.z - origin.z + 1);
 
@@ -263,9 +263,9 @@ namespace Obi
             // Generate surface voxels:
             for (int i = 0; i < triIndices.Length; i += 3)
             {
-                Vector3 v1 = transform.MultiplyPoint3x4(vertices[triIndices[i]]);
-                Vector3 v2 = transform.MultiplyPoint3x4(vertices[triIndices[i + 1]]);
-                Vector3 v3 = transform.MultiplyPoint3x4(vertices[triIndices[i + 2]]);
+                Vector3 v1 = Vector3.Scale(transform.MultiplyPoint3x4(vertices[triIndices[i]]), axisMask);
+                Vector3 v2 = Vector3.Scale(transform.MultiplyPoint3x4(vertices[triIndices[i + 1]]), axisMask);
+                Vector3 v3 = Vector3.Scale(transform.MultiplyPoint3x4(vertices[triIndices[i + 2]]), axisMask);
 
                 Bounds triBounds = GetTriangleBounds(v1, v2, v3);
 
@@ -281,6 +281,7 @@ namespace Obi
                 yield return fillCoroutine.Current;
         }
 
+        // Ensures boundary is only one voxel thick.
         public void BoundaryThinning()
         {
             for (int x = 0; x < resolution.x; ++x)
@@ -308,6 +309,212 @@ namespace Obi
                     }
         }
 
+        // Ensures boundary voxels are 2D.
+        public void MakeBoundary2D()
+        {
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                            this[x, y, z] = Voxel.Inside;
+
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                    {
+                        int sum = 0;
+                        for (int j = 0; j < faceNeighborhood.Length; ++j)
+                        {
+                            var index = faceNeighborhood[j];
+                            if (VoxelExists(index.x + x, index.y + y, index.z + z) && this[index.x + x, index.y + y, index.z + z] != Voxel.Outside)
+                            {
+                                sum++;
+                            }
+                        }
+
+                        if (sum <= 3 && this[x, y, z] == Voxel.Inside)
+                            this[x, y, z] = Voxel.Boundary;
+                    }
+        }
+
+        public void CreateMesh(ref Mesh mesh, int smoothingIterations)
+        {
+            if (mesh == null)
+                mesh = new Mesh();
+
+            mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
+            mesh.Clear();
+            List<Vector3> vertices = new List<Vector3>();
+            List<Vector3> vertices2 = new List<Vector3>();
+            List<int> tris = new List<int>();
+            vertices.Clear();
+            vertices2.Clear();
+            tris.Clear();
+
+            int[] vtxIndex = new int[voxelCount];
+            for (int i = 0; i < vtxIndex.Length; ++i)
+                vtxIndex[i] = -1;
+
+            // create vertices:
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                        {
+                            vtxIndex[GetVoxelIndex(x, y, z)] = vertices.Count;
+                            var vtx = new Vector3(Origin.x + x + 0.5f, Origin.y + y + 0.5f, Origin.z + z + 0.5f) * voxelSize;
+                            vertices.Add(vtx);
+                            vertices2.Add(vtx);
+                        }
+
+            List<Vector3> inputVertices = vertices;
+            List<Vector3> outputVertices = vertices2;
+            for (int i = 0; i < smoothingIterations; ++i)
+            {
+                for (int x = 0; x < resolution.x; ++x)
+                    for (int y = 0; y < resolution.y; ++y)
+                        for (int z = 0; z < resolution.z; ++z)
+                            if (this[x, y, z] == Voxel.Boundary)
+                            {
+                                Vector3 avg = Vector3.zero;
+
+                                int count = 0;
+                                for (int j = 0; j < faceNeighborhood.Length; ++j)
+                                {
+                                    var index = faceNeighborhood[j];
+                                    if (VoxelExists(index.x + x, index.y + y, index.z + z) && this[index.x + x, index.y + y, index.z + z] == Voxel.Boundary)
+                                    {
+                                        avg += inputVertices[vtxIndex[GetVoxelIndex(index.x + x, index.y + y, index.z + z)]];
+                                        count++;
+                                    }
+                                }
+
+                                if (count > 0)
+                                    outputVertices[vtxIndex[GetVoxelIndex(x, y, z)]] = avg / count;
+                            }
+
+                var aux = inputVertices;
+                inputVertices = outputVertices;
+                outputVertices = aux;
+            }
+
+            // triangulate
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        if (this[x, y, z] == Voxel.Boundary)
+                        {
+                            int x0y0z0 = GetVoxelIndex(x, y, z);
+
+                            int x1y0z0 = VoxelExists(x + 1, y, z) ? GetVoxelIndex(x+1, y, z) : -1;
+                            int x1y1z0 = VoxelExists(x + 1, y + 1, z) ? GetVoxelIndex(x+1, y+1, z) : -1;
+                            int x0y1z0 = VoxelExists(x, y + 1, z) ? GetVoxelIndex(x, y+1, z) : -1;
+
+                            int x0y0z1 = VoxelExists(x, y, z + 1) ? GetVoxelIndex(x, y , z + 1) : -1;
+                            int x0y1z1 = VoxelExists(x, y + 1, z + 1) ? GetVoxelIndex(x, y + 1, z + 1) : -1;
+                            int x1y0z1 = VoxelExists(x + 1, y, z + 1) ? GetVoxelIndex(x+1, y, z + 1) : -1;
+
+                            int x1y1z1 = VoxelExists(x + 1, y + 1, z + 1) ? GetVoxelIndex(x + 1, y + 1, z + 1) : -1;
+
+                            // XY plane
+                            if (x1y0z0 >= 0 && x1y1z0 >= 0 && x0y1z0 >= 0 &&
+                                voxels[x1y0z0] == Voxel.Boundary &&
+                                voxels[x1y1z0] == Voxel.Boundary &&
+                                voxels[x0y1z0] == Voxel.Boundary)
+                            {
+                                if (x0y1z1 < 0 || voxels[x0y1z1] == Voxel.Outside ||
+                                    x0y0z1 < 0 || voxels[x0y0z1] == Voxel.Outside ||
+                                    x1y0z1 < 0 || voxels[x1y0z1] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x1y1z0]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x1y1z0]);
+                                }
+                            }
+
+                            // XZ plane
+                            if (x1y0z0 >= 0 && x1y0z1 >= 0 && x0y0z1 >= 0 &&
+                                voxels[x1y0z0] == Voxel.Boundary &&
+                                voxels[x1y0z1] == Voxel.Boundary &&
+                                voxels[x0y0z1] == Voxel.Boundary)
+                            {
+                                if (x0y1z0 < 0 || voxels[x0y1z0] == Voxel.Outside ||
+                                    x0y1z1 < 0 || voxels[x0y1z1] == Voxel.Outside ||
+                                    x1y1z0 < 0 || voxels[x1y1z0] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x1y0z1]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x1y0z0]);
+                                    tris.Add(vtxIndex[x1y0z1]);
+                                }
+                            }
+
+                            // XY plane
+                            if (x0y0z1 >= 0 && x0y1z1 >= 0 && x0y1z0 >= 0 &&
+                                voxels[x0y0z1] == Voxel.Boundary &&
+                                voxels[x0y1z1] == Voxel.Boundary &&
+                                voxels[x0y1z0] == Voxel.Boundary)
+                            {
+                                if (x1y0z0 < 0 || voxels[x1y0z0] == Voxel.Outside ||
+                                    x1y0z1 < 0 || voxels[x1y0z1] == Voxel.Outside ||
+                                    x1y1z0 < 0 || voxels[x1y1z0] == Voxel.Outside ||
+                                    x1y1z1 < 0 || voxels[x1y1z1] == Voxel.Outside)
+                                {
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x0y1z1]);
+                                }
+                                else
+                                {
+                                    tris.Add(vtxIndex[x0y0z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z0]);
+
+                                    tris.Add(vtxIndex[x0y1z0]);
+                                    tris.Add(vtxIndex[x0y0z1]);
+                                    tris.Add(vtxIndex[x0y1z1]);
+                                }
+                            }
+                        }
+
+            mesh.SetVertices(outputVertices);
+            mesh.SetIndices(tris, MeshTopology.Triangles, 0);
+            mesh.RecalculateNormals();
+        }
+
         private IEnumerator FloodFill()
         {
             Queue<Vector3Int> queue = new Queue<Vector3Int>();
@@ -424,6 +631,5 @@ namespace Obi
 
             return !(Mathf.Max(-maxP, minP) > r);
         }
-
     }
-}
\ No newline at end of file
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
index 8484fbfd8..dd727dc36 100644
--- a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
@@ -1,4 +1,5 @@
-using System.Collections;
+using System.Collections.Generic;
+using System.Collections;
 using UnityEngine;
 
 namespace Obi
@@ -9,7 +10,7 @@ namespace Obi
      */
     public class VoxelDistanceField
     {
-        public Vector3Int[,,] distanceField; // for each coordinate, stores coordinates of closest surface voxel.
+        public Vector3[,,] distanceField; // for each coordinate, stores coordinates of closest surface voxel.
 
         private MeshVoxelizer voxelizer;
 
@@ -18,115 +19,159 @@ namespace Obi
             this.voxelizer = voxelizer;
         }
 
-        public float SampleUnfiltered(int x, int y, int z)
+        public Vector4 SampleUnfiltered(int x, int y, int z)
         {
-            if (!voxelizer.VoxelExists(x, y, z)) return float.PositiveInfinity;
+            x = Mathf.Clamp(x, 0, voxelizer.resolution.x - 1);
+            y = Mathf.Clamp(y, 0, voxelizer.resolution.y - 1);
+            z = Mathf.Clamp(z, 0, voxelizer.resolution.z - 1);
 
-            float dist = Vector3.Distance(voxelizer.GetVoxelCenter(distanceField[x, y, z]),
-                                          voxelizer.GetVoxelCenter(new Vector3Int(x, y, z)));
+            var grad = distanceField[x, y, z];
+            float dist = grad.magnitude;
+            grad.Normalize();
 
-            if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Inside)
-                return -dist;
-            return dist;
+            return new Vector4(grad.x, grad.y, grad.z, -dist);
         }
 
-        public Vector4 SampleFiltered(float x, float y, float z)
+        public Vector4 SampleFiltered(float x, float y, float z, Vector3Int axisMask)
         {
             var pos = new Vector3(x, y, z);
 
             // clamp position inside the distance field:
-            var min = voxelizer.GetVoxelCenter(new Vector3Int(0, 0, 0)); 
+            var min = voxelizer.GetVoxelCenter(new Vector3Int(0, 0, 0));
             var max = voxelizer.GetVoxelCenter(new Vector3Int(voxelizer.resolution.x - 1, voxelizer.resolution.y - 1, voxelizer.resolution.z - 1));
-            pos.x = Mathf.Clamp(pos.x, min.x, max.x - voxelizer.voxelSize * 0.05f);
-            pos.y = Mathf.Clamp(pos.y, min.y, max.y - voxelizer.voxelSize * 0.05f);
-            pos.z = Mathf.Clamp(pos.z, min.z, max.z - voxelizer.voxelSize * 0.05f);
-
-            var voxel = voxelizer.GetPointVoxel(pos - Vector3.one * voxelizer.voxelSize * 0.5f) - voxelizer.Origin;
+            pos.x = Mathf.Clamp(pos.x, min.x, max.x);
+            pos.y = Mathf.Clamp(pos.y, min.y, max.y);
+            pos.z = Mathf.Clamp(pos.z, min.z, max.z);
 
+            var voxel = voxelizer.GetPointVoxel(pos - (Vector3)axisMask * voxelizer.voxelSize * 0.5f) - voxelizer.Origin;
             var voxelCenter = voxelizer.GetVoxelCenter(voxel);
-            var norm = (pos - voxelCenter) / voxelizer.voxelSize;
+            var norm = Vector3.Scale((pos - voxelCenter) / voxelizer.voxelSize, axisMask);
 
-            float xz00 = SampleUnfiltered(voxel.x, voxel.y, voxel.z);
-            float xz01 = SampleUnfiltered(voxel.x, voxel.y, voxel.z + 1);
-            float xz10 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z);
-            float xz11 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z + 1);
+            var xz00 = SampleUnfiltered(voxel.x, voxel.y, voxel.z);
+            var xz01 = SampleUnfiltered(voxel.x, voxel.y, voxel.z + 1);
+            var xz10 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z);
+            var xz11 = SampleUnfiltered(voxel.x + 1, voxel.y, voxel.z + 1);
 
-            float yz00 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z);
-            float yz01 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z + 1);
-            float yz10 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z);
-            float yz11 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z + 1);
+            var yz00 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z);
+            var yz01 = SampleUnfiltered(voxel.x, voxel.y + 1, voxel.z + 1);
+            var yz10 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z);
+            var yz11 = SampleUnfiltered(voxel.x + 1, voxel.y + 1, voxel.z + 1);
 
-            float X1 = Mathf.Lerp(xz00, xz10, norm.x);
-            float X2 = Mathf.Lerp(xz01, xz11, norm.x);
-            float X3 = Mathf.Lerp(yz00, yz10, norm.x);
-            float X4 = Mathf.Lerp(yz01, yz11, norm.x);
+            var X1 = Vector4.Lerp(xz00, xz10, norm.x);
+            var X2 = Vector4.Lerp(xz01, xz11, norm.x);
+            var X3 = Vector4.Lerp(yz00, yz10, norm.x);
+            var X4 = Vector4.Lerp(yz01, yz11, norm.x);
 
-            float Y1 = Mathf.Lerp(X1, X2, norm.z);
-            float Y2 = Mathf.Lerp(X3, X4, norm.z);
+            var Y1 = Vector4.Lerp(X1, X2, norm.z);
+            var Y2 = Vector4.Lerp(X3, X4, norm.z);
 
-            float R = Mathf.Lerp(Mathf.Lerp(xz10, xz11, norm.z), Mathf.Lerp(yz10, yz11, norm.z), norm.y);
-            float L = Mathf.Lerp(Mathf.Lerp(xz00, xz01, norm.z), Mathf.Lerp(yz00, yz01, norm.z), norm.y);
-
-            float F = Mathf.Lerp(X2, X4, norm.y);
-            float B = Mathf.Lerp(X1, X3, norm.y);
-
-            return new Vector4((R - L) / voxelizer.voxelSize,
-                               (Y2 - Y1) / voxelizer.voxelSize,
-                               (F - B) / voxelizer.voxelSize,
-                               Mathf.Lerp(Y1, Y2, norm.y));
+            return Vector4.Lerp(Y1, Y2, norm.y);
         }
 
-        public IEnumerator JumpFlood()
+        public void Smooth()
         {
+            // create output buffer for ping-pong.
+            Vector3[,,] smoothed = new Vector3[voxelizer.resolution.x,
+                                               voxelizer.resolution.y,
+                                               voxelizer.resolution.z];
 
-            // create and initialize distance field:
-            distanceField = new Vector3Int[voxelizer.resolution.x,
-                                           voxelizer.resolution.y,
-                                           voxelizer.resolution.z];
-
-            // create auxiliar buffer for ping-pong.
-            Vector3Int[,,] auxBuffer = new Vector3Int[voxelizer.resolution.x,
-                                                      voxelizer.resolution.y,
-                                                      voxelizer.resolution.z];
-
-            // initialize distance field:
             for (int x = 0; x < distanceField.GetLength(0); ++x)
                 for (int y = 0; y < distanceField.GetLength(1); ++y)
                     for (int z = 0; z < distanceField.GetLength(2); ++z)
                     {
-                        if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Boundary)
-                            distanceField[x, y, z] = new Vector3Int(x, y, z);
+                        if (voxelizer[x, y, z] != MeshVoxelizer.Voxel.Outside)
+                        {
+                            var p = new Vector3Int(x, y, z);
+                            Vector3 df = distanceField[x, y, z];
+                            int count = 1;
+                            foreach (var o in MeshVoxelizer.faceNeighborhood)
+                            {
+                                // offset voxel to get neighbor:
+                                var n = p + o;
+                                if (voxelizer.VoxelExists(n.x, n.y, n.z) && voxelizer[n.x, n.y, n.z] != MeshVoxelizer.Voxel.Outside)
+                                {
+                                    df += distanceField[n.x, n.y, n.z];
+                                    count++;
+                                }
+                            }
+                            df /= count;
+                            smoothed[x, y, z] = df;
+                        }
+                    }
+
+            distanceField = smoothed;
+        }
+
+        private void CalculateGradientsAndDistances(Vector3Int[,,] buffer1)
+        {
+            distanceField = new Vector3[voxelizer.resolution.x,
+                                        voxelizer.resolution.y,
+                                        voxelizer.resolution.z];
+
+            for (int x = 0; x < buffer1.GetLength(0); ++x)
+                for (int y = 0; y < buffer1.GetLength(1); ++y)
+                    for (int z = 0; z < buffer1.GetLength(2); ++z)
+                    {
+                        if (voxelizer[x, y, z] != MeshVoxelizer.Voxel.Outside)
+                        {
+                            distanceField[x, y, z] = voxelizer.GetVoxelCenter(buffer1[x, y, z]) -
+                                                     voxelizer.GetVoxelCenter(new Vector3Int(x, y, z));
+                        }
                         else
-                            distanceField[x, y, z] = new Vector3Int(-1, -1, -1);
+                            distanceField[x, y, z] = Vector3.zero;
+                    }
+        }
+
+        public IEnumerator JumpFlood()
+        {
+            // create two buffers for ping-ponging:
+            Vector3Int[,,] buffer1 = new Vector3Int[voxelizer.resolution.x,
+                                                    voxelizer.resolution.y,
+                                                    voxelizer.resolution.z];
+
+            Vector3Int[,,] buffer2 = new Vector3Int[voxelizer.resolution.x,
+                                                      voxelizer.resolution.y,
+                                                      voxelizer.resolution.z];
+
+            // initialize distance field:
+            for (int x = 0; x < buffer1.GetLength(0); ++x)
+                for (int y = 0; y < buffer1.GetLength(1); ++y)
+                    for (int z = 0; z < buffer1.GetLength(2); ++z)
+                    {
+                        if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Outside)
+                            buffer1[x, y, z] = new Vector3Int(x, y, z);
+                        else
+                            buffer1[x, y, z] = new Vector3Int(-1, -1, -1);
                     }
 
             // calculate the maximum size of the buffer:
-            int size = Mathf.Max(distanceField.GetLength(0),
-                                 distanceField.GetLength(1),
-                                 distanceField.GetLength(2));
+            int size = Mathf.Max(buffer1.GetLength(0),
+                                 buffer1.GetLength(1),
+                                 buffer1.GetLength(2));
             int step = (int)(size / 2.0f);
 
-            yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...",0);
+            yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...", 0);
 
-            float numPasses = (int) Mathf.Log(size, 2);
+            float numPasses = (int)Mathf.Log(size, 2);
             int i = 0;
 
             // jump flood passes:
             while (step >= 1)
             {
-                JumpFloodPass(step, distanceField, auxBuffer);
+                JumpFloodPass(step, buffer1, buffer2);
 
                 // halve step:
                 step /= 2;
 
                 // swap buffers:
-                Vector3Int[,,] temp = distanceField;
-                distanceField = auxBuffer;
-                auxBuffer = temp;
+                Vector3Int[,,] temp = buffer1;
+                buffer1 = buffer2;
+                buffer2 = temp;
 
                 yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...", ++i / numPasses);
             }
 
+            CalculateGradientsAndDistances(buffer1);
         }
 
         private void JumpFloodPass(int stride, Vector3Int[,,] input, Vector3Int[,,] output)
@@ -155,34 +200,30 @@ namespace Obi
                             dist = (s - p).sqrMagnitude;
 
                         // for each neighbor voxel:
-                        for (int nx = -1; nx <= 1; ++nx)
-                            for (int ny = -1; ny <= 1; ++ny)
-                                for (int nz = -1; nz <= 1; ++nz)
+                        foreach (var o in MeshVoxelizer.fullNeighborhood)
+                        {
+                            // offset voxel to get neighbor:
+                            var n = p + o * stride;
+
+                            if (voxelizer.VoxelExists(n.x, n.y, n.z))
+                            {
+                                // neighbors' closest seed.
+                                Vector3Int nc = input[n.x, n.y, n.z];
+
+                                if (nc.x >= 0)
                                 {
-                                    // neighbor's position:
-                                    int px = x + nx * stride;
-                                    int py = y + ny * stride;
-                                    int pz = z + nz * stride;
+                                    // distance to neighbor's closest seed:
+                                    float newDist = (nc - p).sqrMagnitude;
 
-                                    if (voxelizer.VoxelExists(px,py,pz))
+                                    // if the distance to the neighbor's closest seed is smaller than the distance to ours:
+                                    if (newDist < dist)
                                     {
-                                        // neighbors' closest seed.
-                                        Vector3Int n = input[px,py,pz];
-
-                                        if (n.x >= 0)
-                                        {
-                                            // distance to neighbor's closest seed:
-                                            float newDist = (n - p).sqrMagnitude;
-
-                                            // if the distance to the neighbor's closest seed is smaller than the distance to ours:
-                                            if (newDist < dist)
-                                            {
-                                                output[x, y, z] = n;
-                                                dist = newDist;
-                                            }
-                                        }
+                                        output[x, y, z] = nc;
+                                        dist = newDist;
                                     }
                                 }
+                            }
+                        }
                     }
 
         }
diff --git a/Assets/Obi/Editor/Common/ObiEditorSettings.cs b/Assets/Obi/Scripts/Common/ObiEditorSettings.cs
similarity index 86%
rename from Assets/Obi/Editor/Common/ObiEditorSettings.cs
rename to Assets/Obi/Scripts/Common/ObiEditorSettings.cs
index 94d9ce99d..1a48a23fb 100644
--- a/Assets/Obi/Editor/Common/ObiEditorSettings.cs
+++ b/Assets/Obi/Scripts/Common/ObiEditorSettings.cs
@@ -1,10 +1,12 @@
 using UnityEngine;
+
+#if UNITY_EDITOR
 using UnityEditor;
-using System.Collections;
+#endif
 
 namespace Obi
 {
-    class ObiEditorSettings : ScriptableObject
+    public class ObiEditorSettings : ScriptableObject
     {
         public const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
 
@@ -14,6 +16,7 @@ namespace Obi
         [SerializeField] private Color m_SelectedParticle;
         [SerializeField] private Color m_ActiveParticle;
         [SerializeField] private Gradient m_PropertyGradient;
+        [SerializeField] private bool m_ParticlePicking;
 
         public Color brushColor
         {
@@ -39,8 +42,13 @@ namespace Obi
         {
             get { return m_PropertyGradient; }
         }
+        public bool sceneViewParticlePicking
+        {
+            get { return m_ParticlePicking; }
+        }
 
-        internal static ObiEditorSettings GetOrCreateSettings()
+#if UNITY_EDITOR
+        public static ObiEditorSettings GetOrCreateSettings()
         {
             var settings = AssetDatabase.LoadAssetAtPath<ObiEditorSettings>(m_ObiEditorSettingsPath);
             if (settings == null)
@@ -52,6 +60,7 @@ namespace Obi
                 settings.m_SelectedParticle = new Color32(243, 77, 43, 255);
                 settings.m_ActiveParticle = new Color32(243, 243, 43, 255);
                 settings.m_PropertyGradient = new Gradient();
+                settings.m_ParticlePicking = true;
 
                 // Populate the color keys at the relative time 0 and 1 (0 and 100%)
                 var colorKey = new GradientColorKey[2];
@@ -75,9 +84,11 @@ namespace Obi
             return settings;
         }
 
-        internal static SerializedObject GetSerializedSettings()
+
+        public static SerializedObject GetSerializedSettings()
         {
             return new SerializedObject(GetOrCreateSettings());
         }
+#endif
     }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/ObiEditorSettings.cs.meta b/Assets/Obi/Scripts/Common/ObiEditorSettings.cs.meta
similarity index 100%
rename from Assets/Obi/Editor/Common/ObiEditorSettings.cs.meta
rename to Assets/Obi/Scripts/Common/ObiEditorSettings.cs.meta
diff --git a/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta b/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta
new file mode 100644
index 000000000..3fd71cf29
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/DataBatches.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 13ef5aa25fc194dda8d453b36a50e5d0
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs b/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs
new file mode 100644
index 000000000..7f8362043
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs
@@ -0,0 +1,316 @@
+using UnityEngine;
+using Unity.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace Obi
+{
+    public interface IMeshDataProvider
+    {
+        Mesh sourceMesh { get; }
+        uint meshInstances { get; }
+
+        int vertexCount { get; }
+        int triangleCount { get; }
+
+        void GetVertices(List<Vector3> vertices);
+        void GetNormals(List<Vector3> normals);
+        void GetTangents(List<Vector4> tangents);
+        void GetColors(List<Color> colors);
+        void GetUVs(int channel, List<Vector2> uvs);
+
+        void GetTriangles(List<int> triangles);
+    }
+
+    public class MeshDataBatch
+    {
+        public struct MeshData
+        {
+            public int firstVertex;
+            public int vertexCount;
+
+            public int firstTriangle;
+            public int triangleCount;
+        }
+
+        private Dictionary<Mesh, int> meshToIndex;
+
+        // per mesh data:
+        public ObiNativeList<MeshData> meshData;
+
+        public ObiNativeList<Vector3> restPositions;
+        public ObiNativeList<Vector3> restNormals;
+        public ObiNativeList<Vector4> restTangents;
+        public ObiNativeList<Color> restColors;
+        public ObiNativeList<Vector2> uv;
+        public ObiNativeList<Vector2> uv2;
+        public ObiNativeList<Vector2> uv3;
+        public ObiNativeList<Vector2> uv4;
+        public ObiNativeList<int> triangles;
+
+        private List<Vector3> tempVertices;
+        private List<Vector3> tempNormals;
+        private List<Vector4> tempTangents;
+        private List<Color> tempColors;
+        private List<Vector2> tempUV;
+        private List<Vector2> tempUV2;
+        private List<Vector2> tempUV3;
+        private List<Vector2> tempUV4;
+        private List<int> tempTriangles;
+
+        public int Count { get { return meshData.count; } }
+
+        public MeshDataBatch()
+        {
+            meshToIndex = new Dictionary<Mesh, int>();
+            meshData = new ObiNativeList<MeshData>();
+
+            InitializeTempData();
+            InitializeDynamicData();
+            InitializeStaticData();
+        }
+
+        public void InitializeTempData()
+        {
+            tempVertices = new List<Vector3>();
+            tempNormals = new List<Vector3>();
+            tempTangents = new List<Vector4>();
+            tempColors = new List<Color>();
+
+            tempUV = new List<Vector2>();
+            tempUV2 = new List<Vector2>();
+            tempUV3 = new List<Vector2>();
+            tempUV4 = new List<Vector2>();
+            tempTriangles = new List<int>();
+        }
+
+        public void InitializeDynamicData()
+        {
+            if (restPositions == null)
+                restPositions = new ObiNativeList<Vector3>();
+
+            if (restNormals == null)
+                restNormals = new ObiNativeList<Vector3>();
+
+            if (restTangents == null)
+                restTangents = new ObiNativeList<Vector4>();
+
+            if (restColors == null)
+                restColors = new ObiNativeList<Color>();
+        }
+
+        public void InitializeStaticData()
+        {
+            if (uv == null)
+                uv = new ObiNativeList<Vector2>();
+
+            if (uv2 == null)
+                uv2 = new ObiNativeList<Vector2>();
+
+            if (uv3 == null)
+                uv3 = new ObiNativeList<Vector2>();
+
+            if (uv4 == null)
+                uv4 = new ObiNativeList<Vector2>();
+
+            if (triangles == null)
+                triangles = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            if (meshData != null) meshData.Dispose();
+            DisposeOfTempData();
+            DisposeOfDynamicData();
+            DisposeOfStaticData();
+        }
+
+        public void DisposeOfTempData()
+        {
+            tempVertices = null;
+            tempNormals = null;
+            tempTangents = null;
+            tempColors = null;
+
+            tempUV = null;
+            tempUV2 = null;
+            tempUV3 = null;
+            tempUV4 = null;
+            tempTriangles = null;
+        }
+
+        public void DisposeOfDynamicData()
+        {
+            if (restPositions != null) restPositions.Dispose(); restPositions = null;
+            if (restNormals != null)   restNormals.Dispose();   restNormals = null;
+            if (restTangents != null)  restTangents.Dispose();  restTangents = null;
+            if (restColors != null)    restColors.Dispose();    restColors = null;
+        }
+
+        public void DisposeOfStaticData()
+        {
+            if (uv != null)  uv.Dispose(); uv = null;
+            if (uv2 != null) uv2.Dispose(); uv2 = null;
+            if (uv3 != null) uv3.Dispose(); uv3 = null;
+            if (uv4 != null) uv4.Dispose(); uv4 = null;
+            if (triangles != null) triangles.Dispose(); triangles = null;
+        }
+
+        public void Clear()
+        {
+            if (meshToIndex != null) meshToIndex.Clear();
+            if (meshData != null) meshData.Clear();
+
+            if (restPositions != null) restPositions.Clear();
+            if (restNormals != null) restNormals.Clear();
+            if (restTangents != null) restTangents.Clear();
+            if (restColors != null) restColors.Clear();
+            if (uv != null) uv.Clear();
+            if (uv2 != null) uv2.Clear();
+            if (uv3 != null) uv3.Clear();
+            if (uv4 != null) uv4.Clear();
+            if (triangles != null) triangles.Clear();
+        }
+
+        public int AddMesh(IMeshDataProvider meshProvider)
+        {
+            if (!meshToIndex.TryGetValue(meshProvider.sourceMesh, out int index))
+            {
+                index = meshData.count;
+                meshToIndex[meshProvider.sourceMesh] = index;
+
+                meshProvider.GetVertices(tempVertices);
+                meshProvider.GetNormals(tempNormals);
+                meshProvider.GetTangents(tempTangents);
+                meshProvider.GetColors(tempColors);
+
+                meshProvider.GetUVs(0, tempUV);
+                meshProvider.GetUVs(1, tempUV2);
+                meshProvider.GetUVs(2, tempUV3);
+                meshProvider.GetUVs(3, tempUV4);
+
+                meshProvider.GetTriangles(tempTriangles);
+
+                if (tempTangents.Count == 0)
+                    tempTangents.AddRange(Enumerable.Repeat(Vector4.zero, tempVertices.Count));
+               
+                if (tempColors.Count == 0)
+                    tempColors.AddRange(Enumerable.Repeat(Color.white, tempVertices.Count));
+                
+                if (tempUV.Count == 0)
+                    tempUV.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+
+                if (tempUV2.Count == 0)
+                    tempUV2.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+                
+                if (tempUV3.Count == 0)
+                    tempUV3.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+                
+                if (tempUV4.Count == 0)
+                    tempUV4.AddRange(Enumerable.Repeat(Vector2.zero, tempVertices.Count));
+
+                meshData.Add(new MeshData
+                {
+                    firstVertex = restPositions.count,
+                    vertexCount = tempVertices.Count,
+
+                    firstTriangle = triangles.count,
+                    triangleCount = tempTriangles.Count
+                });
+
+                restPositions.AddRange(tempVertices);
+                restNormals.AddRange(tempNormals);
+                restTangents.AddRange(tempTangents);
+                restColors.AddRange(tempColors);
+                uv.AddRange(tempUV);
+                uv2.AddRange(tempUV2);
+                uv3.AddRange(tempUV3);
+                uv4.AddRange(tempUV4);
+                triangles.AddRange(tempTriangles);
+            }
+            return index;
+        }
+
+        public void PrepareForCompute()
+        {
+            meshData.AsComputeBuffer<MeshData>();
+            restPositions.AsComputeBuffer<Vector3>();
+            restNormals.AsComputeBuffer<Vector3>();
+            restTangents.AsComputeBuffer<Vector4>();
+            restColors.AsComputeBuffer<Color>();
+        }
+
+        public int GetVertexCount(int meshIndex)
+        {
+            return meshData[meshIndex].vertexCount;
+        }
+
+        public int GetTriangleCount(int meshIndex)
+        {
+            return meshData[meshIndex].triangleCount;
+        }
+
+        public NativeSlice<Vector3> GetVertices(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restPositions.AsNativeArray<Vector3>().Slice(start,count);
+        }
+
+        public NativeSlice<Vector3> GetNormals(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restNormals.AsNativeArray<Vector3>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector4> GetTangents(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restTangents.AsNativeArray<Vector4>().Slice(start, count);
+        }
+
+        public NativeSlice<Color> GetColors(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return restColors.AsNativeArray<Color>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV2(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv2.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV3(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv3.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<Vector2> GetUV4(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstVertex;
+            int count = meshData[meshIndex].vertexCount;
+            return uv4.AsNativeArray<Vector2>().Slice(start, count);
+        }
+
+        public NativeSlice<int> GetTriangles(int meshIndex)
+        {
+            int start = meshData[meshIndex].firstTriangle;
+            int count = meshData[meshIndex].triangleCount;
+            return triangles.AsNativeArray<int>().Slice(start, count);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta
new file mode 100644
index 000000000..a116f658a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/DataBatches/MeshDataBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 51631a4146e8e4501adcbe8ff6f039c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs b/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs
new file mode 100644
index 000000000..a2c0337aa
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs
@@ -0,0 +1,117 @@
+
+using UnityEngine;
+
+namespace Obi
+{
+    public class SkeletonDataBatch
+    {
+        public struct SkeletonData
+        {
+            public int firstBone;
+            public int boneCount;
+        }
+
+        // per skinMap data:
+        public ObiNativeList<SkeletonData> skeletonData;
+        public ObiNativeList<Matrix4x4> world2Solver;
+
+        // bone data:
+        public ObiNativeList<Vector3> bonePositions;
+        public ObiNativeList<Quaternion> boneRotations;
+        public ObiNativeList<Vector3> boneScales;
+
+        public int Count { get { return skeletonData.count; } }
+
+        public SkeletonDataBatch()
+        {
+            skeletonData = new ObiNativeList<SkeletonData>();
+            world2Solver = new ObiNativeList<Matrix4x4>();
+
+            bonePositions = new ObiNativeList<Vector3>();
+            boneRotations = new ObiNativeList<Quaternion>();
+            boneScales = new ObiNativeList<Vector3>();
+        }
+
+        public void Dispose()
+        {
+            skeletonData.Dispose();
+            world2Solver.Dispose();
+
+            bonePositions.Dispose();
+            boneRotations.Dispose();
+            boneScales.Dispose();
+        }
+
+        public void Clear()
+        {
+            skeletonData.Clear();
+            world2Solver.Clear();
+
+            bonePositions.Clear();
+            boneRotations.Clear();
+            boneScales.Clear();
+        }
+
+        public int AddSkeleton(Transform[] bones, Matrix4x4 worldToSolver)
+        {
+            var data = new SkeletonData
+            {
+                firstBone = bonePositions.count,
+            };
+
+            foreach (var bone in bones)
+            {
+                if (bone != null)
+                {
+                    bonePositions.Add(bone.position);
+                    boneRotations.Add(bone.rotation);
+                    boneScales.Add(bone.localScale);
+                }
+            }
+
+            data.boneCount = bonePositions.count;
+
+            skeletonData.Add(data);
+            world2Solver.Add(worldToSolver);
+
+            return skeletonData.count - 1;
+        }
+
+        public void PrepareForCompute()
+        {
+            skeletonData.SafeAsComputeBuffer<SkeletonData>();
+            world2Solver.SafeAsComputeBuffer<Matrix4x4>();
+            bonePositions.SafeAsComputeBuffer<Vector3>();
+            boneRotations.SafeAsComputeBuffer<Quaternion>();
+            boneScales.SafeAsComputeBuffer<Vector3>();
+        }
+
+        public void SetBoneTransform(int index, int boneIndex, Transform transform)
+        {
+            if (transform != null)
+            {
+                var i = skeletonData[index].firstBone + boneIndex;
+                bonePositions[i] = transform.position;
+                boneScales[i] = transform.lossyScale;
+                boneRotations[i] = transform.rotation;
+            }
+        }
+
+        public void UpdateBoneTransformsCompute()
+        {
+            bonePositions.Upload();
+            boneScales.Upload();
+            boneRotations.Upload();
+        }
+
+        public Matrix4x4 GetWorldToSolverTransform(int index)
+        {
+            return world2Solver[index];
+        }
+
+        public void SetWorldToSolverTransform(int index, Matrix4x4 trfm)
+        {
+            world2Solver[index] = trfm;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta
new file mode 100644
index 000000000..cad0d32ba
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/DataBatches/SkeletonDataBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6b609b47dfb88424c9ae3e32c64bfaeb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs b/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs
new file mode 100644
index 000000000..91f76b019
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public interface ISurfaceChunkUser
+    {
+        uint usedChunkCount { get; }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta
new file mode 100644
index 000000000..ffcc1476e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ISurfaceChunkUser.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5e544f8db79af4a6a91df85c5df0dee7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs
new file mode 100644
index 000000000..3fc670692
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs
@@ -0,0 +1,48 @@
+
+namespace Obi
+{
+    public interface IActorRenderer
+    {
+        public ObiActor actor
+        {
+            get;
+        }
+    }
+
+    public interface ObiActorRenderer<T> : IActorRenderer, ObiRenderer<T> where T : ObiActorRenderer<T>
+    {
+        public void EnableRenderer()
+        {
+            actor.OnBlueprintLoaded += ObiActorRenderer_OnBlueprintLoaded;
+            actor.OnBlueprintUnloaded += ObiActorRenderer_OnBlueprintUnloaded;
+
+            if (actor.isLoaded)
+                RegisterRenderer(actor.solver);
+        }
+
+        public void DisableRenderer()
+        {
+            if (actor.isLoaded)
+                UnregisterRenderer(actor.solver);
+
+            actor.OnBlueprintLoaded -= ObiActorRenderer_OnBlueprintLoaded;
+            actor.OnBlueprintUnloaded -= ObiActorRenderer_OnBlueprintUnloaded;
+        }
+
+        public void SetRendererDirty(Oni.RenderingSystemType type)
+        {
+            if (actor != null)
+                actor.SetRenderingDirty(type);
+        }
+
+        private void ObiActorRenderer_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
+        {
+            RegisterRenderer(act.solver);
+        }
+
+        protected void ObiActorRenderer_OnBlueprintUnloaded(ObiActor act, ObiActorBlueprint blueprint)
+        {
+            UnregisterRenderer(act.solver);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta
new file mode 100644
index 000000000..8dd784516
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiActorRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f86d1462578d497182bb58c20b89d42
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
index 8f39af505..2f0344d66 100644
--- a/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
@@ -37,7 +37,7 @@ namespace Obi
 
         public void OnEnable()
         {
-            material = GameObject.Instantiate(Resources.Load<Material>("ObiMaterials/DistanceFieldRendering"));
+            material = GameObject.Instantiate(Resources.Load<Material>("ObiMaterials/DistanceFields/DistanceFieldRendering"));
             material.hideFlags = HideFlags.HideAndDontSave;
         }
 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs b/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs
new file mode 100644
index 000000000..93b906200
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs
@@ -0,0 +1,96 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using Unity.Profiling;
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct DiffuseParticleVertex
+    {
+        public Vector4 pos;
+        public Vector3 offset;
+        public Vector4 color;
+        public Vector4 velocity;
+        public Vector4 attributes;
+    }
+
+    public class ObiFoamRenderSystem : RenderSystem<ObiFoamGenerator>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.FoamParticles; }
+
+        public RendererSet<ObiFoamGenerator> renderers { get; } = new RendererSet<ObiFoamGenerator>();
+        public bool isSetup => true;
+
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 4), // velocity
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 4), // attributes
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupSurfaceMeshing");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("SurfaceMeshing");
+
+        protected HashSet<Camera> cameras = new HashSet<Camera>();
+        protected MaterialPropertyBlock matProps;
+
+        protected ObiSolver m_Solver;
+        public ProceduralRenderBatch<DiffuseParticleVertex> renderBatch;
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        // must be done before fluid meshing.
+        public uint tier
+        {
+            get { return 0; }
+        }
+
+        public ObiFoamRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+            matProps = new MaterialPropertyBlock();
+
+#if (UNITY_2019_1_OR_NEWER)
+            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { RenderFromCamera(cam); });
+            RenderPipelineManager.beginCameraRendering += renderCallback;
+#endif
+            Camera.onPreCull += RenderFromCamera;
+        }
+
+        public virtual void Dispose()
+        {
+            
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= RenderFromCamera;
+
+            renderBatch.Dispose();
+            cameras.Clear();
+        }
+
+        public void RenderFromCamera(Camera camera)
+        {
+            cameras.Add(camera);
+        }
+
+        public virtual void Setup()
+        {
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta
new file mode 100644
index 000000000..7536fe664
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiFoamRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 96d883432ef854a8598e264c73232bdc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs
new file mode 100644
index 000000000..1977c446f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs
@@ -0,0 +1,151 @@
+using UnityEngine;
+using System.Collections.Generic;
+using UnityEngine.Rendering;
+using Unity.Collections;
+using Unity.Profiling;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+
+    public abstract class ObiInstancedParticleRenderSystem : RenderSystem<ObiInstancedParticleRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.InstancedParticles; }
+
+        public RendererSet<ObiInstancedParticleRenderer> renderers { get; } = new RendererSet<ObiInstancedParticleRenderer>();
+        public bool isSetup => activeParticles != null;
+
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupParticleRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ParticleRendering");
+
+        protected ObiSolver m_Solver;
+
+        protected List<InstancedRenderBatch> batchList = new List<InstancedRenderBatch>();
+
+        protected ObiNativeList<int> activeParticles;
+        protected ObiNativeList<int> rendererIndex;
+        protected ObiNativeList<ParticleRendererData> rendererData;
+
+        protected ObiNativeList<Matrix4x4> instanceTransforms;
+        protected ObiNativeList<Matrix4x4> invInstanceTransforms;
+        protected ObiNativeList<Vector4> instanceColors;
+
+        public ObiInstancedParticleRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            activeParticles = new ObiNativeList<int>();
+            rendererIndex = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<ParticleRendererData>();
+            instanceTransforms = new ObiNativeList<Matrix4x4>();
+            invInstanceTransforms = new ObiNativeList<Matrix4x4>();
+            instanceColors = new ObiNativeList<Vector4>();
+        }
+
+        public virtual void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (activeParticles != null)
+                activeParticles.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (rendererIndex != null)
+                rendererIndex.Dispose();
+            if (instanceTransforms != null)
+                instanceTransforms.Dispose();
+            if (invInstanceTransforms != null)
+                invInstanceTransforms.Dispose();
+            if (instanceColors != null)
+                instanceColors.Dispose();
+        }
+
+        protected virtual void Clear()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            activeParticles.Clear();
+            rendererData.Clear();
+            rendererIndex.Clear();
+            instanceTransforms.Clear();
+            invInstanceTransforms.Clear();
+            instanceColors.Clear();
+        }
+
+        protected virtual void CreateBatches()
+        {
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+
+                // Create multiple batches of at most maxInstancesPerBatch particles each:
+                int instanceCount = 0;
+                while (instanceCount < renderers[i].actor.particleCount)
+                {
+                    var batch = new InstancedRenderBatch(i, renderers[i].mesh, renderers[i].material, renderers[i].renderParameters);
+                    batch.firstInstance = instanceCount;
+                    batch.instanceCount = Mathf.Min(renderers[i].actor.particleCount - instanceCount, Constants.maxInstancesPerBatch);
+                    instanceCount += batch.instanceCount;
+                    batchList.Add(batch);
+                }
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                var renderer = renderers[batch.firstRenderer];
+                int particlesSoFar = activeParticles.count;
+
+                // add active particles here, respecting batch order:
+                activeParticles.AddRange(renderer.actor.solverIndices, batch.firstInstance, batch.instanceCount);
+                rendererIndex.AddReplicate(i, batch.instanceCount);
+                rendererData.Add(new ParticleRendererData(renderer.instanceColor, renderer.instanceScale));
+
+                batch.firstInstance = particlesSoFar;
+            }
+
+            instanceTransforms.ResizeUninitialized(activeParticles.count);
+            invInstanceTransforms.ResizeUninitialized(activeParticles.count);
+            instanceColors.ResizeUninitialized(activeParticles.count);
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize();
+        }
+
+        public virtual void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+            }
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..d62f80c8d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fd33018010abc46be9ac6cc091142ccf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
index 90be3a496..e76814594 100644
--- a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
@@ -11,80 +11,51 @@ namespace Obi
     [AddComponentMenu("Physics/Obi/Obi Instanced Particle Renderer", 1001)]
     [ExecuteInEditMode]
     [RequireComponent(typeof(ObiActor))]
-    public class ObiInstancedParticleRenderer : MonoBehaviour
+    public class ObiInstancedParticleRenderer : MonoBehaviour, ObiActorRenderer<ObiInstancedParticleRenderer>
     {
-        static ProfilerMarker m_DrawParticlesPerfMarker = new ProfilerMarker("DrawParticles");
-
-        public bool render = true;
         public Mesh mesh;
         public Material material;
-        public Vector3 instanceScale = Vector3.one;
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+        public Color instanceColor = Color.white;
+        public float instanceScale = 1;
 
-        private List<Matrix4x4> matrices = new List<Matrix4x4>();
-        private List<Vector4> colors = new List<Vector4>();
-        private MaterialPropertyBlock mpb;
+        public ObiActor actor { get; private set; }
 
-        int meshesPerBatch = 0;
-        int batchCount;
+        void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
 
         public void OnEnable()
         {
-            GetComponent<ObiActor>().OnInterpolate += DrawParticles;
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).EnableRenderer();
         }
 
         public void OnDisable()
         {
-            GetComponent<ObiActor>().OnInterpolate -= DrawParticles;
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).DisableRenderer();
         }
 
-        void DrawParticles(ObiActor actor)
+        public void OnValidate()
         {
-            using (m_DrawParticlesPerfMarker.Auto())
+            ((ObiActorRenderer<ObiInstancedParticleRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.InstancedParticles);
+        }
+
+        RenderSystem<ObiInstancedParticleRenderer> ObiRenderer<ObiInstancedParticleRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
             {
 
-                if (mesh == null || material == null || !render || !isActiveAndEnabled || !actor.isActiveAndEnabled || actor.solver == null)
-                {
-                    return;
-                }
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstInstancedParticleRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
 
-                ObiSolver solver = actor.solver;
-
-                // figure out the size of our instance batches:
-                meshesPerBatch = Constants.maxInstancesPerBatch;
-                batchCount = actor.particleCount / meshesPerBatch + 1;
-                meshesPerBatch = Mathf.Min(meshesPerBatch, actor.particleCount);
-
-                Vector4 basis1 = new Vector4(1, 0, 0, 0);
-                Vector4 basis2 = new Vector4(0, 1, 0, 0);
-                Vector4 basis3 = new Vector4(0, 0, 1, 0);
-
-                //Convert particle data to mesh instances:
-                for (int i = 0; i < batchCount; i++)
-                {
-
-                    matrices.Clear();
-                    colors.Clear();
-                    mpb = new MaterialPropertyBlock();
-                    int limit = Mathf.Min((i + 1) * meshesPerBatch, actor.activeParticleCount);
-
-                    for (int j = i * meshesPerBatch; j < limit; ++j)
-                    {
-                        int solverIndex = actor.solverIndices[j];
-                        actor.GetParticleAnisotropy(solverIndex, ref basis1, ref basis2, ref basis3);
-                        matrices.Add(Matrix4x4.TRS(actor.GetParticlePosition(solverIndex),
-                                                   actor.GetParticleOrientation(solverIndex),
-                                                   Vector3.Scale(new Vector3(basis1[3], basis2[3], basis3[3]), instanceScale)));
-                        colors.Add(actor.GetParticleColor(solverIndex));
-                    }
-
-                    if (colors.Count > 0)
-                        mpb.SetVectorArray("_Color", colors);
-
-                    // Send the meshes to be drawn:
-                    Graphics.DrawMeshInstanced(mesh, 0, material, matrices, mpb);
-                }
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeInstancedParticleRenderSystem(solver);
+                    return null;
             }
-
         }
 
     }
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs
new file mode 100644
index 000000000..b84ed1b37
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs
@@ -0,0 +1,145 @@
+using UnityEngine;
+using System.Collections.Generic;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ParticleVertex
+    {
+        public Vector4 pos;
+        public Vector3 offset;
+        public Vector4 color;
+        public Vector4 b1;
+        public Vector4 b2;
+        public Vector4 b3;
+    }
+
+    public abstract class ObiParticleRenderSystem : RenderSystem<ObiParticleRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.Particles; }
+
+        public RendererSet<ObiParticleRenderer> renderers { get; } = new RendererSet<ObiParticleRenderer>();
+        public bool isSetup => activeParticles != null;
+
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord2, VertexAttributeFormat.Float32, 4)
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupParticleRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ParticleRendering");
+
+        protected ObiSolver m_Solver;
+
+        protected List<ProceduralRenderBatch<ParticleVertex>> batchList = new List<ProceduralRenderBatch<ParticleVertex>>();
+
+        protected ObiNativeList<int> activeParticles;
+        protected ObiNativeList<int> rendererIndex;
+        protected ObiNativeList<ParticleRendererData> rendererData;
+
+        public ObiParticleRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            activeParticles = new ObiNativeList<int>();
+            rendererIndex = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<ParticleRendererData>();
+        }
+
+        public virtual void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (activeParticles != null)
+                activeParticles.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (rendererIndex != null)
+                rendererIndex.Dispose();
+        }
+
+        protected virtual void Clear()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            activeParticles.Clear();
+            rendererData.Clear();
+            rendererIndex.Clear();
+        }
+
+        protected virtual void CreateBatches()
+        {
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                batchList.Add(new ProceduralRenderBatch<ParticleVertex>(i, renderers[i].material, renderers[i].renderParameters));
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            int particleCount = 0;
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                var renderer = renderers[batch.firstRenderer];
+                int actorParticleCount = renderer.actor.particleCount;
+
+                batch.vertexCount += actorParticleCount * 4;
+                batch.triangleCount += actorParticleCount * 2;
+
+                batch.firstParticle = particleCount;
+                particleCount += actorParticleCount;
+
+                // add particles here, respecting batch order:
+                activeParticles.AddRange(renderer.actor.solverIndices, actorParticleCount);
+                rendererData.Add(new ParticleRendererData(renderer.particleColor, renderer.radiusScale));
+                rendererIndex.AddReplicate(i, actorParticleCount);
+            }
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize(layout);
+        }
+
+        public virtual void  Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+
+            }
+        }
+
+        public virtual void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta
new file mode 100644
index 000000000..e2307d239
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5e36441d408a548d29fbc80dfa4fffc1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
index e85ed0f87..ab677004d 100644
--- a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
@@ -1,110 +1,78 @@
 using UnityEngine;
-using Unity.Profiling;
-using System;
-using System.Threading;
-using System.Collections;
-using System.Collections.Generic;
 
 namespace Obi
 {
+    public interface IParticleRenderer
+    {
+        public ObiActor actor { get; }
+        public Color particleColor { get; }
+        public float radiusScale { get; }
+    }
+
+    public struct ParticleRendererData
+    {
+        public Color color;
+        public float radiusScale;
+
+        public ParticleRendererData(Color color, float radiusScale)
+        {
+            this.color = color;
+            this.radiusScale = radiusScale;
+        }
+    }
+
     [AddComponentMenu("Physics/Obi/Obi Particle Renderer", 1000)]
     [ExecuteInEditMode]
     [RequireComponent(typeof(ObiActor))]
-    public class ObiParticleRenderer : MonoBehaviour
+    public class ObiParticleRenderer : MonoBehaviour, IParticleRenderer, ObiActorRenderer<ObiParticleRenderer>
     {
-        static ProfilerMarker m_DrawParticlesPerfMarker = new ProfilerMarker("DrawParticles");
+        public Material material;
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
 
-        public bool render = true;
-        public Shader shader;
-        public Color particleColor = Color.white;
-        public float radiusScale = 1;
-        private ParticleImpostorRendering m_Impostors;
+        [field: SerializeField]
+        public Color particleColor { get; set; } = Color.white;
 
-        public IEnumerable<Mesh> ParticleMeshes
+        [field: SerializeField]
+        public float radiusScale { get; set; } = 1;
+
+        public ObiActor actor { get; private set; }
+
+        public void Awake()
         {
-            get { return impostors.Meshes; }
+            actor = GetComponent<ObiActor>();
         }
 
-        public ParticleImpostorRendering impostors
-        {
-            get {
-                if (m_Impostors == null)
-                    m_Impostors = new ParticleImpostorRendering();
-                return m_Impostors;
-            }
-        }
-
-        public Material ParticleMaterial { get; private set; }
-
         public void OnEnable()
         {
-            GetComponent<ObiActor>().OnInterpolate += DrawParticles;
+            ((ObiActorRenderer<ObiParticleRenderer>)this).EnableRenderer();
         }
 
         public void OnDisable()
         {
-            GetComponent<ObiActor>().OnInterpolate -= DrawParticles;
-
-            if (m_Impostors != null)
-                m_Impostors.ClearMeshes();
-
-            DestroyImmediate(ParticleMaterial);
+            ((ObiActorRenderer<ObiParticleRenderer>)this).DisableRenderer();
         }
 
-        void CreateMaterialIfNeeded()
+        public void OnValidate()
         {
-
-            if (shader != null)
-            {
-                if (!shader.isSupported)
-                    Debug.LogWarning("Particle rendering shader not suported.");
-
-                if (ParticleMaterial == null || ParticleMaterial.shader != shader)
-                {
-                    DestroyImmediate(ParticleMaterial);
-                    ParticleMaterial = new Material(shader);
-                    ParticleMaterial.hideFlags = HideFlags.HideAndDontSave;
-                }
-            }
+            ((ObiActorRenderer<ObiParticleRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.Particles);
         }
 
-        void DrawParticles(ObiActor actor)
+        RenderSystem<ObiParticleRenderer> ObiRenderer<ObiParticleRenderer>.CreateRenderSystem(ObiSolver solver)
         {
-            using (m_DrawParticlesPerfMarker.Auto())
-            {
-                if (!isActiveAndEnabled || !actor.isActiveAndEnabled || actor.solver == null)
-                {
-                    impostors.ClearMeshes();
-                    return;
-                }
-
-                CreateMaterialIfNeeded();
-
-                impostors.UpdateMeshes(actor);
-
-                DrawParticles();
-            }
-        }
-
-        private void DrawParticles()
-        {
-            if (ParticleMaterial != null)
+            switch (solver.backendType)
             {
 
-                ParticleMaterial.SetFloat("_RadiusScale", radiusScale);
-                ParticleMaterial.SetColor("_Color", particleColor);
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstParticleRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
 
-                // Send the meshes to be drawn:
-                if (render)
-                {
-                    var meshes = ParticleMeshes;
-                    foreach (Mesh mesh in meshes)
-                        Graphics.DrawMesh(mesh, Matrix4x4.identity, ParticleMaterial, gameObject.layer);
-                }
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeParticleRenderSystem(solver);
+                    return null;
             }
-
         }
-
     }
 }
 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
index 3d6569971..58bfe07b6 100644
--- a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
@@ -1,11 +1,10 @@
 fileFormatVersion: 2
 guid: c8b45ebbf86be4df6b0e6cd933812af2
-timeCreated: 1521054123
-licenseType: Store
 MonoImporter:
+  externalObjects: {}
   serializedVersion: 2
   defaultReferences:
-  - shader: {fileID: 4800000, guid: 801733041f66b49e1b3c2101471db877, type: 3}
+  - material: {fileID: 2100000, guid: fb88690dea2394644849cde5abd037f9, type: 2}
   executionOrder: 0
   icon: {fileID: 2800000, guid: f424a87c9f03240c2870a664731ac9aa, type: 3}
   userData: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs
new file mode 100644
index 000000000..8d8622deb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs
@@ -0,0 +1,65 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public interface ObiRenderer<T> where T : ObiRenderer<T>
+    {
+        protected RenderSystem<T> CreateRenderSystem(ObiSolver solver);
+
+        public bool ValidateRenderer() { return true; }
+        public void CleanupRenderer() { }
+
+        protected bool UnregisterRenderer(ObiSolver solver)
+        {
+            CleanupRenderer();
+
+            // try to get a render system from the solver:
+            var system = solver.GetRenderSystem<T>();
+
+            // if there's an existing render system for this kind of renderer,
+            // unregister from it.
+            if (system != null && system.RemoveRenderer((T)this))
+            {
+                // if the render system is empty, destroy it:
+                if (system.isEmpty)
+                {
+                    solver.UnregisterRenderSystem(system);
+                    system.Dispose();
+                }
+
+                solver.dirtyRendering |= (int)system.typeEnum;
+                return true;
+            }
+
+            return false;
+        }
+
+        protected bool RegisterRenderer(ObiSolver solver)
+        {
+            if (ValidateRenderer())
+            {
+                // try to get a render system from the solver:
+                var system = solver.GetRenderSystem<T>();
+
+                // if no appropiate system has been created yet, create it:
+                if (system == null)
+                {
+                    system = CreateRenderSystem(solver) as RenderSystem<T>;
+                    solver.RegisterRenderSystem(system);
+                }
+
+                // register in the renderer:
+                if (system != null)
+                {
+                    if (system.AddRenderer((T)this))
+                    {
+                        solver.dirtyRendering |= (int)system.typeEnum;
+                        return true;
+                    }
+                }
+            }
+
+            return false;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta
new file mode 100644
index 000000000..ae92becb7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7d4f237ec9acf4df0a30d5a0139e0f36
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta b/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta
new file mode 100644
index 000000000..66adb0b7a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7f9c5efc94e964016b39c7778b3af164
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs
new file mode 100644
index 000000000..ba2f0949b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs
@@ -0,0 +1,368 @@
+using System;
+using UnityEngine;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct DynamicBatchVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct StaticBatchVertex
+    {
+        public Vector2 uv;
+        public Vector2 uv2;
+        public Vector2 uv3;
+        public Vector2 uv4;
+    }
+
+    public class DynamicRenderBatch<T> : IRenderBatch where T : IMeshDataProvider, IActorRenderer
+    {
+        private VertexAttributeDescriptor[] vertexLayout;
+
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Material[] materials;
+        public Mesh mesh;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public ObiNativeList<int> vertexToRenderer; // for each vertex in the batch, index of its renderer
+        public ObiNativeList<int> particleToRenderer; // for each particle in the batch, index of its renderer
+
+        public ObiNativeList<int> particleIndices; // solver indices for all renderers in the batch
+
+        public ObiNativeList<DynamicBatchVertex> dynamicVertexData;
+        public ObiNativeList<StaticBatchVertex> staticVertexData;
+        public ObiNativeList<int> triangles;
+
+        public GraphicsBuffer gpuVertexBuffer;
+
+        public int vertexCount;
+        public int triangleCount => triangles.count / 3;
+        public int particleCount => particleIndices.count;
+
+        public DynamicRenderBatch(int rendererIndex, int vertexCount, Material[] materials, RenderBatchParams param)
+        {
+            this.renderBatchParams = param;
+            this.materials = materials;
+            this.vertexCount = vertexCount;
+
+            this.firstRenderer = rendererIndex;
+            this.rendererCount = 1;
+        }
+
+        public void Initialize(List<T> renderers,
+                               MeshDataBatch meshData,
+                               ObiNativeList<int> meshIndices,
+                               VertexAttributeDescriptor[] layout,
+                               bool gpu = false)
+        {
+            renderParams = renderBatchParams.ToRenderParams();
+            vertexLayout = layout;
+
+            mesh = new Mesh();
+
+            vertexToRenderer = new ObiNativeList<int>();
+            particleToRenderer = new ObiNativeList<int>();
+            particleIndices = new ObiNativeList<int>();
+
+            dynamicVertexData = new ObiNativeList<DynamicBatchVertex>();
+            staticVertexData = new ObiNativeList<StaticBatchVertex>();
+            triangles = new ObiNativeList<int>();
+
+            // there will be exactly one submesh per material in the output batch.
+            // so we iterate trough materials, and for each one, build a submesh by merging the
+            // renderer's submeshes. If a renderer has less submeshes than materials, reuse the last one.
+
+            SubMeshDescriptor[] descriptors = new SubMeshDescriptor[materials.Length];
+
+            for (int m = 0; m < materials.Length; ++m)
+            {
+                int vertexOffset = 0;
+                var desc = new SubMeshDescriptor();
+                desc.indexStart = triangles.count;
+
+                for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+                {
+                    var renderer = renderers[i];
+                    int meshIndex = meshIndices[i];
+                    int submeshIndex = Mathf.Min(m, renderer.sourceMesh.subMeshCount - 1);
+                    var submeshInfo = renderer.sourceMesh.GetSubMesh(submeshIndex);
+
+                    var meshTriangles = meshData.GetTriangles(meshIndex);
+                    for (int k = 0; k < renderer.meshInstances; ++k)
+                    {
+                        // append submesh triangles:
+                        for (int t = submeshInfo.indexStart; t < submeshInfo.indexStart + submeshInfo.indexCount; ++t)
+                            triangles.Add(vertexOffset + meshTriangles[t]);
+
+                        vertexOffset += meshData.GetVertexCount(meshIndex);
+                    }
+                }
+
+                desc.indexCount = triangles.count - desc.indexStart;
+                descriptors[m] = desc;
+            }
+
+            // vertices:
+            for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+            {
+                var renderer = renderers[i];
+                int meshIndex = meshIndices[i];
+
+                int vCount = meshData.GetVertexCount(meshIndex);
+
+                for (int k = 0; k < renderer.meshInstances; ++k)
+                {
+                    vertexToRenderer.AddReplicate(i, vCount);
+                    particleToRenderer.AddReplicate(i, renderer.actor.solverIndices.count);
+                    particleIndices.AddRange(renderer.actor.solverIndices);
+
+                    var verts = meshData.GetVertices(meshIndex);
+                    var norms = meshData.GetNormals(meshIndex);
+                    var tan = meshData.GetTangents(meshIndex);
+                    var col = meshData.GetColors(meshIndex);
+
+                    var uv = meshData.GetUV(meshIndex);
+                    var uv2 = meshData.GetUV2(meshIndex);
+                    var uv3 = meshData.GetUV3(meshIndex);
+                    var uv4 = meshData.GetUV4(meshIndex);
+
+                    for (int j = 0; j < vCount; ++j)
+                    {
+                        dynamicVertexData.Add(new DynamicBatchVertex
+                        {
+                            pos = verts[j],
+                            normal = norms[j],
+                            tangent = tan[j],
+                            color = j < col.Length ? (Vector4)col[j] : Vector4.one
+                        });
+
+                        staticVertexData.Add(new StaticBatchVertex
+                        {
+                            uv = j < uv.Length ? uv[j] : Vector2.zero,
+                            uv2 = j < uv2.Length ? uv2[j] : Vector2.zero,
+                            uv3 = j < uv3.Length ? uv3[j] : Vector2.zero,
+                            uv4 = j < uv4.Length ? uv4[j] : Vector2.zero,
+                        });
+                    }
+                }
+            }
+
+            // setup combined mesh:
+            mesh.SetVertexBufferParams(vertexCount, layout);
+            mesh.SetIndexBufferParams(triangles.count, IndexFormat.UInt32);
+
+            mesh.SetVertexBufferData(dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), 0, 0, dynamicVertexData.count, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+            mesh.SetVertexBufferData(staticVertexData.AsNativeArray<StaticBatchVertex>(), 0, 0, staticVertexData.count, 1, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            mesh.SetIndexBufferData(triangles.AsNativeArray<int>(), 0, 0, triangles.count, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            // set submeshes:
+            mesh.subMeshCount = materials.Length;
+            for (int m = 0; m < materials.Length; ++m)
+                mesh.SetSubMesh(m, descriptors[m], MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                dynamicVertexData.Dispose();
+
+                mesh.vertexBufferTarget |= GraphicsBuffer.Target.Raw;
+
+                // meshes with no vertices will have no vertex buffer, and Unity will throw an exception.
+                try
+                {
+                    if (mesh.vertexCount > 0)
+                    {
+                        gpuVertexBuffer ??= mesh.GetVertexBuffer(0);
+                    }
+                }
+                catch (Exception e)
+                {
+                    Debug.LogException(e);
+                }
+
+                particleIndices.AsComputeBuffer<int>();
+                vertexToRenderer.AsComputeBuffer<int>();
+                particleToRenderer.AsComputeBuffer<int>();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (vertexToRenderer != null)
+                vertexToRenderer.Dispose();
+            if (particleToRenderer != null)
+                particleToRenderer.Dispose();
+
+            if (particleIndices != null)
+                particleIndices.Dispose();
+
+            if (dynamicVertexData != null)
+                dynamicVertexData.Dispose();
+            if (staticVertexData != null)
+                staticVertexData.Dispose();
+            if (triangles != null)
+                triangles.Dispose();
+
+            gpuVertexBuffer?.Dispose();
+            gpuVertexBuffer = null;
+
+            GameObject.DestroyImmediate(mesh);
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var pbatch = other as DynamicRenderBatch<T>;
+            if (pbatch != null)
+            {
+                if (CompareTo(pbatch) == 0 &&
+                    vertexCount + pbatch.vertexCount < Constants.maxVertsPerMesh)
+                {
+                    rendererCount += pbatch.rendererCount;
+                    vertexCount += pbatch.vertexCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        private static int CompareMaterialLists(Material[] a, Material[] b)
+        {
+            int l = Mathf.Min(a.Length, b.Length);
+            for (int i = 0; i < l; ++i)
+            {
+                if (a[i] == null && b[i] == null)
+                    return 0;
+
+                if (a[i] == null) return -1;
+                if (b[i] == null) return 1;
+
+                int compare = a[i].GetInstanceID().CompareTo(b[i].GetInstanceID());
+                if (compare != 0)
+                    return compare;
+            }
+            return a.Length.CompareTo(b.Length);
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var pbatch = other as DynamicRenderBatch<T>;
+            int result = CompareMaterialLists(materials, pbatch.materials);
+            if (result == 0)
+                return renderBatchParams.CompareTo(pbatch.renderBatchParams);
+            return result;
+        }
+
+        public void BakeMesh(List<T> renderers,
+                             T renderer,
+                             ref Mesh bakedMesh, bool transformToActorLocalSpace = false)
+        {
+            // if the dynamic data is not available (such as when the batch is intended for GPU use), read it back:
+            bool gpu = !dynamicVertexData.isCreated || dynamicVertexData == null;
+            if (gpu)
+            {
+                dynamicVertexData = new ObiNativeList<DynamicBatchVertex>();
+                dynamicVertexData.ResizeUninitialized(this.vertexCount);
+                var nativeArray = dynamicVertexData.AsNativeArray<DynamicBatchVertex>();
+                AsyncGPUReadback.RequestIntoNativeArray(ref nativeArray, gpuVertexBuffer, this.vertexCount * dynamicVertexData.stride, 0).WaitForCompletion();
+            }
+
+            bakedMesh.Clear();
+
+            int vOffset = 0;
+            int tOffset = 0;
+
+            for (int i = firstRenderer; i < firstRenderer + rendererCount; ++i)
+            {
+                // Count vertices of all instances:
+                int vCount = 0;
+                for (int k = 0; k < renderers[i].meshInstances; ++k)
+                    vCount += renderers[i].sourceMesh.vertexCount;
+
+                // Count triangles of all submeshes/instances:
+                int tCount = 0;
+                for (int m = 0; m < materials.Length; ++m)
+                {
+                    int submeshIndex = Mathf.Min(m, renderers[i].sourceMesh.subMeshCount - 1);
+                    var submeshInfo = renderers[i].sourceMesh.GetSubMesh(submeshIndex);
+                    tCount += submeshInfo.indexCount * (int)renderers[i].meshInstances;
+                }
+
+                // if this is the renderer we're interested in, populate the mesh:
+                if (renderers[i].Equals(renderer))
+                {
+                    bakedMesh.SetVertexBufferParams(vCount, vertexLayout);
+                    bakedMesh.SetVertexBufferData(dynamicVertexData.AsNativeArray<DynamicBatchVertex>(), vOffset, 0, vCount, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+                    bakedMesh.SetVertexBufferData(staticVertexData.AsNativeArray<StaticBatchVertex>(), vOffset, 0, vCount, 1, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    // transform vertices from solver space to actor space:
+                    if (transformToActorLocalSpace)
+                    {
+                        var solver2Actor = renderer.actor.actorSolverToLocalMatrix;
+                        var verts = bakedMesh.vertices;
+                        for (int v = 0; v < verts.Length; ++v)
+                            verts[v] = solver2Actor.MultiplyPoint3x4(verts[v]);
+                        bakedMesh.vertices = verts;
+                    }
+
+                    ObiNativeList<int> indices = new ObiNativeList<int>(tCount);
+
+                    // calculate submeshes (one submesh per material):
+                    SubMeshDescriptor[] descriptors = new SubMeshDescriptor[materials.Length];
+                    for (int m = 0; m < materials.Length; ++m)
+                    {
+                        int vertexOffset = 0;
+                        var desc = new SubMeshDescriptor();
+                        desc.indexStart = indices.count;
+
+                        int submeshIndex = Mathf.Min(m, renderer.sourceMesh.subMeshCount - 1);
+                        var submeshInfo = renderer.sourceMesh.GetSubMesh(submeshIndex);
+
+                        for (int k = 0; k < renderer.meshInstances; ++k)
+                        {
+                            // append submesh triangles:
+                            var meshTriangles = renderer.sourceMesh.triangles;
+                            for (int t = submeshInfo.indexStart; t < submeshInfo.indexStart + submeshInfo.indexCount; ++t)
+                                indices.Add(vertexOffset + meshTriangles[t]);
+
+                            vertexOffset += renderer.sourceMesh.vertexCount;
+                        }
+
+                        desc.indexCount = indices.count - desc.indexStart;
+                        descriptors[m] = desc;
+                    }
+
+                    bakedMesh.SetIndexBufferParams(tCount, IndexFormat.UInt32);
+                    bakedMesh.SetIndexBufferData(indices.AsNativeArray<int>(), 0, 0, tCount, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+                    bakedMesh.subMeshCount = materials.Length;
+                    for (int m = 0; m < materials.Length; ++m)
+                        bakedMesh.SetSubMesh(m, descriptors[m], MeshUpdateFlags.DontValidateIndices);
+
+                    bakedMesh.RecalculateBounds();
+                    return;
+                }
+
+                vOffset += vCount;
+                tOffset += tCount;
+            }
+
+            if (gpu)
+            {
+                dynamicVertexData.Dispose();
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta
new file mode 100644
index 000000000..4d34bf848
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/DynamicRenderBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5bee4cda10f5944149b6f8c90a947c49
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs
new file mode 100644
index 000000000..ef526a53c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs
@@ -0,0 +1,77 @@
+using System;
+using System.Collections.Generic;
+
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace Obi
+{
+    public interface IRenderBatch : IComparable<IRenderBatch>
+    {
+        bool TryMergeWith(IRenderBatch other);
+    }
+
+    [Serializable]
+    public struct RenderBatchParams
+    {
+        [HideInInspector] public int layer;
+        public LightProbeUsage lightProbeUsage;
+        public ReflectionProbeUsage reflectionProbeUsage;
+        public ShadowCastingMode shadowCastingMode;
+        public bool receiveShadows;
+        public MotionVectorGenerationMode motionVectors;
+        public uint renderingLayerMask;
+
+        public RenderBatchParams(bool receiveShadow)
+        {
+            layer = 0;
+            lightProbeUsage = LightProbeUsage.BlendProbes;
+            reflectionProbeUsage = ReflectionProbeUsage.BlendProbes;
+            shadowCastingMode = ShadowCastingMode.On;
+            receiveShadows = receiveShadow;
+            motionVectors = MotionVectorGenerationMode.Camera;
+            renderingLayerMask = 0xffffffff;
+        }
+
+        public RenderBatchParams(Renderer renderer)
+        {
+            this.layer = renderer.gameObject.layer;
+            this.lightProbeUsage = renderer.lightProbeUsage;
+            this.reflectionProbeUsage = renderer.reflectionProbeUsage;
+            this.shadowCastingMode = renderer.shadowCastingMode;
+            this.receiveShadows = renderer.receiveShadows;
+            this.motionVectors = renderer.motionVectorGenerationMode;
+            this.renderingLayerMask = renderer.renderingLayerMask;
+        }
+
+        public int CompareTo(RenderBatchParams param)
+        {
+            int cmp = layer.CompareTo(param.layer);
+            if (cmp == 0) cmp = renderingLayerMask.CompareTo(param.renderingLayerMask);
+            if (cmp == 0) cmp = lightProbeUsage.CompareTo(param.lightProbeUsage);
+            if (cmp == 0) cmp = reflectionProbeUsage.CompareTo(param.reflectionProbeUsage);
+            if (cmp == 0) cmp = shadowCastingMode.CompareTo(param.shadowCastingMode);
+            if (cmp == 0) cmp = receiveShadows.CompareTo(param.receiveShadows);
+            if (cmp == 0) cmp = motionVectors.CompareTo(param.motionVectors);
+
+            return cmp;
+        }
+
+        public RenderParams ToRenderParams()
+        {
+            var renderParams = new RenderParams();
+
+            // URP and HDRP don't work without this line.
+            renderParams.renderingLayerMask = GraphicsSettings.defaultRenderingLayerMask;
+
+            renderParams.lightProbeUsage = lightProbeUsage;
+            renderParams.reflectionProbeUsage = reflectionProbeUsage;
+            renderParams.shadowCastingMode = shadowCastingMode;
+            renderParams.receiveShadows = receiveShadows;
+            renderParams.motionVectorMode = motionVectors;
+            renderParams.renderingLayerMask = renderingLayerMask;
+            renderParams.layer = layer;
+            return renderParams;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta
new file mode 100644
index 000000000..ae666aba2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/IRenderBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4a827293101844d32bed440c32d08c83
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs
new file mode 100644
index 000000000..7883fba49
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs
@@ -0,0 +1,141 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ChunkData
+    {
+        public int rendererIndex;
+        public int offset; // index of the first element for each chunk.
+
+        public ChunkData(int rendererIndex, int offset)
+        {
+            this.rendererIndex = rendererIndex;
+            this.offset = offset;
+        }
+    }
+
+    public class InstancedRenderBatch : IRenderBatch
+    {
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Mesh mesh;
+        public Material material;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public int firstInstance;
+        public int instanceCount;
+
+        public GraphicsBuffer argsBuffer; 
+
+        public InstancedRenderBatch(int rendererIndex, Mesh mesh, Material material, RenderBatchParams renderBatchParams)
+        {
+            this.renderBatchParams = renderBatchParams;
+            this.firstRenderer = rendererIndex;
+            this.rendererCount = 1;
+            this.mesh = mesh;
+            this.material = material;
+            this.firstInstance = 0;
+            this.instanceCount = 0;
+        }
+
+        public void Initialize(bool gpu = false)
+        {
+            renderParams = renderBatchParams.ToRenderParams();
+
+            if (gpu)
+                argsBuffer = new GraphicsBuffer(GraphicsBuffer.Target.IndirectArguments, 1, 5 * sizeof(uint));
+        }
+
+        public void Dispose()
+        {
+            argsBuffer?.Dispose();
+            argsBuffer = null;
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var ibatch = other as InstancedRenderBatch;
+            if (ibatch != null)
+            {
+                if (CompareTo(ibatch) == 0 &&
+                    instanceCount + ibatch.instanceCount < Constants.maxInstancesPerBatch)
+                {
+                    rendererCount += ibatch.rendererCount;
+                    instanceCount += ibatch.instanceCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var ibatch = other as InstancedRenderBatch;
+
+            int idA = material != null ? material.GetInstanceID() : 0;
            int idB = (ibatch != null && ibatch.material != null) ? ibatch.material.GetInstanceID() : 0;
+
+            int compareMat = idA.CompareTo(idB);
+            if (compareMat == 0)
+            {
+                idA = mesh != null ? mesh.GetInstanceID() : 0;
+                idB = (ibatch != null && ibatch.mesh != null) ? ibatch.mesh.GetInstanceID() : 0;
+                compareMat = idA.CompareTo(idB);
+
+                if (compareMat == 0)
+                    return renderBatchParams.CompareTo(ibatch.renderBatchParams);
+            }
+
+            return compareMat;
+        }
+
+        public void BakeMesh<T>(RendererSet<T> renderers, T renderer, ObiNativeList<ChunkData> chunkData,
+                             ObiNativeList<Matrix4x4> instanceTransforms,
+                             Matrix4x4 transform,
+                             ref Mesh bakedMesh, bool transformVertices = false) where T:ObiRenderer<T>
+        {
+             
+            // if the data is not available in the CPU (such as when the batch is intended for GPU use), read it back:
+            bool gpu = argsBuffer != null && argsBuffer.IsValid();
+            if (gpu)
+            {
+                instanceTransforms.Readback(false);
+            }
+
+            List<CombineInstance> combineInstances = new List<CombineInstance>();
+
+            bakedMesh.Clear();
+
+            for (int i = 0; i < chunkData.count; ++i)
+            {
+                // if this chunk's renderer is the renderer we are interested in,
+                // append its instances to the mesh.
+                if (renderers[chunkData[i].rendererIndex].Equals(renderer))
+                {
+                    int firstIndex = i > 0 ? chunkData[i - 1].offset : 0;
+                    int elementCount = chunkData[i].offset - firstIndex;
+
+                    for (int m = 0; m < elementCount; ++m)
+                    {
+                        combineInstances.Add(new CombineInstance
+                        {
+                            mesh = mesh,
+                            transform = transformVertices ? transform * instanceTransforms[firstIndex + m] : instanceTransforms[firstIndex + m]
+                        });
+                    }
+                }
+            }
+
+            bakedMesh.CombineMeshes(combineInstances.ToArray(), true, true, false);
+            bakedMesh.RecalculateBounds();
+
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta
new file mode 100644
index 000000000..9c35abb11
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/InstanceRenderBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 74d879a363c7040229e215fe6c48a581
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs
new file mode 100644
index 000000000..f43e853d4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs
@@ -0,0 +1,186 @@
+
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Collections;
+using System.Collections.Generic;
+using Unity.Collections.LowLevel.Unsafe;
+
+namespace Obi
+{
+
+    public class ProceduralRenderBatch<T> : IRenderBatch where T : struct
+    {
+        private RenderBatchParams renderBatchParams;
+        public RenderParams renderParams { get; private set; }
+
+        public Material material;
+        public Mesh mesh;
+
+        public int firstRenderer;
+        public int rendererCount;
+
+        public int firstParticle;
+
+        public NativeArray<T> vertices;
+        public NativeArray<int> triangles;
+
+        public GraphicsBuffer gpuVertexBuffer;
+        public GraphicsBuffer gpuIndexBuffer;
+
+        public int vertexCount;
+        public int triangleCount;
+
+        public ProceduralRenderBatch(int rendererIndex, Material material, RenderBatchParams param)
+        {
+            this.renderBatchParams = param;
+
+            this.material = material;
+            this.firstRenderer = rendererIndex;
+            this.firstParticle = 0;
+            this.rendererCount = 1;
+            this.vertexCount = 0;
+            this.triangleCount = 0;
+        }
+
+        public void Initialize(VertexAttributeDescriptor[] layout, bool gpu = false)
+        {
+            var rp = renderBatchParams.ToRenderParams();
+            rp.material = material;
+            renderParams = rp;
+
+            mesh = new Mesh();
+
+            mesh.SetVertexBufferParams(vertexCount, layout);
+            mesh.SetIndexBufferParams(triangleCount * 3, IndexFormat.UInt32);
+
+            vertices = new NativeArray<T>(vertexCount, Allocator.Persistent);
+            mesh.SetVertexBufferData(vertices, 0, 0, vertices.Length, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            triangles = new NativeArray<int>(triangleCount * 3, Allocator.Persistent);
+            mesh.SetIndexBufferData(triangles, 0, 0, triangles.Length, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            mesh.subMeshCount = 1;
+            SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor();
+            subMeshDescriptor.indexCount = triangleCount * 3;
+            mesh.SetSubMesh(0, subMeshDescriptor, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                vertices.Dispose();
+                triangles.Dispose();
+
+                mesh.vertexBufferTarget |= GraphicsBuffer.Target.Raw;
+                mesh.indexBufferTarget |= GraphicsBuffer.Target.Raw;
+
+                // particles with no vertices will have no vertex buffer, and Unity will throw an exception.
+                if (mesh.vertexCount > 0)
+                {
+                    gpuVertexBuffer ??= mesh.GetVertexBuffer(0);
+                    gpuIndexBuffer ??= mesh.GetIndexBuffer();
+                }
+            }
+        }
+
+        public void Dispose()
+        {
+            gpuVertexBuffer?.Dispose();
+            gpuIndexBuffer?.Dispose();
+
+            gpuVertexBuffer = null;
+            gpuIndexBuffer = null;
+
+            if (vertices.IsCreated)
+                vertices.Dispose();
+            if (triangles.IsCreated)
+                triangles.Dispose();
+
+            GameObject.DestroyImmediate(mesh);
+        }
+
+        public bool TryMergeWith(IRenderBatch other)
+        {
+            var pbatch = other as ProceduralRenderBatch<T>;
+            if (pbatch != null)
+            {
+                if (CompareTo(pbatch) == 0 &&
+                    vertexCount + pbatch.vertexCount < Constants.maxVertsPerMesh)
+                {
+                    rendererCount += pbatch.rendererCount;
+                    triangleCount += pbatch.triangleCount;
+                    vertexCount += pbatch.vertexCount;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public int CompareTo(IRenderBatch other)
+        {
+            var pbatch = other as ProceduralRenderBatch<T>;
            int idA = material != null ? material.GetInstanceID() : 0;
            int idB = (pbatch != null && pbatch.material != null) ? pbatch.material.GetInstanceID() : 0;

            int result = idA.CompareTo(idB);
            if (result == 0)
                return renderBatchParams.CompareTo(pbatch.renderBatchParams);
            return result;
+        }
+
+        public void BakeMesh(int vertexOffset, int vertexCount, int triangleOffset, int triangleCount,
+                             Matrix4x4 transform,
+                             ref Mesh bakedMesh, bool transformVertices = false)
+        {
+
+            // if the data is not available in the CPU (such as when the batch is intended for GPU use), read it back:
+            bool gpu = !vertices.IsCreated;
+            if (gpu)
+            {
+                vertices = new NativeArray<T>(this.vertexCount, Allocator.Persistent);
+                triangles = new NativeArray<int>(this.triangleCount * 3, Allocator.Persistent);
+                AsyncGPUReadback.RequestIntoNativeArray(ref vertices, gpuVertexBuffer, this.vertexCount * UnsafeUtility.SizeOf<T>(), 0).WaitForCompletion();
+                AsyncGPUReadback.RequestIntoNativeArray(ref triangles, gpuIndexBuffer, this.triangleCount * 3 * 4, 0).WaitForCompletion();
+            }
+
+            bakedMesh.Clear();
+
+            bakedMesh.SetVertexBufferParams(vertexCount, mesh.GetVertexAttributes());
+            bakedMesh.SetVertexBufferData(vertices, vertexOffset, 0, vertexCount, 0, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            // transform vertices from solver space to actor space:
+            if (transformVertices)
+            {
+                var solver2Actor = transform; 
+                var verts = bakedMesh.vertices;
+                for (int v = 0; v < verts.Length; ++v)
+                    verts[v] = solver2Actor.MultiplyPoint3x4(verts[v]);
+                bakedMesh.vertices = verts;
+            }
+
+            ObiNativeList<int> indices = new ObiNativeList<int>(triangleCount * 3);
+
+            // offset indices:
+            for (int i = 0; i < triangleCount * 3; ++i)
+            {
+                int index = triangles[triangleOffset * 3 + i] - vertexOffset;
+
+                // clamp indices to zero, since decimated ropes have unused triangles
+                // that reference vertex 0. Subtracting the vertex offset from these results in a negative index.
+                indices.Add(Mathf.Max(0,index));
+            }
+
+            bakedMesh.SetIndexBufferParams(triangleCount * 3, IndexFormat.UInt32);
+            bakedMesh.SetIndexBufferData(indices.AsNativeArray<int>(), 0, 0, triangleCount * 3, MeshUpdateFlags.DontRecalculateBounds | MeshUpdateFlags.DontValidateIndices);
+
+            bakedMesh.subMeshCount = 1;
+            SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor();
+            subMeshDescriptor.indexCount = triangleCount * 3; // mesh triangle count.
+            bakedMesh.SetSubMesh(0, subMeshDescriptor, MeshUpdateFlags.DontValidateIndices);
+
+            if (gpu)
+            {
+                if (vertices.IsCreated)
+                    vertices.Dispose();
+                if (triangles.IsCreated)
+                    triangles.Dispose();
+            }
+
+            bakedMesh.RecalculateBounds();
+            return;
+
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta
new file mode 100644
index 000000000..326186ae2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/RenderBatches/ProceduralRenderBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ded06625ac9f94b1fa77fd845bb28ec9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs b/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs
deleted file mode 100644
index 096b0dcc1..000000000
--- a/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs
+++ /dev/null
@@ -1,70 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Rendering;
-
-namespace Obi{
-public class ShadowmapExposer : MonoBehaviour
-{
-	Light unityLight;
-	CommandBuffer afterShadow = null;
-	public ObiParticleRenderer[] particleRenderers;
- 
-	public void Awake(){
-      unityLight = GetComponent<Light>();
-	}
-
-	public void OnEnable(){
-		Cleanup();
-
-		afterShadow = new CommandBuffer();
-		afterShadow.name = "FluidShadows";
-		unityLight.AddCommandBuffer (LightEvent.AfterShadowMapPass, afterShadow);
-	}
-	
-	public void OnDisable(){
-		Cleanup();
-	}
-
-	private void Cleanup(){
-
-		if (afterShadow != null){
-			unityLight.RemoveCommandBuffer (LightEvent.AfterShadowMapPass,afterShadow);
-			afterShadow = null;
-		}
-	}
-
-
-	public void SetupFluidShadowsCommandBuffer()
-	{
-		afterShadow.Clear();
-		
-		if (particleRenderers == null)
-		return;
-
-		foreach(ObiParticleRenderer renderer in particleRenderers){
-			if (renderer != null){
-				foreach(Mesh mesh in renderer.ParticleMeshes)
-					afterShadow.DrawMesh(mesh,Matrix4x4.identity,renderer.ParticleMaterial,0,1);
-			}
-		}
-
-		afterShadow.SetGlobalTexture ("_MyShadowMap", new RenderTargetIdentifier(BuiltinRenderTextureType.CurrentActive));
-	}
-
-    // Use this for initialization
-	void Update()
-	{
-		bool act = gameObject.activeInHierarchy && enabled;
-		if (!act || particleRenderers == null || particleRenderers.Length == 0)
-		{
-			Cleanup();
-			return;
-		}
-
-		if (afterShadow != null)
-		{
-			SetupFluidShadowsCommandBuffer();
-		}	
-	}
-}
-}
diff --git a/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs.meta
deleted file mode 100644
index 229f80dcb..000000000
--- a/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs.meta
+++ /dev/null
@@ -1,12 +0,0 @@
-fileFormatVersion: 2
-guid: dbf7247281ef14860853fa0ee2cb4829
-timeCreated: 1463174681
-licenseType: Store
-MonoImporter:
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs b/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs
new file mode 100644
index 000000000..5f2ecf8d9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs
@@ -0,0 +1,225 @@
+using System.Collections.Generic;
+using System.Linq;
+
+#if UNITY_EDITOR
+using UnityEditor;
+using UnityEditor.SceneManagement;
+#endif
+using UnityEngine;
+
+namespace Obi
+{
+    [ExecuteAlways]
+    public class ObiActorEditorSelectionHandler
+    {
+        private static HashSet<ObiSolver> solvers = new HashSet<ObiSolver>();
+        private static ObiSolver clickedSolver;
+        private static int particleIndex;
+
+        #if UNITY_EDITOR
+        internal static void SolverInitialized(ObiSolver solver)
+        {
+            if (solver != null)
+            {
+                if (solvers.Count == 0)
+                    Init();
+
+                if (solver != null)
+                    solvers.Add(solver);
+            }
+ 
+        }
+
+        internal static void SolverTeardown(ObiSolver solver)
+        {
+            if (solver != null)
+            {
+                solvers.Remove(solver);
+
+                if (solvers.Count == 0)
+                    Dispose();
+            }
+        }
+
+        internal static void Init()
+        {
+            SceneView.duringSceneGui += SceneGui;
+        }
+
+        internal static void Dispose()
+        {
+            SceneView.duringSceneGui -= SceneGui;
+        }
+
+        private static bool RaycastAgainstSolver(ObiSolver solver, Ray ray, float thickness, out int pIndex, out float distance)
+        {
+            float closestDistanceToRay = float.MaxValue;
+            pIndex = -1;
+            distance = float.MaxValue;
+
+            Matrix4x4 solver2World = solver.transform.localToWorldMatrix;
+
+            // Find the closest particle hit by the ray:
+            for (int i = 0; i < solver.activeParticleCount; ++i)
+            {
+                int p = solver.activeParticles[i];
+
+                Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.positions[p]);
+                Vector3 projected = ObiUtils.ProjectPointLine(ray.origin, ray.origin + ray.direction, worldPos, out float mu, false);
+
+                // Disregard particles behind the camera:
+                if (mu < 0)
+                    continue;
+
+                float radius = solver.principalRadii[p][0] + thickness;
+                float distanceToRay = Vector3.SqrMagnitude(worldPos - projected);
+
+                if (distanceToRay <= radius * radius &&
+                    distanceToRay < closestDistanceToRay &&
+                    mu < closestDistanceToRay)
+                {
+                    distance = mu;
+                    closestDistanceToRay = distanceToRay;
+                    pIndex = p;
+                }
+            }
+
+            return pIndex >= 0;
+        }
+
+        private static ObiSolver RaycastAllSolvers(Ray ray, out int pIndex, out float distance)
+        {
+            distance = float.MaxValue;
+            pIndex = -1;
+
+            ObiSolver hitSolver = null;
+            
+            foreach (ObiSolver s in solvers)
+            {
+                if (s == null || !s.bounds.IntersectRay(ray))
+                    continue;
+
+                if (RaycastAgainstSolver(s, ray, 0, out int p, out float d))
+                {
+                    if (d < distance)
+                    {
+                        distance = d;
+                        hitSolver = s;
+                        pIndex = p;
+                    }
+                }
+            }
+            return hitSolver;
+        }
+
+        private static void SceneGui(SceneView sceneView)
+        {
+            if (EditorApplication.isPaused || !ObiEditorSettings.GetOrCreateSettings().sceneViewParticlePicking)
+                return;
+
+            // only do this in the main stage or prefab stage, if we're in any other stage don't raycast against particles.
+            // This will prevent selecting stuff when in the blueprint editor, avatar editor, or other stages.
+            var stage = StageUtility.GetCurrentStage();
+            if (!(stage is MainStage) && !(stage is PrefabStage))
+                return;
+
+            var evt = Event.current;
+
+            if (evt.alt)
+                return;
+
+            float ppp = EditorGUIUtility.pixelsPerPoint;
+            int mouseScreenX = (int)(evt.mousePosition.x * ppp);
+            int mouseScreenY = (int)(evt.mousePosition.y * ppp);
+
+            if (mouseScreenX < 0 || mouseScreenX >= sceneView.camera.pixelWidth ||
+                mouseScreenY < 0 || mouseScreenY >= sceneView.camera.pixelHeight)
+                return;
+
+            int controlID = GUIUtility.GetControlID(FocusType.Passive);
+
+            switch (evt.type)
+            {
+                case EventType.Layout:
+                case EventType.MouseMove:
+
+                    if (!Tools.viewToolActive)
+                    {
+                        // Raycast against all solvers:
+                        Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+                        clickedSolver = RaycastAllSolvers(ray, out particleIndex, out float closest);
+
+                        // check whether we hit a collider before the closest particle in the solver:
+                        RaycastHit hit;
+                        ray = HandleUtility.GUIPointToWorldRay(evt.mousePosition);
+                        if (Physics.Raycast(ray, out hit, closest) && hit.collider != null)
+                            clickedSolver = null;
+
+                        // If we hit something, register our control ID and the distance to the particle:
+                        if (clickedSolver != null && Camera.current != null)
+                        {
+                            var worldPos = clickedSolver.transform.TransformPoint(clickedSolver.positions[particleIndex]);
+                            var screenCenter = HandleUtility.WorldToGUIPoint(worldPos);
+
+                            var distance = (Event.current.mousePosition - screenCenter).magnitude;
+
+                            HandleUtility.AddControl(controlID, distance);
+
+                            // AddDefaultControl means that if no other control is selected, this will be chosen as the fallback. 
+                            // This allows things like the translate handle and buttons to function. 
+                            HandleUtility.AddDefaultControl(controlID);
+                        }
+                    }
+
+                    break;
+
+                case EventType.MouseDown:
+
+                    if (evt.button == 0 && HandleUtility.nearestControl == controlID && clickedSolver != null)
+                    {
+                        // Setting the hotControl tells the Scene View that this mouse down/up event cannot be considered 
+                        // a picking action because the event is in use. 
+                        GUIUtility.hotControl = controlID;
+                        evt.Use();
+                    }
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (!Tools.viewToolActive && GUIUtility.hotControl == controlID)
+                    {
+                        // In case we hit some actor, select the actor it belongs to:
+                        if (clickedSolver != null)
+                        {
+                            var clickedActor = clickedSolver.particleToActor[particleIndex].actor;
+                            if (clickedActor != null)
+                            {
+                                var selection = Selection.objects.ToList();
+
+                                if (evt.shift || evt.control)
+                                {
+                                    if (selection.Contains(clickedActor.gameObject))
+                                        selection.Remove(clickedActor.gameObject);
+                                    else
+                                        selection.Add(clickedActor.gameObject);
+                                }
+                                else
+                                {
+                                    selection.Clear();
+                                    selection.Add(clickedActor.gameObject);
+                                }
+
+                                Selection.objects = selection.ToArray(); 
+                            }
+
+                            GUIUtility.hotControl = 0;
+                            evt.Use();
+                        }
+                    }
+
+                    break;
+            }
+        }
+#endif
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta b/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta
new file mode 100644
index 000000000..453641656
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiActorEditorSelectionHandler.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: baf220f68f79740d3a4ee9fb6fa4d6f4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs b/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs
new file mode 100644
index 000000000..d88159ff8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs
@@ -0,0 +1,92 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    /**
+     * Render Systems are organized into a fixed number of tiers. Tiers are update sequentially from lower to highest, so systems on
+     * a higher tier may depend on the output of lower tier systems.
+     * All systems in the same tier might be updated in parallel.
+     */
+    public class ObiRenderSystemStack
+    {
+        private List<IRenderSystem>[] stack;
+
+        public ObiRenderSystemStack(int tiers)
+        {
+            stack = new List<IRenderSystem>[tiers];
+            for (int i = 0; i < tiers; ++i)
+                stack[i] = new List<IRenderSystem>();
+        }
+
+        public void Setup(int dirtyFlags)
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if ((dirtyFlags & (int)system.typeEnum) != 0)
+                        system.Setup();
+        }
+
+        public void Step()
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    system.Step();
+        }
+
+        public void Render()
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    system.Render();
+        }
+
+        public bool RegisterRenderSystem(IRenderSystem renderSystem)
+        {
+            if (renderSystem != null)
+            {
+                // Here we don't check whether the render system already exists:
+                // We assume this is done before calling AddRenderSystem
+                // (by calling GetRenderSystem first).
+                // Otherwise, no guarantees a render system cannot be registered twice.
+                if (renderSystem.tier >= 0 && renderSystem.tier < stack.Length)
+                {
+                    stack[renderSystem.tier].Add(renderSystem);
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public bool UnregisterRenderSystem(IRenderSystem renderSystem)
+        {
+            if (renderSystem != null)
+            {
+                if (renderSystem.tier >= 0 && renderSystem.tier < stack.Length)
+                {
+                    stack[renderSystem.tier].Remove(renderSystem);
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public RenderSystem<T> GetRenderSystem<T>() where T : ObiRenderer<T>
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if (system.GetRendererType() == typeof(T))
+                        return system as RenderSystem<T>;
+            return null;
+        }
+
+        public IRenderSystem GetRenderSystem(Oni.RenderingSystemType systemType)
+        {
+            foreach (var tier in stack)
+                foreach (var system in tier)
+                    if (system.typeEnum == systemType)
+                        return system as IRenderSystem;
+            return null;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta b/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta
new file mode 100644
index 000000000..69b7e4540
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiRenderSystemStack.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 789afc50914b2412e87a032744b17fd3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
index e1a5ff765..3e785f61d 100644
--- a/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
+++ b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
@@ -23,6 +23,7 @@ using Unity.Profiling;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Collections;
 
 namespace Obi
 {
@@ -33,6 +34,7 @@ namespace Obi
     [AddComponentMenu("Physics/Obi/Obi Solver", 800)]
     [ExecuteInEditMode]
     [DisallowMultipleComponent]
+    [HelpURL("https://obi.virtualmethodstudio.com/manual/7.0/obisolver.html")]
     public sealed class ObiSolver : MonoBehaviour
     {
         static ProfilerMarker m_StateInterpolationPerfMarker = new ProfilerMarker("ApplyStateInterpolation");
@@ -40,16 +42,25 @@ namespace Obi
         static ProfilerMarker m_GetSolverBoundsPerfMarker = new ProfilerMarker("GetSolverBounds");
         static ProfilerMarker m_TestBoundsPerfMarker = new ProfilerMarker("TestBoundsAgainstCameras");
         static ProfilerMarker m_GetAllCamerasPerfMarker = new ProfilerMarker("GetAllCameras");
+        static ProfilerMarker m_PushActiveParticles = new ProfilerMarker("PushActiveParticles");
+        static ProfilerMarker m_UpdateColliderWorld = new ProfilerMarker("UpdateColliderWorld");
+        static ProfilerMarker m_PushSimplices = new ProfilerMarker("PushSimplices");
+        static ProfilerMarker m_PushDeformableEdges = new ProfilerMarker("PushDeformableEdges");
+        static ProfilerMarker m_PushDeformableTriangles = new ProfilerMarker("PushDeformableTriangles");
 
         public enum BackendType
         {
-            Oni,
+            [InspectorName("Compute (GPU)")]
+            Compute,
+            [InspectorName("Burst (CPU)")]
             Burst
         }
 
-        public class ObiCollisionEventArgs : System.EventArgs
+        public enum Synchronization
         {
-            public ObiList<Oni.Contact> contacts = new ObiList<Oni.Contact>();  /**< collision contacts.*/
+            Asynchronous,
+            Synchronous,
+            SynchronousFixed
         }
 
         [Serializable]
@@ -60,8 +71,8 @@ namespace Obi
 
             public ParticleInActor()
             {
-                this.actor = null;
-                this.indexInActor = -1;
+                actor = null;
+                indexInActor = -1;
             }
 
             public ParticleInActor(ObiActor actor, int indexInActor)
@@ -71,84 +82,217 @@ namespace Obi
             }
         }
 
+        public class SpatialQuery
+        {
+            public ObiNativeQueryShapeList shapes;
+            public ObiNativeAffineTransformList transforms;
+            public ObiNativeQueryResultList results;
+            public Action callback;
+            public bool synchronous = false;
+
+            public bool isValid => shapes != null && transforms != null && results != null && shapes.count > 0 && transforms.count > 0;
+            public bool done => results.noReadbackInFlight;
+
+            public SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results, Action callback = null, bool synchronous = false)
+            {
+                this.shapes = shapes;
+                this.transforms = transforms;
+                this.results = results;
+                this.callback = callback;
+                this.synchronous = synchronous;
+            }
+
+            public void WaitForCompletion()
+            {
+                results.WaitForReadback();
+            }
+        }
+
         public delegate void SolverCallback(ObiSolver solver);
-        public delegate void SolverStepCallback(ObiSolver solver, float stepTime);
-        public delegate void CollisionCallback(ObiSolver solver, ObiCollisionEventArgs contacts);
+        public delegate void SolverStepCallback(ObiSolver solver, float timeToSimulate, float substepTime);
+        public delegate void CollisionCallback(ObiSolver solver, ObiNativeContactList contacts);
+        public delegate void SpatialQueryCallback(ObiSolver solver, ObiNativeQueryResultList results);
 
         public event CollisionCallback OnCollision;
         public event CollisionCallback OnParticleCollision;
-        public event SolverCallback OnUpdateParameters;
+        public event SpatialQueryCallback OnSpatialQueryResults;
+        public event SolverCallback OnAdvection;
 
-        public event SolverCallback OnPrepareFrame;
-        public event SolverStepCallback OnPrepareStep;
-        public event SolverStepCallback OnBeginStep;
-        public event SolverStepCallback OnSubstep;
-        public event SolverCallback OnEndStep;
-        public event SolverCallback OnInterpolate;
+        public event SolverCallback OnInitialize;
+        public event SolverCallback OnTeardown;
+        public event SolverCallback OnUpdateParameters;
+        public event SolverCallback OnParticleCountChanged;
+
+        public event SolverStepCallback OnSimulationStart; /**< Called right before scheduling a simulation step, before updating active particles, constraints, etc.*/
+        public event SolverStepCallback OnCollisionDetectionStart; /**< Called right after CPU->GPU data transfer, before scheduling collision detection and spatial queries.*/
+        public event SolverStepCallback OnSubstepsStart; /**< Called right after scheduling collision detection and spatial queries, before scheduling substeps.*/
+        public event SolverCallback OnRequestReadback;    /**< Called right after scheduling all substeps (before completing simulation).*/
+        public event SolverStepCallback OnSimulationEnd; /**< Called when a simulation step has been completed.*/
+        public event SolverStepCallback OnInterpolate; /**< Called every frame after interpolation, right before updating rendering.*/
 
         [Tooltip("If enabled, will force the solver to keep simulating even when not visible from any camera.")]
-        public bool simulateWhenInvisible = true;           /**< Whether to keep simulating the cloth when its not visible by any camera.*/
-
-        private ISolverImpl m_SolverImpl;
+        public bool simulateWhenInvisible = true;
 
         private IObiBackend m_SimulationBackend =
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
         new BurstBackend();
-#elif (OBI_ONI_SUPPORTED)
-        new OniBackend();
 #else
         new NullBackend();
 #endif
 
         [SerializeField] private BackendType m_Backend = BackendType.Burst;
+        private ObiRenderSystemStack m_RenderSystems = new ObiRenderSystemStack(3);
+
+        [Min(1)]
+        public int substeps = 4;
+
+        [Min(0)]
+        public int maxStepsPerFrame = 1;
+
+        public Synchronization synchronization = Synchronization.Asynchronous;
 
         public Oni.SolverParameters parameters = new Oni.SolverParameters(Oni.SolverParameters.Interpolation.None,
                                                                           new Vector4(0, -9.81f, 0, 0));
 
+        [Min(32)]
+        [SerializeField]
+        private uint m_MaxSurfaceChunks = 32768;
+        public uint maxSurfaceChunks
+        {
+            set
+            {
+                // make sure anytime active particles need to be updated, simplices will be updated too:
+                m_MaxSurfaceChunks = value;
+                dirtyRendering |= (int)Oni.RenderingSystemType.Fluid;
+            }
+            get { return m_MaxSurfaceChunks; }
+        }
+
+        public uint usedSurfaceChunks
+        {
+            get {
+                var system = GetRenderSystem(Oni.RenderingSystemType.Fluid) as ISurfaceChunkUser;
+                if (system == null)
+                    return 0;
+                return system.usedChunkCount;
+            }
+        }
+
+        public uint maxQueryResults = 8192;
+        public uint maxFoamParticles = 8192;
+        public uint maxParticleNeighbors = 128;
+        public uint maxParticleContacts = 6;
+
+        public bool useLimits = false;
+        public bool killOffLimitsParticles = false;
+        public Bounds boundaryLimits = new Bounds(Vector3.zero, new Vector3(10, 10, 10));
+
         public Vector3 gravity = new Vector3(0, -9.81f, 0);
         public Space gravitySpace = Space.Self;
 
-        [Range(0, 1)]
-        public float worldLinearInertiaScale = 0;           /**< how much does world-space linear inertia affect the actor. This only applies when the solver has "simulateInLocalSpace" enabled.*/
+        public Vector3 ambientWind = new Vector3(0, 0, 0);
+        public Space windSpace = Space.Self;
 
+        [Min(1)]
+        public int foamSubsteps = 1;
+
+        [Tooltip("Minimum amount of fluid particles around a foam particle necessary for the foam to be advected, instead of following a ballistic trajectory.")]
+        [Min(0)]
+        public int foamMinNeighbors = 3;
+
+        [Tooltip("When enabled, each individual foam particle will be tested for collisions against ObiColliders.")]
+        public bool foamCollisions = false;
+
+        [Tooltip("Foam particles can stretch along the direction of their velocity. This parameter controls the maximum amount of stretch.")]
+        [Range(0, 3)]
+        public float maxFoamVelocityStretch = 0.3f;
+
+        [Tooltip("Scales the size of foam particles.")]
+        [Min(0)]
+        public float foamRadiusScale = 1;
+
+        [Tooltip("Determines how foam particles fade in/out during its lifetime.")]
+        [MinMax(0, 1)]
+        public Vector2 foamFade = new Vector2(0.05f, 0.8f);
+
+        [Tooltip("Determines the utilization % range in which particles age faster.")]
+        [MinMax(0, 1)]
+        public Vector2 foamAccelAgingRange = new Vector2(0.5f, 0.8f);
+
+        [Tooltip("Determines the utilization % range in which particles age faster.")]
+        [Min(1)]
+        public float foamAccelAging = 4;
+
+        [Tooltip("Color of the light scattered by foam.")]
+        [Min(0)]
+        public float foamVolumeDensity = 0.1f;
+
+        [Tooltip("Color of the light scattered by foam.")]
+        [Min(0)]
+        public float foamAmbientDensity = 0.02f;
+
+        [Tooltip("Color of the light scattered by foam.")]
+        public Color foamScatterColor = new Color(0.8f,0.75f,0.7f,1);
+
+        [Tooltip("Color used for foam ambient lighting.")]
+        public Color foamAmbientColor = new Color(0.4f, 0.5f, 0.6f, 1);
+
+        [Tooltip("How much does world-space linear inertia affect particles in the solver.")]
         [Range(0, 1)]
-        public float worldAngularInertiaScale = 0;          /**< how much does world-space angular inertia affect the actor. This only applies when the solver has "simulateInLocalSpace" enabled.*/
+        public float worldLinearInertiaScale = 0;           /**< how much does world-space linear inertia affect particles in the solver*/
+
+        [Tooltip("How much does world-space angular inertia affect particles in the solver.")]
+        [Range(0, 1)]
+        public float worldAngularInertiaScale = 0;          /**< how much does world-space angular inertia affect particles in the solver.*/
 
         [HideInInspector] [NonSerialized] public List<ObiActor> actors = new List<ObiActor>();
-        [HideInInspector] [NonSerialized] public ParticleInActor[] m_ParticleToActor;
+        [HideInInspector] [NonSerialized] private ParticleInActor[] m_ParticleToActor;
+
+        [HideInInspector] [NonSerialized] private Queue<ObiActor> addBuffer = new Queue<ObiActor>(); /**< actors pending insertion into the solver.*/
 
         private ObiNativeIntList freeList;
+        private Stack<int> freeGroupIDs = new Stack<int>();
 
-        private List<int> points = new List<int>();      /**< 0-simplices*/
-        private List<int> edges = new List<int>();      /**< 1-simplices*/
-        private List<int> triangles = new List<int>();      /**< 2-simplices*/
-        private SimplexCounts m_SimplexCounts;
+        [NonSerialized] public ObiNativeIntList deformableTriangles;
+        [NonSerialized] public ObiNativeIntList deformableEdges;
+        [NonSerialized] public ObiNativeVector2List deformableUVs;
 
-        [HideInInspector][NonSerialized] public bool dirtySimplices = true;
-        [HideInInspector][NonSerialized] public int dirtyConstraints = 0;
+        [NonSerialized] private ObiNativeIntList m_Points;      /**< 0-simplices*/
+        [NonSerialized] private ObiNativeIntList m_Edges;       /**< 1-simplices*/
+        [NonSerialized] private ObiNativeIntList m_Triangles;   /**< 2-simplices*/
+        [NonSerialized] public SimplexCounts m_SimplexCounts;
+
+        [NonSerialized] private IObiJobHandle simulationHandle;
+        [NonSerialized] private Synchronization bufferedSynchronization;
+        [NonSerialized] private int steps = 0;
+        [NonSerialized] private float substepTime = 0;
+        [NonSerialized] private float simulatedTime = 0;
+        [NonSerialized] private float accumulatedTime = 0;
+
+        public float timeSinceSimulationStart { get; private set; } = 0;
+
+        [HideInInspector] [NonSerialized] public bool dirtyDeformableTriangles = true;
+        [HideInInspector] [NonSerialized] public bool dirtyDeformableEdges = true;
+        [HideInInspector] [NonSerialized] public Oni.SimplexType dirtySimplices = Oni.SimplexType.All;
+        [HideInInspector] [NonSerialized] public int dirtyRendering = 0;
+        [HideInInspector] [NonSerialized] public int dirtyConstraints = 0;
+
+        public bool synchronousSpatialQueries = false;
 
         private bool m_dirtyActiveParticles = true;
         public bool dirtyActiveParticles
         {
             set
             {
-                // make sure anytime active particles need to be updated, simplices will be updated too:
                 m_dirtyActiveParticles = value;
-                dirtySimplices |= m_dirtyActiveParticles;
             }
             get { return m_dirtyActiveParticles; }
         }
 
-        private ObiCollisionEventArgs collisionArgs = new ObiCollisionEventArgs();
-        private ObiCollisionEventArgs particleCollisionArgs = new ObiCollisionEventArgs();
-
-        private int m_contactCount;
-        private int m_particleContactCount;
-        private float m_MaxScale = 1;
-        private UnityEngine.Bounds bounds = new UnityEngine.Bounds();
+        private Bounds m_Bounds = new Bounds();
+        private Bounds m_BoundsWS = new Bounds();
         private Plane[] planes = new Plane[6];
         private Camera[] sceneCameras = new Camera[1];
-        private bool isVisible = true;
 
         // constraints:
         [NonSerialized] private IObiConstraints[] m_Constraints = new IObiConstraints[Oni.ConstraintTypeCount];
@@ -165,55 +309,60 @@ namespace Obi
         public Oni.ConstraintParameters shapeMatchingConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
         public Oni.ConstraintParameters tetherConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
         public Oni.ConstraintParameters pinConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters pinholeConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
         public Oni.ConstraintParameters stitchConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
         public Oni.ConstraintParameters densityConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
         public Oni.ConstraintParameters stretchShearConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
         public Oni.ConstraintParameters bendTwistConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
         public Oni.ConstraintParameters chainConstraintParameters = new Oni.ConstraintParameters(false, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
 
-        // rigidbodies
+        // rigidbodies:
         ObiNativeVector4List m_RigidbodyLinearVelocities;
         ObiNativeVector4List m_RigidbodyAngularVelocities;
 
-        // colors
+        // colors:
         [NonSerialized] private ObiNativeColorList m_Colors;
 
-        // cell indices
+        // cell indices:
         [NonSerialized] private ObiNativeInt4List m_CellCoords;
 
         // status:
         [NonSerialized] private ObiNativeIntList m_ActiveParticles;
         [NonSerialized] private ObiNativeIntList m_Simplices;
+        [NonSerialized] private ObiNativeIntList m_DeadParticles;
 
-        // positions
+        // positions:
         [NonSerialized] private ObiNativeVector4List m_Positions;
-        [NonSerialized] private ObiNativeVector4List m_RestPositions;
         [NonSerialized] private ObiNativeVector4List m_PrevPositions;
+        [NonSerialized] private ObiNativeVector4List m_RestPositions;
+
         [NonSerialized] private ObiNativeVector4List m_StartPositions;
+        [NonSerialized] private ObiNativeVector4List m_EndPositions;
         [NonSerialized] private ObiNativeVector4List m_RenderablePositions;
 
-        // orientations
+        // orientations:
         [NonSerialized] private ObiNativeQuaternionList m_Orientations;
-        [NonSerialized] private ObiNativeQuaternionList m_RestOrientations;
         [NonSerialized] private ObiNativeQuaternionList m_PrevOrientations;
-        [NonSerialized] private ObiNativeQuaternionList m_StartOrientations;
-        [NonSerialized] private ObiNativeQuaternionList m_RenderableOrientations; /**< renderable particle orientations.*/
+        [NonSerialized] private ObiNativeQuaternionList m_RestOrientations;
 
-        // velocities
+        [NonSerialized] private ObiNativeQuaternionList m_StartOrientations;
+        [NonSerialized] private ObiNativeQuaternionList m_EndOrientations;
+        [NonSerialized] private ObiNativeQuaternionList m_RenderableOrientations;
+
+        // velocities:
         [NonSerialized] private ObiNativeVector4List m_Velocities;
         [NonSerialized] private ObiNativeVector4List m_AngularVelocities;
 
-        // masses/inertia tensors
+        // masses tensors:
         [NonSerialized] private ObiNativeFloatList m_InvMasses;
         [NonSerialized] private ObiNativeFloatList m_InvRotationalMasses;
-        [NonSerialized] private ObiNativeVector4List m_InvInertiaTensors;
 
-        // external forces
+        // external forces:
         [NonSerialized] private ObiNativeVector4List m_ExternalForces;
         [NonSerialized] private ObiNativeVector4List m_ExternalTorques;
         [NonSerialized] private ObiNativeVector4List m_Wind;
 
-        // deltas
+        // deltas:
         [NonSerialized] private ObiNativeVector4List m_PositionDeltas;
         [NonSerialized] private ObiNativeQuaternionList m_OrientationDeltas;
         [NonSerialized] private ObiNativeIntList m_PositionConstraintCounts;
@@ -225,32 +374,44 @@ namespace Obi
         [NonSerialized] private ObiNativeIntList m_Filters;
 
         // particle shape:
-        [NonSerialized] private ObiNativeVector4List m_Anisotropies;
         [NonSerialized] private ObiNativeVector4List m_PrincipalRadii;
+        [NonSerialized] private ObiNativeVector4List m_RenderableRadii;
         [NonSerialized] private ObiNativeVector4List m_Normals;
 
-        // fluids
-        [NonSerialized] private ObiNativeVector4List m_Vorticities;
+        // fluids:
+        [NonSerialized] private ObiNativeFloatList m_Life;
         [NonSerialized] private ObiNativeVector4List m_FluidData;
+        [NonSerialized] private ObiNativeVector4List m_FluidMaterials;  /**< fluidRadius / surfTension / viscosity / pressure */ 
+        [NonSerialized] private ObiNativeVector4List m_FluidMaterials2; /**< vorticity / vorticity diffusion / baroclinity / baroclinity diffusion */
+        [NonSerialized] private ObiNativeVector4List m_FluidInterface; /**< drag / ambient pressure / buoyancy / miscibility */
         [NonSerialized] private ObiNativeVector4List m_UserData;
-        [NonSerialized] private ObiNativeFloatList m_SmoothingRadii;
-        [NonSerialized] private ObiNativeFloatList m_Buoyancies;
-        [NonSerialized] private ObiNativeFloatList m_RestDensities;
-        [NonSerialized] private ObiNativeFloatList m_Viscosities;
-        [NonSerialized] private ObiNativeFloatList m_SurfaceTension;
-        [NonSerialized] private ObiNativeFloatList m_VortConfinement;
-        [NonSerialized] private ObiNativeFloatList m_AtmosphericDrag;
-        [NonSerialized] private ObiNativeFloatList m_AtmosphericPressure;
-        [NonSerialized] private ObiNativeFloatList m_Diffusion;
+        [NonSerialized] private ObiNativeMatrix4x4List m_Anisotropy;
 
-        public ISolverImpl implementation
-        {
-            get { return m_SolverImpl; }
-        }
+        // foam particles:
+        [NonSerialized] private ObiNativeVector4List m_FoamPositions;  /**< xyz = position, w = amount of neighbors*/
+        [NonSerialized] private ObiNativeVector4List m_FoamVelocities; /**< xyz = velocity, w = buoyancy*/
+        [NonSerialized] private ObiNativeVector4List m_FoamColors;
+        [NonSerialized] private ObiNativeVector4List m_FoamAttributes; /**< life, aging rate, size, drag*/
+        [NonSerialized] private ObiNativeIntList m_FoamCount;
+
+        // contacts:
+        [NonSerialized] private ObiNativeContactList m_ColliderContacts;
+        [NonSerialized] private ObiNativeContactList m_ParticleContacts;
+        [NonSerialized] private ObiNativeEffectiveMassesList m_ContactEffectiveMasses;
+        [NonSerialized] private ObiNativeEffectiveMassesList m_ParticleContactEffectiveMasses;
+
+        // queries:
+        [NonSerialized] private ObiNativeQueryShapeList m_BufferedQueryShapes;
+        [NonSerialized] private ObiNativeAffineTransformList m_BufferedQueryTransforms;
+        [NonSerialized] private ObiNativeQueryShapeList m_QueryShapes;
+        [NonSerialized] private ObiNativeAffineTransformList m_QueryTransforms;
+        [NonSerialized] private ObiNativeQueryResultList m_QueryResults;
+
+        public ISolverImpl implementation { get; private set; }
 
         public bool initialized
         {
-            get { return m_SolverImpl != null; }
+            get { return implementation != null; }
         }
 
         public IObiBackend simulationBackend
@@ -276,34 +437,45 @@ namespace Obi
             get { return m_SimplexCounts; }
         }
 
-        public UnityEngine.Bounds Bounds
+        /// <summary>
+        /// Solver bounds expressed in world space. 
+        /// </summary>
+        public UnityEngine.Bounds bounds
         {
-            get { return bounds; }
+            get { return m_BoundsWS; }
         }
 
-        public bool IsVisible
+        /// <summary>
+        /// Solver bounds expressed in the solver's local space. 
+        /// </summary>
+        public UnityEngine.Bounds localBounds
         {
-            get { return isVisible; }
+            get { return m_Bounds; }
         }
 
-        public float maxScale
-        {
-            get { return m_MaxScale; }
-        }
+        public bool isVisible { get; private set; } = true;
+
+        public float maxScale { get; private set; } = 1;
+
+        public bool simulationInFlight { get; private set; } = false;
+
+        public int pendingQueryCount => bufferedQueryShapes.count;
 
         public int allocParticleCount
         {
             get { return particleToActor.Count(s => s != null && s.actor != null); }
         }
 
+        public int activeParticleCount => activeParticles.count;
+
         public int contactCount
         {
-            get { return m_contactCount; }
+            get { return (backendType == BackendType.Burst || OnCollision != null) ? colliderContacts.count : 0; }
         }
 
         public int particleContactCount
         {
-            get { return m_particleContactCount; }
+            get { return (backendType == BackendType.Burst || OnParticleCollision != null) ? particleContacts.count : 0; }
         }
 
         public ParticleInActor[] particleToActor
@@ -328,6 +500,18 @@ namespace Obi
             }
         }
 
+        public ObiNativeIntList deadParticles
+        {
+            get
+            {
+                if (m_DeadParticles == null)
+                    m_DeadParticles = new ObiNativeIntList();
+                
+                return m_DeadParticles;
+            }
+        }
+
+        #region Simplices
         public ObiNativeIntList simplices
         {
             get
@@ -339,6 +523,42 @@ namespace Obi
             }
         }
 
+        public ObiNativeIntList points
+        {
+            get
+            {
+                if (m_Points == null)
+                    m_Points = new ObiNativeIntList(8);
+
+                return m_Points;
+            }
+        }
+
+        public ObiNativeIntList edges
+        {
+            get
+            {
+                if (m_Edges == null)
+                    m_Edges = new ObiNativeIntList(8);
+
+                return m_Edges;
+            }
+        }
+
+        public ObiNativeIntList triangles
+        {
+            get
+            {
+                if (m_Triangles == null)
+                    m_Triangles = new ObiNativeIntList(8);
+
+                return m_Triangles;
+            }
+        }
+
+        #endregion
+
+        #region Rigidbodies
         public ObiNativeVector4List rigidbodyLinearDeltas
         {
             get
@@ -362,6 +582,7 @@ namespace Obi
                 return m_RigidbodyAngularVelocities;
             }
         }
+        #endregion
 
         public ObiNativeColorList colors
         {
@@ -399,15 +620,6 @@ namespace Obi
             }
         }
 
-        public ObiNativeVector4List restPositions
-        {
-            get
-            {
-                if (m_RestPositions == null)
-                    m_RestPositions = new ObiNativeVector4List();
-                return m_RestPositions;
-            }
-        }
 
         public ObiNativeVector4List prevPositions
         {
@@ -419,6 +631,16 @@ namespace Obi
             }
         }
 
+        public ObiNativeVector4List restPositions
+        {
+            get
+            {
+                if (m_RestPositions == null)
+                    m_RestPositions = new ObiNativeVector4List();
+                return m_RestPositions;
+            }
+        }
+
         public ObiNativeVector4List startPositions
         {
             get
@@ -429,6 +651,16 @@ namespace Obi
             }
         }
 
+        public ObiNativeVector4List endPositions
+        {
+            get
+            {
+                if (m_EndPositions == null)
+                    m_EndPositions = new ObiNativeVector4List();
+                return m_EndPositions;
+            }
+        }
+
         public ObiNativeVector4List renderablePositions
         {
             get
@@ -453,16 +685,6 @@ namespace Obi
             }
         }
 
-        public ObiNativeQuaternionList restOrientations
-        {
-            get
-            {
-                if (m_RestOrientations == null)
-                    m_RestOrientations = new ObiNativeQuaternionList();
-                return m_RestOrientations;
-            }
-        }
-
         public ObiNativeQuaternionList prevOrientations
         {
             get
@@ -473,6 +695,17 @@ namespace Obi
             }
         }
 
+        public ObiNativeQuaternionList restOrientations
+        {
+            get
+            {
+                if (m_RestOrientations == null)
+                    m_RestOrientations = new ObiNativeQuaternionList();
+                return m_RestOrientations;
+            }
+        }
+
+
         public ObiNativeQuaternionList startOrientations
         {
             get
@@ -483,6 +716,17 @@ namespace Obi
             }
         }
 
+        public ObiNativeQuaternionList endOrientations
+        {
+            get
+            {
+                if (m_EndOrientations == null)
+                    m_EndOrientations = new ObiNativeQuaternionList();
+                return m_EndOrientations;
+            }
+        }
+
+
         public ObiNativeQuaternionList renderableOrientations
         {
             get
@@ -541,16 +785,6 @@ namespace Obi
             }
         }
 
-        public ObiNativeVector4List invInertiaTensors
-        {
-            get
-            {
-                if (m_InvInertiaTensors == null)
-                    m_InvInertiaTensors = new ObiNativeVector4List();
-                return m_InvInertiaTensors;
-            }
-        }
-
         #endregion
 
         #region External forces
@@ -663,13 +897,13 @@ namespace Obi
             }
         }
 
-        public ObiNativeVector4List anisotropies
+        public ObiNativeVector4List renderableRadii
         {
             get
             {
-                if (m_Anisotropies == null)
-                    m_Anisotropies = new ObiNativeVector4List();
-                return m_Anisotropies;
+                if (m_RenderableRadii == null)
+                    m_RenderableRadii = new ObiNativeVector4List();
+                return m_RenderableRadii;
             }
         }
 
@@ -697,13 +931,13 @@ namespace Obi
 
         #region Fluid properties
 
-        public ObiNativeVector4List vorticities
+        public ObiNativeFloatList life
         {
             get
             {
-                if (m_Vorticities == null)
-                    m_Vorticities = new ObiNativeVector4List();
-                return m_Vorticities;
+                if (m_Life == null)
+                    m_Life = new ObiNativeFloatList();
+                return m_Life;
             }
         }
 
@@ -727,103 +961,290 @@ namespace Obi
             }
         }
 
-        public ObiNativeFloatList smoothingRadii
+        public ObiNativeVector4List fluidInterface
         {
             get
             {
-                if (m_SmoothingRadii == null)
-                    m_SmoothingRadii = new ObiNativeFloatList();
-                return m_SmoothingRadii;
+                if (m_FluidInterface == null)
+                    m_FluidInterface = new ObiNativeVector4List();
+                return m_FluidInterface;
             }
         }
 
-        public ObiNativeFloatList buoyancies
+        public ObiNativeVector4List fluidMaterials
         {
             get
             {
-                if (m_Buoyancies == null)
-                    m_Buoyancies = new ObiNativeFloatList();
-                return m_Buoyancies;
+                if (m_FluidMaterials == null)
+                    m_FluidMaterials = new ObiNativeVector4List();
+                return m_FluidMaterials;
             }
         }
 
-        public ObiNativeFloatList restDensities
+        public ObiNativeVector4List fluidMaterials2
         {
             get
             {
-                if (m_RestDensities == null)
-                    m_RestDensities = new ObiNativeFloatList();
-                return m_RestDensities;
+                if (m_FluidMaterials2 == null)
+                    m_FluidMaterials2 = new ObiNativeVector4List();
+                return m_FluidMaterials2;
             }
         }
 
-        public ObiNativeFloatList viscosities
+        public ObiNativeMatrix4x4List anisotropies
         {
             get
             {
-                if (m_Viscosities == null)
-                    m_Viscosities = new ObiNativeFloatList();
-                return m_Viscosities;
+                if (m_Anisotropy == null)
+                    m_Anisotropy = new ObiNativeMatrix4x4List();
+                return m_Anisotropy;
             }
         }
 
-        public ObiNativeFloatList surfaceTension
+        public ObiNativeVector4List foamPositions
         {
             get
             {
-                if (m_SurfaceTension == null)
-                    m_SurfaceTension = new ObiNativeFloatList();
-                return m_SurfaceTension;
+                if (m_FoamPositions == null)
+                    m_FoamPositions = new ObiNativeVector4List();
+                return m_FoamPositions;
             }
         }
 
-        public ObiNativeFloatList vortConfinement
+        public ObiNativeVector4List foamVelocities
         {
             get
             {
-                if (m_VortConfinement == null)
-                    m_VortConfinement = new ObiNativeFloatList();
-                return m_VortConfinement;
+                if (m_FoamVelocities == null)
+                    m_FoamVelocities = new ObiNativeVector4List();
+                return m_FoamVelocities;
             }
         }
 
-        public ObiNativeFloatList atmosphericDrag
+        public ObiNativeVector4List foamColors
         {
             get
             {
-                if (m_AtmosphericDrag == null)
-                    m_AtmosphericDrag = new ObiNativeFloatList();
-                return m_AtmosphericDrag;
+                if (m_FoamColors == null)
+                    m_FoamColors = new ObiNativeVector4List();
+                return m_FoamColors;
             }
         }
 
-        public ObiNativeFloatList atmosphericPressure
+        public ObiNativeVector4List foamAttributes
         {
             get
             {
-                if (m_AtmosphericPressure == null)
-                    m_AtmosphericPressure = new ObiNativeFloatList();
-                return m_AtmosphericPressure;
+                if (m_FoamAttributes == null)
+                    m_FoamAttributes = new ObiNativeVector4List();
+                return m_FoamAttributes;
             }
         }
 
-        public ObiNativeFloatList diffusion
+        public ObiNativeIntList foamCount
         {
             get
             {
-                if (m_Diffusion == null)
-                    m_Diffusion = new ObiNativeFloatList();
-                return m_Diffusion;
+                if (m_FoamCount == null)
+                {
+                    m_FoamCount = new ObiNativeIntList();
+                    m_FoamCount.ResizeUninitialized(9);
+
+                    // post-emission particle dispatch (4 floats), post-update particle  dispatch (4 floats),
+                    // plus 1 extra float for storing currently alive particles while updating/killing.
+                    m_FoamCount.CopyFrom(new int[] { 0, 1, 1, 0, 0, 1, 1, 0, 0 }, 0, 0, 9);
+                }
+                return m_FoamCount;
             }
         }
 
         #endregion
 
+        #region Contacts
 
-        void Update()
+        public ObiNativeContactList colliderContacts
+        {
+            get
+            {
+                if (m_ColliderContacts == null)
+                    m_ColliderContacts = new ObiNativeContactList();
+                return m_ColliderContacts;
+            }
+        }
+
+        public ObiNativeContactList particleContacts
+        {
+            get
+            {
+                if (m_ParticleContacts == null)
+                    m_ParticleContacts = new ObiNativeContactList();
+                return m_ParticleContacts;
+            }
+        }
+
+        public ObiNativeEffectiveMassesList contactEffectiveMasses
+        {
+            get
+            {
+                if (m_ContactEffectiveMasses == null)
+                    m_ContactEffectiveMasses = new ObiNativeEffectiveMassesList();
+                return m_ContactEffectiveMasses;
+            }
+        }
+
+        public ObiNativeEffectiveMassesList particleContactEffectiveMasses
+        {
+            get
+            {
+                if (m_ParticleContactEffectiveMasses == null)
+                    m_ParticleContactEffectiveMasses = new ObiNativeEffectiveMassesList();
+                return m_ParticleContactEffectiveMasses;
+            }
+        }
+
+        #endregion
+
+        #region Queries
+
+        private ObiNativeQueryShapeList bufferedQueryShapes
+        {
+            get
+            {
+                if (m_BufferedQueryShapes == null)
+                    m_BufferedQueryShapes = new ObiNativeQueryShapeList();
+                return m_BufferedQueryShapes;
+            }
+        }
+
+        private ObiNativeAffineTransformList bufferedQueryTransforms
+        {
+            get
+            {
+                if (m_BufferedQueryTransforms == null)
+                    m_BufferedQueryTransforms = new ObiNativeAffineTransformList(8);
+                return m_BufferedQueryTransforms;
+            }
+        }
+
+        private ObiNativeQueryShapeList queryShapes
+        {
+            get
+            {
+                if (m_QueryShapes == null)
+                    m_QueryShapes = new ObiNativeQueryShapeList();
+                return m_QueryShapes;
+            }
+        }
+
+        private ObiNativeAffineTransformList queryTransforms
+        {
+            get
+            {
+                if (m_QueryTransforms == null)
+                    m_QueryTransforms = new ObiNativeAffineTransformList(8);
+                return m_QueryTransforms;
+            }
+        }
+
+        public ObiNativeQueryResultList queryResults
+        {
+            get
+            {
+                if (m_QueryResults == null)
+                    m_QueryResults = new ObiNativeQueryResultList();
+                return m_QueryResults;
+            }
+        }
+
+        #endregion
+
+        public void OnEnable()
+        {
+            bufferedSynchronization = synchronization;
+            accumulatedTime = 0;
+        }
+
+        private void FixedUpdate()
+        {
+            // first fixed update this frame:
+            if (steps++ == 0)
+            {
+                // Wait for the previous frame's simulation to end and GPU data to be available.
+                if (bufferedSynchronization == Synchronization.Asynchronous)
+                    CompleteSimulation();
+            }
+
+            if (bufferedSynchronization == Synchronization.SynchronousFixed)
+            {
+                // Update collider world:
+                ObiColliderWorld.GetInstance().SetDirty();
+                ObiColliderWorld.GetInstance().UpdateWorld(Time.fixedDeltaTime);
+
+                // kick off this step's simulation, and immediately wait for it to complete:
+                StartSimulation(Time.fixedDeltaTime, 1);
+                CompleteSimulation();
+            }
+           
+        }
+
+        private void Update()
+        {
+            ObiColliderWorld.GetInstance().SetDirty();
+        }
+
+        private void LateUpdate()
         {
             var scale = transform.lossyScale;
-            m_MaxScale = Mathf.Max(Mathf.Max(scale.x, scale.y), scale.z);
+            maxScale = Mathf.Max(Mathf.Max(scale.x, scale.y), scale.z);
+
+            // Accumulate amount of time to simulate (duration of the frame - time already simulated)
+            if (Application.isPlaying)
+            {
+                // Make sure ObiColliderWorld updates after all solvers have called CompleteSimulation() on their FixedUpdate.
+                // This way we can be sure no physics updates are in flight.
+                // Only update acceleration structures and rigidbodies if a physics step will take place.
+                ObiColliderWorld.GetInstance().UpdateWorld(Time.fixedDeltaTime * steps, steps > 0 && bufferedSynchronization != Synchronization.SynchronousFixed);
+
+                // Accumulate time and clamp it to a single timestep, in case the simulation is lagging behind rendering (dropping time).
+                accumulatedTime += Time.deltaTime - Time.fixedDeltaTime * steps;
+                accumulatedTime = Mathf.Clamp(accumulatedTime, 0, Time.fixedDeltaTime);
+            }
+            else
+            {
+                // if in editor, we don't accumulate any simulation time
+                // and just update solver bounds before rendering/simulation.
+                accumulatedTime = 0;
+                UpdateBounds();
+            }
+
+            if (bufferedSynchronization == Synchronization.Asynchronous ||
+                bufferedSynchronization == Synchronization.SynchronousFixed)
+                Render(accumulatedTime);
+
+            // if in play mode, kick off this frame's simulation.
+            if (Application.isPlaying && bufferedSynchronization != Synchronization.SynchronousFixed)
+                StartSimulation(Time.fixedDeltaTime, steps);
+
+            if (bufferedSynchronization == Synchronization.Synchronous)
+            {
+                // if the simulation has been stepped this frame,
+                // sychronously wait for completion before rendering.
+                if (steps > 0)
+                    CompleteSimulation();
+
+                Render(accumulatedTime);
+            }
+
+            // Reset step counter to zero, now that
+            // simulation tasks for this frame have been dispatched.
+            steps = 0;
+        }
+
+        private void OnApplicationQuit()
+        {
+            // Make sure solvers finish their simulation before Unity automatically destroys collider world
+            // when closing app or exiting play mode.
+            OnDestroy();
         }
 
         private void OnDestroy()
@@ -841,16 +1262,23 @@ namespace Obi
 #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
                 case BackendType.Burst: m_SimulationBackend = new BurstBackend(); break;
 #endif
-#if (OBI_ONI_SUPPORTED)
-                case BackendType.Oni: m_SimulationBackend = new OniBackend(); break;
-#endif
+                case BackendType.Compute:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        m_SimulationBackend = new ComputeBackend();
+                    else
+                        goto default;
+                    break;
 
                 default:
-#if (OBI_ONI_SUPPORTED)
-                    m_SimulationBackend = new OniBackend();
-#else
-                    m_SimulationBackend = new NullBackend();
-#endif
+                    Debug.LogWarning("The Burst backend depends on the following packages: Mathematics, Collections, Jobs and Burst. Please install the required dependencies. Simulation will fall back to the compute backend, if possible.");
+                    if (SystemInfo.supportsComputeShaders)
+                        m_SimulationBackend = new ComputeBackend();
+                    else
+                    {
+                        Debug.LogError("This platform doesn't support compute shaders. Please switch to the Burst backend.");
+                        m_SimulationBackend = new NullBackend();
+                    }
                     break;
             }
         }
@@ -861,11 +1289,17 @@ namespace Obi
             {
                 CreateBackend();
 
+                substepTime = Time.fixedDeltaTime / substeps;
+
                 // Set up local actor and particle buffers:
                 actors = new List<ObiActor>();
                 freeList = new ObiNativeIntList();
                 m_ParticleToActor = new ParticleInActor[0];
 
+                deformableUVs = new ObiNativeVector2List();
+                deformableTriangles = new ObiNativeIntList();
+                deformableEdges = new ObiNativeIntList();
+
                 // Create constraints:
                 m_Constraints[(int)Oni.ConstraintType.Distance] = new ObiDistanceConstraintsData();
                 m_Constraints[(int)Oni.ConstraintType.Bending] = new ObiBendConstraintsData();
@@ -878,19 +1312,32 @@ namespace Obi
                 m_Constraints[(int)Oni.ConstraintType.Tether] = new ObiTetherConstraintsData();
                 m_Constraints[(int)Oni.ConstraintType.Skin] = new ObiSkinConstraintsData();
                 m_Constraints[(int)Oni.ConstraintType.Pin] = new ObiPinConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Pinhole] = new ObiPinholeConstraintsData();
 
                 // Create the solver:
-                m_SolverImpl = m_SimulationBackend.CreateSolver(this, 0);
+                implementation = m_SimulationBackend.CreateSolver(this, 0);
 
                 // Set data arrays:
-                m_SolverImpl.ParticleCountChanged(this);
-                m_SolverImpl.SetRigidbodyArrays(this);
+                implementation.ParticleCountChanged(this);
+                implementation.SetRigidbodyArrays(this);
+                OnParticleCountChanged?.Invoke(this);
 
                 // Initialize moving transform:
                 InitializeTransformFrame();
 
+                // Force initial collider world update:
+                ObiColliderWorld.GetInstance().SetDirty();
+                ObiColliderWorld.GetInstance().UpdateWorld(0);
+                ObiColliderWorld.GetInstance().SetDirty();
+
+                OnInitialize?.Invoke(this);
+
                 // Set initial parameter values:
                 PushSolverParameters();
+
+#if UNITY_EDITOR
+                ObiActorEditorSelectionHandler.SolverInitialized(this);
+#endif
             }
         }
 
@@ -898,18 +1345,29 @@ namespace Obi
         {
             if (initialized)
             {
+                CompleteSimulation();
+
                 // Clear all constraints:
                 PushConstraints();
 
-                // Destroy the Oni solver:
-                m_SimulationBackend.DestroySolver(m_SolverImpl);
-                m_SolverImpl = null;
+                // Destroy the solver:
+                m_SimulationBackend.DestroySolver(implementation);
+                implementation = null;
 
                 // Free particle / rigidbody memory:
                 FreeParticleArrays();
                 FreeRigidbodyArrays();
 
                 freeList.Dispose();
+
+                // Reset bounds:
+                m_Bounds = new Bounds();
+
+                OnTeardown?.Invoke(this);
+
+#if UNITY_EDITOR
+                ObiActorEditorSelectionHandler.SolverTeardown(this);
+#endif
             }
         }
 
@@ -921,6 +1379,7 @@ namespace Obi
                 actor.RemoveFromSolver();
 
             // re-add all actors.
+            // Solver will be re-initialized on adding the first one.
             foreach (ObiActor actor in temp)
                 actor.AddToSolver();
         }
@@ -936,23 +1395,30 @@ namespace Obi
 
         public void EnsureRigidbodyArraysCapacity(int count)
         {
-            if (initialized && count >= rigidbodyLinearDeltas.count)
+            if (initialized && (count > rigidbodyLinearDeltas.count || !rigidbodyLinearDeltas.isCreated))
             {
                 rigidbodyLinearDeltas.ResizeInitialized(count);
                 rigidbodyAngularDeltas.ResizeInitialized(count);
 
-                m_SolverImpl.SetRigidbodyArrays(this);
+                implementation.SetRigidbodyArrays(this);
             }
         }
 
         private void FreeParticleArrays()
         {
             activeParticles.Dispose();
+            deadParticles.Dispose();
             simplices.Dispose();
+            points.Dispose();
+            edges.Dispose();
+            triangles.Dispose();
+
             colors.Dispose();
             cellCoords.Dispose();
             startPositions.Dispose();
+            endPositions.Dispose();
             startOrientations.Dispose();
+            endOrientations.Dispose();
             positions.Dispose();
             prevPositions.Dispose();
             restPositions.Dispose();
@@ -969,17 +1435,17 @@ namespace Obi
             filters.Dispose();
             renderablePositions.Dispose();
             renderableOrientations.Dispose();
+            renderableRadii.Dispose();
+            fluidInterface.Dispose();
+            fluidMaterials.Dispose();
+            fluidMaterials2.Dispose();
+            foamPositions.Dispose();
+            foamVelocities.Dispose();
+            foamColors.Dispose();
+            foamAttributes.Dispose();
+            foamCount.Dispose();
             anisotropies.Dispose();
-            smoothingRadii.Dispose();
-            buoyancies.Dispose();
-            restDensities.Dispose();
-            viscosities.Dispose();
-            surfaceTension.Dispose();
-            vortConfinement.Dispose();
-            atmosphericDrag.Dispose();
-            atmosphericPressure.Dispose();
-            diffusion.Dispose();
-            vorticities.Dispose();
+            life.Dispose();
             fluidData.Dispose();
             userData.Dispose();
             externalForces.Dispose();
@@ -990,27 +1456,46 @@ namespace Obi
             positionConstraintCounts.Dispose();
             orientationConstraintCounts.Dispose();
             normals.Dispose();
-            invInertiaTensors.Dispose();
+            colliderContacts.Dispose();
+            particleContacts.Dispose();
+            contactEffectiveMasses.Dispose();
+            particleContactEffectiveMasses.Dispose();
+
+            bufferedQueryShapes.Dispose();
+            bufferedQueryTransforms.Dispose();
+            queryShapes.Dispose();
+            queryTransforms.Dispose();
+            queryResults.Dispose();
+
+            deformableUVs.Dispose();
+            deformableTriangles.Dispose();
+            deformableEdges.Dispose();
 
             m_ActiveParticles = null;
+            m_DeadParticles = null;
             m_Simplices = null;
+            m_Points = null;
+            m_Edges = null;
+            m_Triangles = null;
+
             m_Colors = null;
             m_CellCoords = null;
             m_Positions = null;
             m_RestPositions = null;
             m_PrevPositions = null;
             m_StartPositions = null;
+            m_EndPositions = null;
             m_RenderablePositions = null;
             m_Orientations = null;
             m_RestOrientations = null;
             m_PrevOrientations = null;
             m_StartOrientations = null;
+            m_EndOrientations = null;
             m_RenderableOrientations = null;
             m_Velocities = null;
             m_AngularVelocities = null;
             m_InvMasses = null;
             m_InvRotationalMasses = null;
-            m_InvInertiaTensors = null;
             m_ExternalForces = null;
             m_ExternalTorques = null;
             m_Wind = null;
@@ -1021,21 +1506,35 @@ namespace Obi
             m_CollisionMaterials = null;
             m_Phases = null;
             m_Filters = null;
-            m_Anisotropies = null;
+            m_RenderableRadii = null;
             m_PrincipalRadii = null;
             m_Normals = null;
-            m_Vorticities = null;
+            m_Life = null;
             m_FluidData = null;
             m_UserData = null;
-            m_SmoothingRadii = null;
-            m_Buoyancies = null;
-            m_RestDensities = null;
-            m_Viscosities = null;
-            m_SurfaceTension = null;
-            m_VortConfinement = null;
-            m_AtmosphericDrag = null;
-            m_AtmosphericPressure = null;
-            m_Diffusion = null;
+            m_FluidInterface = null;
+            m_FluidMaterials = null;
+            m_FluidMaterials2 = null;
+            m_FoamPositions = null;
+            m_FoamVelocities = null;
+            m_FoamColors = null;
+            m_FoamAttributes = null;
+            m_FoamCount = null;
+            m_Anisotropy = null;
+            m_ColliderContacts = null;
+            m_ParticleContacts = null;
+            m_ContactEffectiveMasses = null;
+            m_ParticleContactEffectiveMasses = null;
+
+            m_BufferedQueryShapes = null;
+            m_BufferedQueryTransforms = null;
+            m_QueryShapes = null;
+            m_QueryTransforms = null;
+            m_QueryResults = null;
+
+            deformableUVs = null;
+            deformableTriangles = null;
+            deformableEdges = null;
         }
 
         private void EnsureParticleArraysCapacity(int count)
@@ -1043,12 +1542,15 @@ namespace Obi
             // only resize if the count is larger than the current amount of particles:
             if (count >= positions.count)
             {
-                colors.ResizeInitialized(count);
+                colors.ResizeInitialized(count, Color.white);
+                deadParticles.ResizeInitialized(count);
                 startPositions.ResizeInitialized(count);
+                endPositions.ResizeInitialized(count);
                 positions.ResizeInitialized(count);
                 prevPositions.ResizeInitialized(count);
                 restPositions.ResizeInitialized(count);
                 startOrientations.ResizeInitialized(count, Quaternion.identity);
+                endOrientations.ResizeInitialized(count, Quaternion.identity);
                 orientations.ResizeInitialized(count, Quaternion.identity);
                 prevOrientations.ResizeInitialized(count, Quaternion.identity);
                 restOrientations.ResizeInitialized(count, Quaternion.identity);
@@ -1062,17 +1564,12 @@ namespace Obi
                 collisionMaterials.ResizeInitialized(count);
                 phases.ResizeInitialized(count);
                 filters.ResizeInitialized(count);
-                anisotropies.ResizeInitialized(count * 3);
-                smoothingRadii.ResizeInitialized(count);
-                buoyancies.ResizeInitialized(count);
-                restDensities.ResizeInitialized(count);
-                viscosities.ResizeInitialized(count);
-                surfaceTension.ResizeInitialized(count);
-                vortConfinement.ResizeInitialized(count);
-                atmosphericDrag.ResizeInitialized(count);
-                atmosphericPressure.ResizeInitialized(count);
-                diffusion.ResizeInitialized(count);
-                vorticities.ResizeInitialized(count);
+                renderableRadii.ResizeInitialized(count);
+                fluidInterface.ResizeInitialized(count);
+                fluidMaterials.ResizeInitialized(count);
+                fluidMaterials2.ResizeInitialized(count);
+                anisotropies.ResizeInitialized(count);
+                life.ResizeInitialized(count, float.PositiveInfinity);
                 fluidData.ResizeInitialized(count);
                 userData.ResizeInitialized(count);
                 externalForces.ResizeInitialized(count);
@@ -1083,9 +1580,9 @@ namespace Obi
                 positionConstraintCounts.ResizeInitialized(count);
                 orientationConstraintCounts.ResizeInitialized(count);
                 normals.ResizeInitialized(count);
-                invInertiaTensors.ResizeInitialized(count);
 
-                m_SolverImpl.ParticleCountChanged(this);
+                // reset dead particles counter to zero.
+                deadParticles.count = 0;
             }
 
             if (count >= m_ParticleToActor.Length)
@@ -1094,38 +1591,366 @@ namespace Obi
             }
         }
 
-        private void AllocateParticles(int[] particleIndices)
+        private void UpdateFoamParticleCapacity()
+        {
+            if (maxFoamParticles != foamPositions.count)
+            {
+                foamPositions.ResizeUninitialized((int)maxFoamParticles);
+                foamVelocities.ResizeUninitialized((int)maxFoamParticles);
+                foamColors.ResizeUninitialized((int)maxFoamParticles);
+                foamAttributes.ResizeUninitialized((int)maxFoamParticles);
+                foamCount[3] = Mathf.Min(foamCount[3], (int)maxFoamParticles);
+
+                implementation.MaxFoamParticleCountChanged(this);
+            }
+        }
+
+        private void AllocateParticles(ObiNativeIntList particleIndices)
         {
 
             // If attempting to allocate more particles than we have:
-            if (particleIndices.Length > freeList.count)
+            if (particleIndices.count > freeList.count)
             {
-                int grow = particleIndices.Length - freeList.count;
+                int grow = particleIndices.count - freeList.count;
 
                 // append new free indices:
                 for (int i = 0; i < grow; ++i)
                     freeList.Add(positions.count + i);
 
                 // grow particle arrays:
-                EnsureParticleArraysCapacity(positions.count + particleIndices.Length);
+                EnsureParticleArraysCapacity(positions.count + particleIndices.count);
             }
 
             // determine first particle in the free list to use:
-            int first = freeList.count - particleIndices.Length;
+            int first = freeList.count - particleIndices.count;
 
             // copy free indices to the input array:
-            freeList.CopyTo(particleIndices, first, particleIndices.Length);
+            particleIndices.CopyFrom(freeList, first, 0, particleIndices.count);
 
             // shorten the free list:
             freeList.ResizeUninitialized(first);
 
         }
 
-        private void FreeParticles(int[] particleIndices)
+        private void FreeParticles(ObiNativeIntList particleIndices)
         {
             freeList.AddRange(particleIndices);
         }
 
+        private void CollisionCallbacks()
+        {
+            if (OnCollision != null)
+            {
+                colliderContacts.WaitForReadback();
+                OnCollision.Invoke(this, colliderContacts);
+            }
+            if (OnParticleCollision != null)
+            {
+                particleContacts.WaitForReadback();
+                OnParticleCollision.Invoke(this, particleContacts);
+            }
+            if (OnAdvection != null)
+            {
+                foamPositions.WaitForReadback();
+                foamVelocities.WaitForReadback();
+                foamAttributes.WaitForReadback();
+                foamColors.WaitForReadback();
+                foamCount.WaitForReadback();
+
+                OnAdvection.Invoke(this);
+
+
+                foamPositions.Upload();
+                foamVelocities.Upload();
+                foamAttributes.Upload();
+                foamColors.Upload();
+                foamCount.Upload();
+            }
+        }
+
+        private void NotifyDeceasedParticles()
+        {
+            deadParticles.WaitForReadback();
+
+            int dead = deadParticles.count;
+            for (int i = 0; i < dead; ++i)
+            {
+                int index = deadParticles[i];
+                var pa = particleToActor[index];
+                if (pa != null)
+                    pa.actor.DeactivateParticle(pa.indexInActor);
+            }
+
+            deadParticles.count = 0;
+        }
+
+        public void StartSimulation(float stepDelta, int simulationSteps)
+        {
+            if (simulationSteps > 0)
+            {
+                // Complete previous simulation call, if any:
+                CompleteSimulation();
+
+                simulatedTime = stepDelta * simulationSteps; // physics time that has been simulated by Unity this frame. Might be more than the time we actually simulate, due to maxStepsPerFrame.
+                substepTime = stepDelta / substeps;          // duration of a substep.
+
+                // only update buffered synchronization before starting a new step.
+                bufferedSynchronization = synchronization;
+
+                // notify actors of dead particles, so they can deactivate them. Do this before inserting new actors,
+                // as actor insertion might trigger a resizing of the deadParticles buffer.
+                NotifyDeceasedParticles();
+
+                // AddActor() calls are buffered, new actors should be inserted as this particular point in time:
+                while (addBuffer.TryDequeue(out ObiActor actor))
+                    InsertBufferedActor(actor);
+
+                if (initialized && maxStepsPerFrame > 0)
+                {
+                    simulationInFlight = true;
+
+                    int frameSubsteps = Mathf.Min(maxStepsPerFrame, simulationSteps) * substeps; // amount of substeps *actually* simulated this frame.
+                    float timeToSimulate = frameSubsteps * substepTime; // amount of time we need to simulate, might be less than simulatedTime.
+
+                    UpdateFoamParticleCapacity();
+
+                    // Update collision materials/rigidbodies after adding new actors to make sure collision materials are up to date.
+                    // Also call it before SimulationStart, so that constraints referencing rigidbodies (such as Pin constraints in attachments)
+                    // use handle data that's up to date. 
+                    using (m_UpdateColliderWorld.Auto())
+                    {
+                        ObiColliderWorld.GetInstance().UpdateCollisionMaterials();
+                        EnsureRigidbodyArraysCapacity(ObiColliderWorld.GetInstance().rigidbodyHandles.Count);
+                    }
+
+                    // We need SimulationStart to be called before PushConstraints for updating pin constraints.
+                    OnSimulationStart?.Invoke(this, timeToSimulate, substepTime);
+                    foreach (ObiActor actor in actors)
+                        actor.SimulationStart(timeToSimulate, substepTime);
+
+                    // Update the active particles array:
+                    PushActiveParticles();
+
+                    // Update the simplices array:
+                    PushSimplices();
+
+                    // Update deformable triangles/edges arrays:
+                    PushDeformableTriangles();
+                    PushDeformableEdges();
+
+                    // Update constraint batches:
+                    PushConstraints();
+
+                    // Update parameters:
+                    parameters.gravity = gravitySpace == Space.World ? transform.InverseTransformVector(gravity) : gravity;
+                    parameters.ambientWind = windSpace == Space.World ? transform.InverseTransformVector(ambientWind) : ambientWind;
+                    implementation.SetParameters(parameters);
+
+                    // Notify render systems that a step has started:
+                    m_RenderSystems.Step();
+
+                    // CPU -> GPU data transfer
+                    implementation.PushData();
+
+                    OnCollisionDetectionStart?.Invoke(this, timeToSimulate, substepTime);
+                    foreach (ObiActor actor in actors)
+                        actor.CollisionDetectionStart(timeToSimulate, substepTime);
+
+                    // Update inertial reference frame:
+                    simulationHandle = UpdateTransformFrame(simulatedTime);
+
+                    // Calculate bounds and update particle lifetimes.
+                    simulationHandle = implementation.UpdateBounds(simulationHandle, simulatedTime);
+
+                    // Perform collision detection:
+                    if (simulateWhenInvisible || isVisible)
+                    {
+                        simulationHandle = implementation.CollisionDetection(simulationHandle, simulatedTime);
+                        simulationHandle?.Complete(); // complete here, since several jobs need fluidParticles.Length. TODO: use deferred jobs.
+                    }
+
+                    // Perform queued queries. This ensures queries "see" the same state as collision callbacks, and ensures no
+                    // data races (queries performed while the simulation is running).
+                    FlushSpatialQueries();
+
+                    OnSubstepsStart?.Invoke(this, timeToSimulate, substepTime);
+                    foreach (ObiActor actor in actors)
+                        actor.SubstepsStart(timeToSimulate, substepTime);
+
+                    // Divide each step into multiple substeps:
+                    float timeLeft = simulatedTime;         
+                    for (int i = 0; i < frameSubsteps; ++i)
+                    {
+                        // Only update the solver if it is visible, or if we must simulate even when invisible.
+                        if ((simulateWhenInvisible || isVisible) && initialized)
+                        {
+                            simulationHandle = implementation.Substep(simulationHandle, stepDelta, substepTime, simulationSteps, timeLeft);
+                        }
+                        timeLeft -= substepTime;
+                    }
+
+                    timeSinceSimulationStart += timeToSimulate;
+
+                    // Request GPU data to be brought back to the CPU.
+                    RequestReadback();
+                }
+            }
+        }
+
+        private void FlushSpatialQueries()
+        {
+            while (bufferedQueryShapes.count > 0)
+            {
+                // copy buffered queries to the lists used for performing the queries:
+                queryShapes.ResizeUninitialized(bufferedQueryShapes.count);
+                queryTransforms.ResizeUninitialized(bufferedQueryTransforms.count);
+
+                queryShapes.CopyFrom(bufferedQueryShapes);
+                queryTransforms.CopyFrom(bufferedQueryTransforms);
+
+                bufferedQueryShapes.Clear();
+                bufferedQueryTransforms.Clear();
+
+                implementation.SpatialQuery(queryShapes, queryTransforms, queryResults);
+                queryResults.Readback();
+
+                if (synchronousSpatialQueries)
+                {
+                    // Wait for query results right now and trigger query results event:
+                    queryResults.WaitForReadback();
+                    OnSpatialQueryResults?.Invoke(this, queryResults);
+                }
+            }
+        }
+
+        public void CompleteSimulation()
+        {
+            // if the solver is not yet initialized or there's no previous call to SimulationStart, return.
+            if (!initialized || !simulationInFlight)
+                return;
+
+            // Make sure previous simulation call has completed.
+            simulationHandle?.Complete();
+
+            // Update physics state for rendering, and wait for GPU readbacks to finish.
+            implementation.FinishSimulation();
+
+            // Trigger simulation end callback, after GPU readbacks are completed but before query/collision callbacks.
+            OnSimulationEnd?.Invoke(this, simulatedTime, substepTime);
+            foreach (ObiActor actor in actors)
+                actor.SimulationEnd(simulatedTime, substepTime);
+
+            // Update rigidbody velocities with the simulation results:
+            ObiColliderWorld.GetInstance().UpdateRigidbodyVelocities(this);
+
+            // Trigger spatial query results:
+            if (!synchronousSpatialQueries)
+            {
+                queryResults.WaitForReadback();
+                OnSpatialQueryResults?.Invoke(this, queryResults);
+            }
+
+            // Trigger collision callbacks now that GPU data (including rigidbody velocity deltas) is available.
+            CollisionCallbacks();
+
+            simulationInFlight = false;
+        }
+
+        /// <summary>
+        /// Performs physics state interpolation and updates rendering.
+        /// </summary>
+        /// <param name="unsimulatedTime"> Remaining time that could not be simulated during this frame (in seconds). This is used to interpolate physics state. </param>  
+        public void Render(float unsimulatedTime)
+        {
+            if (!initialized)
+                return;
+
+            // Only perform interpolation if the solver is visible, or if we must simulate even when invisible.
+            if (simulateWhenInvisible || isVisible)
+            {
+                using (m_StateInterpolationPerfMarker.Auto())
+                {
+                    // interpolate physics state:
+                    simulationHandle = implementation.ApplyInterpolation(simulationHandle, startPositions, startOrientations, Time.fixedDeltaTime, unsimulatedTime);
+                }
+            }
+
+            simulationHandle?.Complete();
+
+            // test bounds against all cameras to update visibility.
+            UpdateVisibility();
+
+            OnInterpolate?.Invoke(this, simulatedTime, substepTime);
+
+            foreach (ObiActor actor in actors)
+                actor.Interpolate(simulatedTime, substepTime);
+
+            if (!Application.isPlaying)
+            {
+                // in-editor, actors update their positions/orientations in Interpolate when transformed,
+                // so we must copy them to the GPU:
+                positions.Upload();
+                orientations.Upload();
+                renderablePositions.Upload();
+                renderableOrientations.Upload();
+            }
+
+            // Update render systems if dirty:
+            if (dirtyRendering != 0)
+            {
+                m_RenderSystems.Setup(dirtyRendering);
+                dirtyRendering = 0;
+            }
+
+            // Only render if visible:
+            if (simulateWhenInvisible || isVisible)
+                m_RenderSystems.Render();
+        }
+
+        private void UpdateBounds()
+        {
+            // While in-editor, update active particles and simplices so that
+            // solver bounds are correct.
+            if (initialized)
+            {
+                PushActiveParticles();
+                PushSimplices();
+
+                simulationHandle = UpdateTransformFrame(0);
+                simulationHandle = implementation.UpdateBounds(simulationHandle, 0);
+                simulationHandle?.Complete();
+            }
+        }
+
+        private void RequestReadback()
+        {
+            if (!initialized)
+                return;
+
+            OnRequestReadback?.Invoke(this);
+            foreach (ObiActor actor in actors)
+                actor.RequestReadback();
+
+            implementation.RequestReadback();
+
+            // We must read the entire contacts buffer instead of the amount of contacts the CPU
+            // has from last frame, since we need to get both the counter value and the contacts data on the same
+            // frame. Alternative would be to read back amount of contacts from last frame, but that
+            // means we could find invalid/uninitialized contacts if the amount of contacts decreases from one frame to the next.
+            if (OnCollision != null)
+                colliderContacts.Readback();
+            if (OnParticleCollision != null)
+                particleContacts.Readback();
+
+            if (OnAdvection != null)
+            {
+                foamPositions.Readback();
+                foamVelocities.Readback();
+                foamAttributes.Readback();
+                foamColors.Readback();
+                foamCount.Readback();
+            }
+        }
 
         /// <summary>
         /// Adds an actor to the solver.
@@ -1139,28 +1964,17 @@ namespace Obi
         /// </returns> 
         public bool AddActor(ObiActor actor)
         {
-            if (actor == null)
+            if (actor == null || actors == null || actor.sourceBlueprint == null || actor.sourceBlueprint.empty || actors.Contains(actor) || addBuffer.Contains(actor))
                 return false;
 
-            if ((actors == null || !actors.Contains(actor)) && actor.sourceBlueprint != null)
-            {
-                // If the solver is not initialized yet, do so:
-                Initialize();
-
-                actor.solverIndices = new int[actor.sourceBlueprint.particleCount];
-
-                AllocateParticles(actor.solverIndices);
-
-                for (int i = 0; i < actor.solverIndices.Length; ++i)
-                    particleToActor[actor.solverIndices[i]] = new ObiSolver.ParticleInActor(actor, i);
-
-                actors.Add(actor);
-
-                actor.LoadBlueprint(this);
-            }
+            // in-editor, we insert actors right away since the simulation is not running,
+            // yet we need to perform rendering.
 
+            if (!Application.isPlaying)
+                InsertBufferedActor(actor);
+            else
+                addBuffer.Enqueue(actor);
             return true;
-
         }
 
         /// <summary>  
@@ -1175,27 +1989,34 @@ namespace Obi
         /// </returns> 
         public bool RemoveActor(ObiActor actor)
         {
-
             if (actor == null)
                 return false;
 
+            // remove from add buffer: TODO: use list instead of queue.
+            addBuffer = new Queue<ObiActor>(addBuffer.Where(s => s != actor));
+
             // Find actor index in our actors array:
             int index = actors.IndexOf(actor);
 
             // If we are in charge of this actor indeed, perform all steps necessary to release it.
             if (index >= 0)
             {
-                actor.UnloadBlueprint(this);
+                actor.UnloadBlueprint();
 
-                for (int i = 0; i < actor.solverIndices.Length; ++i)
+                for (int i = 0; i < actor.solverIndices.count; ++i)
                     particleToActor[actor.solverIndices[i]] = null;
 
                 FreeParticles(actor.solverIndices);
+                freeGroupIDs.Push(actor.groupID);
 
                 actors.RemoveAt(index);
 
+                actor.solverIndices.Dispose();
                 actor.solverIndices = null;
 
+                for (int i = 0; i < actor.solverBatchOffsets.Length; ++i)
+                    actor.solverBatchOffsets[i].Clear();
+
                 // If this was the last actor in the solver, tear it down:
                 if (actors.Count == 0)
                     Teardown();
@@ -1206,6 +2027,35 @@ namespace Obi
             return false;
         }
 
+        private void InsertBufferedActor(ObiActor actor)
+        {
+            if (actor == null)
+                return;
+
+            // If the solver is not initialized yet, do so:
+            Initialize();
+
+            if (actor.solverIndices == null)
+                actor.solverIndices = new ObiNativeIntList();
+            actor.solverIndices.ResizeUninitialized(actor.sourceBlueprint.particleCount);
+
+            AllocateParticles(actor.solverIndices);
+
+            for (int i = 0; i < actor.solverIndices.count; ++i)
+                particleToActor[actor.solverIndices[i]] = new ParticleInActor(actor, i);
+
+            actors.Add(actor);
+
+            if (freeGroupIDs.Count == 0)
+                freeGroupIDs.Push(actors.Count);
+            actor.groupID = freeGroupIDs.Pop();
+
+            actor.LoadBlueprint();
+
+            implementation.ParticleCountChanged(this);
+            OnParticleCountChanged?.Invoke(this);
+        }
+
         /// <summary>  
         /// Updates solver parameters. 
         /// </summary>
@@ -1215,39 +2065,41 @@ namespace Obi
             if (!initialized)
                 return;
 
-            m_SolverImpl.SetParameters(parameters);
+            implementation.SetParameters(parameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Distance, ref distanceConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Distance, ref distanceConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Bending, ref bendingConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Bending, ref bendingConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ParticleCollision, ref particleCollisionConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ParticleCollision, ref particleCollisionConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ParticleFriction, ref particleFrictionConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ParticleFriction, ref particleFrictionConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Collision, ref collisionConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Collision, ref collisionConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Friction, ref frictionConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Friction, ref frictionConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Density, ref densityConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Density, ref densityConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Skin, ref skinConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Skin, ref skinConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Volume, ref volumeConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Volume, ref volumeConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ShapeMatching, ref shapeMatchingConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.ShapeMatching, ref shapeMatchingConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Tether, ref tetherConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Tether, ref tetherConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Pin, ref pinConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Pin, ref pinConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Stitch, ref stitchConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Pinhole, ref pinholeConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.StretchShear, ref stretchShearConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Stitch, ref stitchConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.BendTwist, ref bendTwistConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.StretchShear, ref stretchShearConstraintParameters);
 
-            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Chain, ref chainConstraintParameters);
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.BendTwist, ref bendTwistConstraintParameters);
+
+            implementation.SetConstraintGroupParameters(Oni.ConstraintType.Chain, ref chainConstraintParameters);
 
             if (OnUpdateParameters != null)
                 OnUpdateParameters(this);
@@ -1278,6 +2130,7 @@ namespace Obi
                 case Oni.ConstraintType.ShapeMatching: return shapeMatchingConstraintParameters;
                 case Oni.ConstraintType.Tether: return tetherConstraintParameters;
                 case Oni.ConstraintType.Pin: return pinConstraintParameters;
+                case Oni.ConstraintType.Pinhole: return pinholeConstraintParameters;
                 case Oni.ConstraintType.Stitch: return stitchConstraintParameters;
                 case Oni.ConstraintType.Density: return densityConstraintParameters;
                 case Oni.ConstraintType.StretchShear: return stretchShearConstraintParameters;
@@ -1305,153 +2158,218 @@ namespace Obi
 
         private void PushActiveParticles()
         {
-            activeParticles.Clear();
-            for (int i = 0; i < actors.Count; ++i)
+            if (dirtyActiveParticles)
             {
-                ObiActor currentActor = actors[i];
-
-                if (currentActor.isActiveAndEnabled)
+                using (m_PushActiveParticles.Auto())
                 {
-                    for (int j = 0; j < currentActor.activeParticleCount; ++j)
-                        activeParticles.Add(currentActor.solverIndices[j]);
+                    activeParticles.Clear();
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        if (actors[i].isActiveAndEnabled)
+                            activeParticles.AddRange(actors[i].solverIndices, actors[i].activeParticleCount);
+                    }
+
+                    implementation.SetActiveParticles(activeParticles);
+
+                    dirtyActiveParticles = false;
                 }
             }
+        }
 
-            implementation.SetActiveParticles(activeParticles);
-            dirtyActiveParticles = false;
+        private void PushDeformableTriangles()
+        {
+            if (dirtyDeformableTriangles)
+            {
+                using (m_PushDeformableTriangles.Auto())
+                {
+                    deformableTriangles.Clear();
+                    deformableUVs.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        ObiActor currentActor = actors[i];
+                        if (currentActor.isActiveAndEnabled)
+                        {
+                            currentActor.ProvideDeformableTriangles(deformableTriangles, deformableUVs);
+                        }
+                    }
+
+                    implementation.SetDeformableTriangles(deformableTriangles, deformableUVs);
+
+                    dirtyDeformableTriangles = false;
+                }
+            }
+        }
+
+        private void PushDeformableEdges()
+        {
+            if (dirtyDeformableEdges)
+            {
+                using (m_PushDeformableEdges.Auto())
+                {
+                    deformableEdges.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
+                    {
+                        ObiActor currentActor = actors[i];
+                        if (currentActor.isActiveAndEnabled)
+                        {
+                            currentActor.ProvideDeformableEdges(deformableEdges);
+                        }
+                    }
+
+                    implementation.SetDeformableEdges(deformableEdges);
+
+                    dirtyDeformableEdges = false;
+                }
+            }
         }
 
         private void PushSimplices()
         {
-            simplices.Clear();
-            points.Clear();
-            edges.Clear();
-            triangles.Clear();
 
-            for (int i = 0; i < actors.Count; ++i)
+            if (dirtySimplices != Oni.SimplexType.None)
             {
-                ObiActor currentActor = actors[i];
-
-                if (currentActor.isActiveAndEnabled && currentActor.isLoaded)
+                using (m_PushSimplices.Auto())
                 {
-                    //simplex based contacts
-                    if (currentActor.surfaceCollisions)
+                    simplices.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Point) != 0)
+                        points.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Edge) != 0)
+                        edges.Clear();
+
+                    if ((dirtySimplices & Oni.SimplexType.Triangle) != 0)
+                        triangles.Clear();
+
+                    for (int i = 0; i < actors.Count; ++i)
                     {
-                        if (currentActor.blueprint.points != null)
-                            for (int j = 0; j < currentActor.blueprint.points.Length; ++j)
+                        var currentActor = actors[i];
+
+                        if (currentActor.isActiveAndEnabled && currentActor.isLoaded)
+                        {
+                            //simplex based contacts
+                            if (currentActor.surfaceCollisions)
                             {
-                                int actorIndex = currentActor.blueprint.points[j];
+                                if (currentActor.sharedBlueprint.points != null && (dirtySimplices & Oni.SimplexType.Point) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.points.Length; ++j)
+                                    {
+                                        int actorIndex = currentActor.sharedBlueprint.points[j];
 
-                                if (actorIndex < currentActor.activeParticleCount)
-                                    points.Add(currentActor.solverIndices[actorIndex]);
+                                        if (actorIndex < currentActor.activeParticleCount)
+                                            points.Add(currentActor.solverIndices[actorIndex]);
+                                    }
+
+                                if (currentActor.sharedBlueprint.edges != null && (dirtySimplices & Oni.SimplexType.Edge) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.edges.Length / 2; ++j)
+                                    {
+                                        int actorIndex1 = currentActor.sharedBlueprint.edges[j * 2];
+                                        int actorIndex2 = currentActor.sharedBlueprint.edges[j * 2 + 1];
+
+                                        if (actorIndex1 < currentActor.activeParticleCount && actorIndex2 < currentActor.activeParticleCount)
+                                        {
+                                            edges.Add(currentActor.solverIndices[actorIndex1]);
+                                            edges.Add(currentActor.solverIndices[actorIndex2]);
+                                        }
+                                    }
+
+                                if (currentActor.sharedBlueprint.triangles != null && (dirtySimplices & Oni.SimplexType.Triangle) != 0)
+                                    for (int j = 0; j < currentActor.sharedBlueprint.triangles.Length / 3; ++j)
+                                    {
+                                        int actorIndex1 = currentActor.sharedBlueprint.triangles[j * 3];
+                                        int actorIndex2 = currentActor.sharedBlueprint.triangles[j * 3 + 1];
+                                        int actorIndex3 = currentActor.sharedBlueprint.triangles[j * 3 + 2];
+
+                                        if (actorIndex1 < currentActor.activeParticleCount &&
+                                            actorIndex2 < currentActor.activeParticleCount &&
+                                            actorIndex3 < currentActor.activeParticleCount)
+                                        {
+                                            triangles.Add(currentActor.solverIndices[actorIndex1]);
+                                            triangles.Add(currentActor.solverIndices[actorIndex2]);
+                                            triangles.Add(currentActor.solverIndices[actorIndex3]);
+                                        }
+                                    }
                             }
-
-                        if (currentActor.blueprint.edges != null)
-                            for (int j = 0; j < currentActor.blueprint.edges.Length / 2; ++j)
+                            // particle based contacts
+                            else if ((dirtySimplices & Oni.SimplexType.Point) != 0)
                             {
-                                int actorIndex1 = currentActor.blueprint.edges[j * 2];
-                                int actorIndex2 = currentActor.blueprint.edges[j * 2 + 1];
-
-                                if (actorIndex1 < currentActor.activeParticleCount && actorIndex2 < currentActor.activeParticleCount)
-                                {
-                                    edges.Add(currentActor.solverIndices[actorIndex1]);
-                                    edges.Add(currentActor.solverIndices[actorIndex2]);
-                                }
-                            }
-
-                        if (currentActor.blueprint.triangles != null)
-                            for (int j = 0; j < currentActor.blueprint.triangles.Length / 3; ++j)
-                            {
-                                int actorIndex1 = currentActor.blueprint.triangles[j * 3];
-                                int actorIndex2 = currentActor.blueprint.triangles[j * 3 + 1];
-                                int actorIndex3 = currentActor.blueprint.triangles[j * 3 + 2]; // TODO: +1: degenerate triangles. check out!
-
-                                if (actorIndex1 < currentActor.activeParticleCount &&
-                                    actorIndex2 < currentActor.activeParticleCount &&
-                                    actorIndex3 < currentActor.activeParticleCount)
-                                {
-                                    triangles.Add(currentActor.solverIndices[actorIndex1]);
-                                    triangles.Add(currentActor.solverIndices[actorIndex2]);
-                                    triangles.Add(currentActor.solverIndices[actorIndex3]);
-                                }
+                                // generate a point simplex out of each active particle:
+                                points.AddRange(currentActor.solverIndices, currentActor.activeParticleCount);
                             }
+                        }
                     }
-                    // particle based contacts
-                    else
-                    {
-                        // generate a point simplex out of each active particle:
-                        for (int j = 0; j < currentActor.activeParticleCount; ++j)
-                            points.Add(currentActor.solverIndices[j]);
-                    }
+
+                    simplices.EnsureCapacity(points.count + edges.count + triangles.count);
+                    simplices.AddRange(triangles);
+                    simplices.AddRange(edges);
+                    simplices.AddRange(points);
+
+                    m_SimplexCounts = new SimplexCounts(points.count, edges.count / 2, triangles.count / 3);
+
+                    cellCoords.ResizeInitialized(m_SimplexCounts.simplexCount);
+
+                    implementation.SetSimplices(simplices, m_SimplexCounts);
+
+                    dirtySimplices = Oni.SimplexType.None;
                 }
             }
-
-            simplices.capacity = points.Count + edges.Count + triangles.Count;
-            simplices.AddRange(points);
-            simplices.AddRange(edges);
-            simplices.AddRange(triangles);
-
-            m_SimplexCounts = new SimplexCounts(points.Count, edges.Count / 2, triangles.Count / 3);
-            cellCoords.ResizeInitialized(m_SimplexCounts.simplexCount);
-
-            m_SolverImpl.SetSimplices(simplices, m_SimplexCounts);
-            dirtySimplices = false;
-
         }
 
         private void PushConstraints()
         {
-            // Clear all dirty constraints:
-            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
-                if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
-                    m_Constraints[i].Clear();
-
-            // Iterate over all actors, merging their batches together:
-            for (int k = 0; k < actors.Count; ++k)
+            if (dirtyConstraints != 0)
             {
-                if (actors[k].isLoaded)
+                // Clear all dirty constraints:
+                for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                    if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                        m_Constraints[i].Clear();
+
+                // Iterate over all actors, merging their batches together:
+                for (int k = 0; k < actors.Count; ++k)
                 {
-                    for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
-                        if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
-                        {
-                            var constraints = actors[k].GetConstraintsByType((Oni.ConstraintType)i);
-                            m_Constraints[i].Merge(actors[k], constraints);
-                        }
+                    if (actors[k].isLoaded)
+                    {
+                        for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                            if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                            {
+                                var constraints = actors[k].GetConstraintsByType((Oni.ConstraintType)i);
+                                m_Constraints[i].Merge(actors[k], constraints);
+                            }
+                    }
                 }
+
+                // Readd the constraints to the solver:
+                for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
+                    if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
+                        m_Constraints[i].AddToSolver(this);
+
+                // Reset the dirty flag:
+                dirtyConstraints = 0;
             }
-
-            // Readd the constraints to the solver:
-            for (int i = 0; i < Oni.ConstraintTypeCount; ++i)
-                if (m_Constraints[i] != null && ((1 << i) & dirtyConstraints) != 0)
-                    m_Constraints[i].AddToSolver(this);
-
-            // Reset the dirty flag:
-            dirtyConstraints = 0;
         }
 
         /**
-         * Checks if any particle in the solver is visible from at least one camera. If so, sets isVisible to true, false otherwise.
+         * Updates solver bounds, then checks if they're visible from at least one camera. If so, sets isVisible to true, false otherwise.
          */
         private void UpdateVisibility()
         {
-
             using (m_UpdateVisibilityPerfMarker.Auto())
             {
-
                 using (m_GetSolverBoundsPerfMarker.Auto())
                 {
                     // get bounds in solver space:
                     Vector3 min = Vector3.zero, max = Vector3.zero;
-                    m_SolverImpl.GetBounds(ref min, ref max);
-                    bounds.SetMinMax(min, max);
+                    implementation.GetBounds(ref min, ref max);
+                    m_Bounds.SetMinMax(min, max);
                 }
 
-                if (bounds.AreValid())
+                if (m_Bounds.AreValid())
                 {
                     using (m_TestBoundsPerfMarker.Auto())
                     {
                         // transform bounds to world space:
-                        bounds = bounds.Transform(transform.localToWorldMatrix);
+                        m_BoundsWS = m_Bounds.Transform(transform.localToWorldMatrix);
 
                         using (m_GetAllCamerasPerfMarker.Auto())
                         {
@@ -1462,7 +2380,7 @@ namespace Obi
                         foreach (Camera cam in sceneCameras)
                         {
                             GeometryUtility.CalculateFrustumPlanes(cam, planes);
-                            if (GeometryUtility.TestPlanesAABB(planes, bounds))
+                            if (GeometryUtility.TestPlanesAABB(planes, m_BoundsWS))
                             {
                                 if (!isVisible)
                                 {
@@ -1491,344 +2409,123 @@ namespace Obi
             Vector4 scale = transform.lossyScale;
             Quaternion rotation = transform.rotation;
 
-            m_SolverImpl.InitializeFrame(translation, scale, rotation);
+            implementation.InitializeFrame(translation, scale, rotation);
         }
 
-        private void UpdateTransformFrame(float dt)
+        private IObiJobHandle UpdateTransformFrame(float dt)
         {
             Vector4 translation = transform.position;
             Vector4 scale = transform.lossyScale;
             Quaternion rotation = transform.rotation;
 
-            m_SolverImpl.UpdateFrame(translation, scale, rotation, dt);
-            m_SolverImpl.ApplyFrame(worldLinearInertiaScale, worldAngularInertiaScale, dt);
+            implementation.UpdateFrame(translation, scale, rotation, dt);
+            return implementation.ApplyFrame(worldLinearInertiaScale, worldAngularInertiaScale, dt);
         }
 
-        public void PrepareFrame()
+        public void RegisterRenderSystem(IRenderSystem renderSystem)
         {
-            if (OnPrepareFrame != null)
-                OnPrepareFrame(this);
+            m_RenderSystems.RegisterRenderSystem(renderSystem);
+        }
 
-            foreach (ObiActor actor in actors)
-                actor.PrepareFrame();
+        public void UnregisterRenderSystem(IRenderSystem renderSystem)
+        {
+            m_RenderSystems.UnregisterRenderSystem(renderSystem);
+        }
+
+        public RenderSystem<T> GetRenderSystem<T>() where T : ObiRenderer<T>
+        {
+            return m_RenderSystems.GetRenderSystem<T>();
+        }
+
+        public IRenderSystem GetRenderSystem(Oni.RenderingSystemType type)
+        {
+            return m_RenderSystems.GetRenderSystem(type);
         }
 
         /// <summary>
-        /// Signals the start of a new time step.
-        /// </summary>
-        /// Pushes active particles (if dirtyActiveParticles is true), and runtime constraints (if dirtyConstraints != 0).
-        /// Updates the solver's nertial reference frame. Calls begin step callbacks.
-        /// Finally, it schedules execution of simulation tasks at the beginng on a physics step (most notably, collision detection), and returns a handle to the job that will perform them.
-        /// <param name="stepTime"> Duration of the entire time step (in seconds).</param>  
-        /// <returns>
-        /// A handle to the job.
-        /// </returns> 
-        public IObiJobHandle BeginStep(float stepTime)
-        {
-            if (!isActiveAndEnabled || !initialized)
-                return null;
-
-            if (OnPrepareStep != null)
-                OnPrepareStep(this, stepTime);
-
-            foreach (ObiActor actor in actors)
-                actor.PrepareStep(stepTime);
-
-            // Update the active particles array:
-            if (dirtyActiveParticles)
-                PushActiveParticles();
-
-            // Update the simplices array:
-            if (dirtySimplices)
-                PushSimplices();
-
-            // Update constraint batches:
-            if (dirtyConstraints != 0)
-                PushConstraints();
-
-            // Update inertial frame:
-            UpdateTransformFrame(stepTime);
-
-            // Update gravity:
-            parameters.gravity = gravitySpace == Space.World ? transform.InverseTransformVector(gravity) : gravity;
-            if (initialized)
-                m_SolverImpl.SetParameters(parameters);
-
-            // Copy positions / orientations at the start of the step, for interpolation:
-            startPositions.CopyFrom(positions);
-            startOrientations.CopyFrom(orientations);
-
-            if (OnBeginStep != null)
-                OnBeginStep(this, stepTime);
-
-            foreach (ObiActor actor in actors)
-                actor.BeginStep(stepTime);
-
-            // Perform collision detection:
-            if (simulateWhenInvisible || isVisible)
-                return m_SolverImpl.CollisionDetection(stepTime);
-
-            return null;
-        }
-
-        /// <summary>
-        /// Schedules the job to advance the simulation a given amount of time, then returns a handle to this job.
-        /// </summary>  
-        /// <param name="substepTime"> Amount of time to advance (in seconds).</param>  
-        /// <returns>
-        /// A handle to the job.
-        /// </returns> 
-        public IObiJobHandle Substep(float stepTime, float substepTime, int index)
-        {
-
-            // Only update the solver if it is visible, or if we must simulate even when invisible.
-            if (isActiveAndEnabled && (simulateWhenInvisible || isVisible) && initialized)
-            {
-                if (OnSubstep != null)
-                    OnSubstep(this, substepTime);
-
-                foreach (ObiActor actor in actors)
-                    actor.Substep(substepTime);
-
-                // Update the solver (this is internally split in tasks so multiple solvers can be updated in parallel)
-                return m_SolverImpl.Substep(stepTime, substepTime, index);
-            }
-
-            return null;
-        }
-
-        /// <summary>
-        /// Wraps up a simulation step: resets external forces and calls collision callbacks.
-        /// </summary>  
-        /// <param name="substepTime"> Size of the last substep performed this step (in seconds).</param>  
-        public void EndStep(float substepTime)
-        {
-            if (!initialized)
-                return;
-
-            m_contactCount = implementation.GetConstraintCount(Oni.ConstraintType.Collision);
-            m_particleContactCount = implementation.GetConstraintCount(Oni.ConstraintType.ParticleCollision);
-
-            if (OnCollision != null)
-            {
-                collisionArgs.contacts.SetCount(m_contactCount);
-
-                if (m_contactCount > 0)
-                    implementation.GetCollisionContacts(collisionArgs.contacts.Data, m_contactCount);
-
-                OnCollision(this, collisionArgs);
-
-            }
-
-            if (OnParticleCollision != null)
-            {
-                particleCollisionArgs.contacts.SetCount(m_particleContactCount);
-
-                if (m_particleContactCount > 0)
-                    implementation.GetParticleCollisionContacts(particleCollisionArgs.contacts.Data, m_particleContactCount);
-
-                OnParticleCollision(this, particleCollisionArgs);
-
-            }
-
-            m_SolverImpl.ResetForces();
-
-            if (OnEndStep != null)
-                OnEndStep(this);
-
-            foreach (ObiActor actor in actors)
-                actor.EndStep(substepTime);
-        }
-
-        /// <summary>
-        /// Finalizes the frame by performing physics state interpolation.
-        /// </summary>
-        /// This is usually used for mesh generation, rendering setup and other tasks that must take place after all physics steps for this frame are done.
-        /// <param name="stepTime"> Duration of this time step (in seconds). Note this is the entire timestep, not just the ast substep.</param>
-        /// <param name="unsimulatedTime"> Remaining time that could not be simulated during this step (in seconds). This is used to interpolate physics state. </param>  
-        public void Interpolate(float stepTime, float unsimulatedTime)
-        {
-            if (!isActiveAndEnabled || !initialized)
-                return;
-
-            // Only perform interpolation if the solver is visible, or if we must simulate even when invisible.
-            if (simulateWhenInvisible || isVisible)
-            {
-                using (m_StateInterpolationPerfMarker.Auto())
-                {
-                    // interpolate physics state:
-                    m_SolverImpl.ApplyInterpolation(startPositions, startOrientations, stepTime, unsimulatedTime);
-                }
-            }
-
-            UpdateVisibility();
-
-            if (OnInterpolate != null)
-                OnInterpolate(this);
-
-            foreach (ObiActor actor in actors)
-                actor.Interpolate();
-
-        }
-
-        public void ReleaseJobHandles()
-        {
-            if (!initialized)
-                return;
-
-            m_SolverImpl.ReleaseJobHandles();
-        }
-
-        /// <summary>
-        /// Performs multiple spatial queries in parallel against all simplices in the solver, and returns a list of results.
-        /// </summary>
-        /// All other query/raycast methods are built on top of this one. Use it when you need maximum flexibility/performance.
-        /// <param name="shapes"> List of query shapes to test against all simplices in the solver.</param>
-        /// <param name="transforms"> List of transforms, must have the same size as the shapes list. </param>
-        /// <param name="results">
-        /// This list will contain results for all queries, in no specific order.
-        /// Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
-        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the input shapes list.
-        /// </param>
-        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
-        {
-            if (!initialized || shapes == null || transforms == null || results == null || shapes.count != transforms.count)
-                return;
-
-            m_SolverImpl.SpatialQuery(shapes, transforms, results);
-        }
-
-        /// <summary>
-        /// Performs a single spatial queries against all simplices in the solver, and returns a list of results.
+        /// Enqueues a generic spatial query to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
         /// </summary>
         /// <param name="shape"> Query shape to test against all simplices in the solver.</param>
-        /// <param name="transform"> Transform applied to the query shape. </param>
+        /// <param name="transform"> Transform to apply to the query shape.</param>
         /// <returns>
-        /// An array that contains the query results.
+        /// Index of the query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
         /// </returns>
-        public QueryResult[] SpatialQuery(QueryShape shape, AffineTransform transform)
+        public int EnqueueSpatialQuery(QueryShape shape, AffineTransform transform)
         {
+            // if the solver is not initialized, bail out.
             if (!initialized)
-                return null;
+                return -1;
 
-            var queries = new ObiNativeQueryShapeList();
-            var transforms = new ObiNativeAffineTransformList();
-            var results = new ObiNativeQueryResultList();
-
-            queries.Add(shape);
-            transforms.Add(transform);
-
-            m_SolverImpl.SpatialQuery(queries, transforms, results);
-
-            var resultsArray = results.ToArray();
-
-            queries.Dispose();
-            transforms.Dispose();
-            results.Dispose();
-
-            return resultsArray;
+            int index = bufferedQueryShapes.count;
+            bufferedQueryShapes.Add(shape);
+            bufferedQueryTransforms.Add(transform);
+            return index;
         }
 
         /// <summary>
-        /// Performs a single raycast  against all simplices in the solver, and returns the result.
+        /// Enqueues multiple generic spatial query to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
+        /// </summary>
+        /// <param name="shapes"> Query shapes to test against all simplices in the solver.</param>
+        /// <param name="transforms"> Transforms to apply to the query shapes.</param>
+        /// <returns>
+        /// Index of the first query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
+        /// </returns>
+        public int EnqueueSpatialQueries(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms)
+        {
+            // if the solver is not initialized or input is not ok, bail out.
+            if (!initialized || shapes == null || transforms == null || shapes.count != transforms.count)
+                return -1;
+
+            int index = bufferedQueryShapes.count;
+            bufferedQueryShapes.AddRange(shapes);
+            bufferedQueryTransforms.AddRange(transforms);
+            return index;
+        }
+
+        /// <summary>
+        /// Enqueues a raycast to be performed during the next physics update.
+        /// If called when the solver is yet uninitialized,
+        /// the query will be ignored and this method will return -1.
         /// </summary>
         /// <param name="ray"> Ray to cast against all simplices in the solver. Expressed in world space.</param>
-        /// <param name="hitInfo"> Struct containing hit info, if any. </param>
         /// <param name="filter"> Filter (mask, category) used to filter out collisions against certain simplices. </param>
         /// <param name="maxDistance"> Ray length. </param>
         /// <param name="rayThickness">
         /// Ray thickness. If the ray hits a simplex, hitInfo will contain a point on the simplex.
         /// If it merely passes near the simplex (within its thickness distance, but no actual hit), it will contain the point on the ray closest to the simplex surface. </param>
         /// <returns>
-        /// Whether the ray hit anything. If the ray did not hit, the hitInfo will contain a simplexIndex of -1 and a distance equal to maxDistance.
+        /// Index of the query in the queue. Use the queryIndex member of each query result to correlate each result to the query that spawned it. For instance:
+        /// a query result with queryIndex 5, belongs to the query shape at index 5 in the queue.
         /// </returns>
-        public bool Raycast(Ray ray, out QueryResult hitInfo, int filter, float maxDistance = 100, float rayThickness = 0)
-        {
-            var result = Raycast(new List<Ray> { ray }, filter, maxDistance, rayThickness);
-            if (result != null && result.Length > 0 && result[0].simplexIndex >= 0)
-            {
-                hitInfo = result[0];
-                return true;
-            }
-            else
-            {
-                hitInfo = new QueryResult() { distance = maxDistance };
-                return false;
-            }
-        }
-
-        /// <summary>
-        /// Performs multiple raycasts in parallel against all simplices in the solver, and returns the results.
-        /// </summary>
-        /// <param name="rays"> List of rays to cast against all simplices in the solver. Expressed in world space.</param>
-        /// <param name="filter"> Filter (mask, category) used to filter out collisions against certain simplices. </param>
-        /// <param name="maxDistance"> Ray length. </param>
-        /// <param name="rayThickness">
-        /// Ray thickness. If the ray hits a simplex, hitInfo will contain a point on the simplex.
-        /// If it merely passes near the simplex (within its thickness distance, but no actual hit), it will contain the point on the ray closest to the simplex surface. </param>
-        /// <returns>
-        /// This list will contain results for all raycasts, in no specific order.
-        /// Use the queryIndex member of each query result to correlate each result to the raycast that spawned it. For instance:
-        /// a query result with queryIndex 5, belongs to the raycast at index 5 in the input rays list.
-        /// </returns>
-        public QueryResult[] Raycast(List<Ray> rays, int filter, float maxDistance = 100, float rayThickness = 0)
+        public int EnqueueRaycast(Ray ray, int filter, float maxDistance = 100, float rayThickness = 0)
         {
+            // if the solver is not initialized or simulation is currently underway, bail out.
             if (!initialized)
-                return null;
+                return -1;
 
-            var queries = new ObiNativeQueryShapeList();
-            var transforms = new ObiNativeAffineTransformList();
-            var results = new ObiNativeQueryResultList();
-            var resultArray = new QueryResult[rays.Count];
+            int index = bufferedQueryShapes.count;
 
-            for (int i = 0; i < rays.Count; ++i)
+            bufferedQueryShapes.Add(new QueryShape
             {
-                queries.Add(new QueryShape()
-                {
-                    type = QueryShape.QueryType.Ray,
-                    center = rays[i].origin,
-                    size = rays[i].origin + rays[i].direction * maxDistance,
-                    contactOffset = rayThickness,
-                    maxDistance = 0.0005f,
-                    filter = filter
-                });
+                type = QueryShape.QueryType.Ray,
+                center = ray.origin,
+                size = ray.direction * maxDistance,
+                contactOffset = rayThickness,
+                maxDistance = 0.0001f,
+                filter = filter
+            });
 
-                transforms.Add(new AffineTransform(Vector4.zero, Quaternion.identity, Vector4.one));
+            bufferedQueryTransforms.Add(new AffineTransform(Vector4.zero, Quaternion.identity, Vector4.one));
 
-                resultArray[i] = new QueryResult { distance = maxDistance, simplexIndex = -1, queryIndex = -1 };
-            }
-
-            m_SolverImpl.SpatialQuery(queries, transforms, results);
-
-            Matrix4x4 solver2World = transform.localToWorldMatrix;
-            for (int i = 0; i < results.count; ++i)
-            {
-                int rayIndex = results[i].queryIndex;
-                var pointWS = solver2World.MultiplyPoint3x4(results[i].queryPoint + results[i].normal * results[i].distance);
-
-                if (results[i].distance <= 0.001f)
-                {
-                    // project the hit on the ray:
-                    float rayDistance = (pointWS.x - rays[rayIndex].origin.x) * rays[rayIndex].direction.x +
-                                        (pointWS.y - rays[rayIndex].origin.y) * rays[rayIndex].direction.y +
-                                        (pointWS.z - rays[rayIndex].origin.z) * rays[rayIndex].direction.z;
-
-                    // keep the closest hit:
-                    if (rayDistance < resultArray[rayIndex].distance)
-                    {
-                        resultArray[rayIndex] = results[i];
-                        resultArray[rayIndex].distance = rayDistance;
-                        resultArray[rayIndex].queryPoint = rays[rayIndex].origin + rays[rayIndex].direction * rayDistance;
-                    }
-                }
-            }
-
-            queries.Dispose();
-            transforms.Dispose();
-            results.Dispose();
-
-            return resultArray;
+            return index;
         }
+
     }
 
 }
diff --git a/Assets/Obi/Scripts/Common/Updaters.meta b/Assets/Obi/Scripts/Common/Updaters.meta
deleted file mode 100644
index 3f65456b0..000000000
--- a/Assets/Obi/Scripts/Common/Updaters.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: cefe4e650f12d45c2bc73c7e1996aee7
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs
deleted file mode 100644
index 35cb5f99d..000000000
--- a/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs
+++ /dev/null
@@ -1,70 +0,0 @@
-using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using System;
-
-namespace Obi
-{
-    /// <summary>
-    /// Updater class that will perform simulation during FixedUpdate(). This is the most physically correct updater,
-    /// and the one to be used in most cases. Also allows to perform substepping, greatly improving convergence.
-                  
-    [AddComponentMenu("Physics/Obi/Obi Fixed Updater", 801)]
-    [ExecuteInEditMode]
-    public class ObiFixedUpdater : ObiUpdater
-    {
-        /// <summary>
-        /// Each FixedUpdate() call will be divided into several substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation. 
-        /// Increasing the amount of substeps is more effective than increasing the amount of constraint iterations.
-        /// </summary>
-        [Tooltip("Amount of substeps performed per FixedUpdate. Increasing the amount of substeps greatly improves accuracy and convergence speed.")]
-        public int substeps = 4;
-
-        [NonSerialized] private float accumulatedTime;
-
-        private void OnValidate()
-        {
-            substeps = Mathf.Max(1, substeps);
-        }
-
-        private void OnEnable()
-        {
-            accumulatedTime = 0;
-        }
-
-        private void OnDisable()
-        {
-            Physics.autoSimulation = true;
-        }
-
-        private void FixedUpdate()
-        {
-            ObiProfiler.EnableProfiler();
-
-            PrepareFrame();
-
-            BeginStep(Time.fixedDeltaTime);
-
-            float substepDelta = Time.fixedDeltaTime / (float)substeps;
-
-            // Divide the step into multiple smaller substeps:
-            for (int i = 0; i < substeps; ++i)
-                Substep(Time.fixedDeltaTime, substepDelta, substeps-i);
-
-            EndStep(substepDelta);
-
-            ObiProfiler.DisableProfiler();
-
-            accumulatedTime -= Time.fixedDeltaTime;
-        }
-
-        private void Update()
-        {
-            accumulatedTime += Time.deltaTime;
-
-            ObiProfiler.EnableProfiler();
-            Interpolate(Time.fixedDeltaTime, accumulatedTime);
-            ObiProfiler.DisableProfiler();
-        }
-    }
-}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs
deleted file mode 100644
index 1a482cb96..000000000
--- a/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs
+++ /dev/null
@@ -1,84 +0,0 @@
-using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using System;
-
-namespace Obi
-{
-    /// <summary>
-    /// Updater class that will perform simulation after WaitForFixedUpdate. Use this for simulations that require animation data as input, such as character clothing.
-    /// Make sure to set the Animator update mode to "Animate Physics".
-                  
-    [AddComponentMenu("Physics/Obi/Obi Late Fixed Updater", 802)]
-    [ExecuteInEditMode]
-    public class ObiLateFixedUpdater : ObiUpdater
-    {
-
-        /// <summary>
-        /// Each LateFixedUpdate() call will be divided into several substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation. 
-        /// Increasing the amount of substeps is more effective than increasing the amount of constraint iterations.
-        /// </summary>
-        [Tooltip("Amount of substeps performed per FixedUpdate. Increasing the amount of substeps greatly improves accuracy and convergence speed.")]
-        public int substeps = 4;
-
-        [NonSerialized] private float accumulatedTime;
-
-        private void OnValidate()
-        {
-            substeps = Mathf.Max(1, substeps);
-        }
-
-        private void OnEnable()
-        {
-            accumulatedTime = 0;
-            StartCoroutine(RunLateFixedUpdate());
-        }
-        private void OnDisable()
-        {
-            StopCoroutine(RunLateFixedUpdate());
-        }
-
-        private void FixedUpdate()
-        {
-            PrepareFrame();
-        }
-
-        private IEnumerator RunLateFixedUpdate()
-        {
-            while (true)
-            {
-                yield return new WaitForFixedUpdate();
-                if (Application.isPlaying)
-                    LateFixedUpdate();
-            }
-        }
-
-        private void LateFixedUpdate()
-        {
-            ObiProfiler.EnableProfiler();
-
-            BeginStep(Time.fixedDeltaTime);
-
-            float substepDelta = Time.fixedDeltaTime / (float)substeps;
-
-            // Divide the step into multiple smaller substeps:
-            for (int i = 0; i < substeps; ++i)
-                Substep(Time.fixedDeltaTime, substepDelta, substeps - i);
-
-            EndStep(substepDelta);
-
-            ObiProfiler.DisableProfiler();
-
-            accumulatedTime -= Time.fixedDeltaTime;
-        }
-
-        private void Update()
-        {
-            accumulatedTime += Time.deltaTime;
-
-            ObiProfiler.EnableProfiler();
-            Interpolate(Time.fixedDeltaTime, accumulatedTime);
-            ObiProfiler.DisableProfiler();
-        }
-    }
-}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs
deleted file mode 100644
index 71d42a1a7..000000000
--- a/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs
+++ /dev/null
@@ -1,72 +0,0 @@
-using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using System;
-
-namespace Obi
-{
-    /// <summary>
-    /// Updater class that will perform simulation during LateUpdate(). This is highly unphysical and should be avoided whenever possible.
-    /// This updater does not make any accuracy guarantees when it comes to two-way coupling with rigidbodies.
-    /// It is only provided for the odd case when there's no way to perform simulation with a fixed timestep.
-    /// If in doubt, use the ObiFixedUpdater component instead.
-    /// </summary>
-    [AddComponentMenu("Physics/Obi/Obi Late Updater", 802)]
-    public class ObiLateUpdater : ObiUpdater
-    {
-        /// <summary>
-        /// Smoothing factor fo the timestep (smoothDelta). Values closer to 1 will yield stabler simulation, but it will be off-sync with rendering.
-        /// </summary>
-        [Tooltip("Smoothing factor fo the timestep (smoothDelta). Values closer to 1 will yield stabler simulation, but it will be off-sync with rendering.")]
-        [Range(0,1)]
-        public float deltaSmoothing = 0.95f;
-
-        /// <summary>
-        /// Target timestep used to advance the simulation. The updater will interpolate this value with Time.deltaTime to find the actual timestep used for each frame.
-        /// </summary>
-        [Tooltip("Target timestep used to advance the simulation. The updater will interpolate this value with Time.deltaTime to find the actual timestep used for each frame.")]
-        private float smoothDelta = 0.02f;
-
-        /// <summary>
-        /// Each FixedUpdate() call will be divided into several substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation. 
-        /// Increasing the amount of substeps is more effective than increasing the amount of constraint iterations.
-        /// </summary>
-        [Tooltip("Amount of substeps performed per FixedUpdate. Increasing the amount of substeps greatly improves accuracy and convergence speed.")]
-        public int substeps = 4;
-
-        private void OnValidate()
-		{
-            smoothDelta = Mathf.Max(0.0001f, smoothDelta);
-            substeps = Mathf.Max(1, substeps);
-        }
-
-        private void Update()
-        {
-            PrepareFrame();
-        }
-
-        private void LateUpdate()
-        {
-            if (Time.deltaTime > 0)
-            {
-                if (Application.isPlaying)
-                {
-                    // smooth out timestep:
-                    smoothDelta = Mathf.Lerp(Time.deltaTime, smoothDelta, deltaSmoothing);
-
-                    BeginStep(smoothDelta);
-
-                    float substepDelta = smoothDelta / (float)substeps;
-
-                    // Divide the step into multiple smaller substeps:
-                    for (int i = 0; i < substeps; ++i)
-                        Substep(smoothDelta, substepDelta, substeps - i);
-
-                    EndStep(substepDelta);
-                }
-
-                Interpolate(smoothDelta, smoothDelta);
-            }
-        }
-    }
-}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs
deleted file mode 100644
index 0fa3c60d0..000000000
--- a/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs
+++ /dev/null
@@ -1,136 +0,0 @@
-using UnityEngine;
-using Unity.Profiling;
-using System.Collections;
-using System.Collections.Generic;
-using System;
-
-using Unity.Jobs;
-using Unity.Collections;
-
-namespace Obi
-{
-    /// <summary>
-    /// Base class for updating multiple solvers in parallel.
-    /// Derive from this class to write your onw updater. This grants you precise control over execution order,
-    /// as you can choose to update solvers at any point during Unity's update cycle.
-    /// </summary>
-    [ExecuteInEditMode]
-    public abstract class ObiUpdater : MonoBehaviour
-    {
-        static ProfilerMarker m_BeginStepPerfMarker = new ProfilerMarker("BeginStep");
-        static ProfilerMarker m_SubstepPerfMarker = new ProfilerMarker("Substep");
-        static ProfilerMarker m_EndStepPerfMarker = new ProfilerMarker("EndStep");
-        static ProfilerMarker m_InterpolatePerfMarker = new ProfilerMarker("Interpolate");
-
-        /// <summary>
-        /// List of solvers updated by this updater.
-        /// </summary>
-        public List<ObiSolver> solvers = new List<ObiSolver>();
-
-        private List<IObiJobHandle> handles = new List<IObiJobHandle>();
-
-
-        /// <summary>
-        /// Prepares all solvers to begin simulating a new frame. This should be called as soon as possible in the frame,
-        /// and guaranteed to be called every frame that will step physics.
-        /// </summary>
-        protected void PrepareFrame()
-        {
-            foreach (ObiSolver solver in solvers)
-                if (solver != null)
-                    solver.PrepareFrame();
-        }
-
-        /// <summary>
-        /// Prepares all solvers to begin simulating a new physics step. This involves
-        /// caching some particle data for interpolation, performing collision detection, among other things.
-        /// </summary>
-        /// <param name="stepDeltaTime"> Duration (in seconds) of the next step.</param>
-        protected void BeginStep(float stepDeltaTime)
-        {
-            using (m_BeginStepPerfMarker.Auto())
-            {
-                // Update colliders right before collision detection:
-                ObiColliderWorld.GetInstance().UpdateColliders();
-                ObiColliderWorld.GetInstance().UpdateRigidbodies(solvers,stepDeltaTime);
-                ObiColliderWorld.GetInstance().UpdateWorld(stepDeltaTime);
-
-                handles.Clear();
-
-                // Kick off all solver jobs:
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        handles.Add(solver.BeginStep(stepDeltaTime));
-
-                // wait for all solver jobs to complete:
-                foreach (IObiJobHandle handle in handles)
-                    if (handle != null)
-                        handle.Complete();
-
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        solver.ReleaseJobHandles();
-            }
-        }
-
-
-        /// <summary>
-        /// Advances the simulation a given amount of time. Note that once BeginStep has been called,
-        /// Substep can be called multiple times. 
-        /// </summary>
-        /// <param name="substepDeltaTime"> Duration (in seconds) of the substep.</param>
-        protected void Substep(float stepDeltaTime, float substepDeltaTime, int index)
-        {
-            using (m_SubstepPerfMarker.Auto())
-            {
-                handles.Clear();
-
-                // Kick off all solver jobs:
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        handles.Add(solver.Substep(stepDeltaTime, substepDeltaTime, index));
-
-                // wait for all solver jobs to complete:
-                foreach (IObiJobHandle handle in handles)
-                    if (handle != null)
-                        handle.Complete();
-
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        solver.ReleaseJobHandles();
-            }
-        }
-
-        /// <summary>
-        /// Wraps up the current simulation step. This will trigger contact callbacks.
-        /// </summary>
-        protected void EndStep(float substepDeltaTime)
-        {
-            using (m_EndStepPerfMarker.Auto())
-            {
-                // End step: Invokes collision callbacks and notifies actors that the solver step has ended.
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        solver.EndStep(substepDeltaTime);
-            }
-
-            // Write back rigidbody velocity deltas:
-            ObiColliderWorld.GetInstance().UpdateRigidbodyVelocities(solvers);
-        }
-
-        /// <summary>
-        /// Interpolates the previous and current physics states. Should be called right before rendering the current frame.
-        /// </summary>
-        /// <param name="stepDeltaTime"> Duration (in seconds) of the last step taken.</param>
-        /// <param name="stepDeltaTime"> Amount of accumulated (not yet simulated) time.</param>
-        protected void Interpolate(float stepDeltaTime, float accumulatedTime)
-        {
-            using (m_InterpolatePerfMarker.Auto())
-            {
-                foreach (ObiSolver solver in solvers)
-                    if (solver != null)
-                        solver.Interpolate(stepDeltaTime, accumulatedTime);
-            }
-        }
-    }
-}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs.meta b/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs.meta
deleted file mode 100644
index 14db883fd..000000000
--- a/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 4b1bfb6ce01f944a78a3761b5b77d359
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs
new file mode 100644
index 000000000..458d1b88f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs
@@ -0,0 +1,21 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[AttributeUsage(AttributeTargets.Field)]
+	public class LayerField : MultiPropertyAttribute
+	{
+#if UNITY_EDITOR
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+			property.intValue = EditorGUI.LayerField(position, label, property.intValue);
+        }
+#endif
+    }
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta
new file mode 100644
index 000000000..e7694c6c9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/LayerField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 636fa558efd1441fdbf787bdda34c53a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
index f1face328..8dc8923d8 100644
--- a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
@@ -16,7 +16,7 @@ namespace Obi{
 
 	    public virtual void OnGUI(Rect position, SerializedProperty property, GUIContent label)
 		{
-			EditorGUI.PropertyField(position,property,label);
+			EditorGUI.PropertyField(position,property,label,true);
 		}
 	 
 		internal virtual void OnPreGUI(Rect position, SerializedProperty property){}
@@ -53,8 +53,9 @@ namespace Obi{
 				if (!attr.IsVisible(property)) 
 					return -EditorGUIUtility.standardVerticalSpacing;
 
-			// In case no attribute returns a modified height, return the property's default one:
-	        float height = base.GetPropertyHeight(property, label);
+            // In case no attribute returns a modified height, return the property's default one:
+            float height = EditorGUI.GetPropertyHeight(property, label, true);
+            //base.GetPropertyHeight(property, label);
 
 			// Check if any of the attributes wants to modify height:
 	        foreach (object atr in mAttribute.stored)
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
index ad7ffae98..b5863040f 100644
--- a/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
@@ -48,15 +48,18 @@ namespace Obi{
 	            // If any changes were detected, call the property setter:
 	            if (EditorGUI.EndChangeCheck() && propertyFieldInfo != null)
                 {
-	 
-	                // Record object state for undo:
-	                Undo.RecordObject(property.serializedObject.targetObject, "Inspector");
-	 
-	                // Call property setter:
-	                propertyFieldInfo.SetValue(target,value,null);
+                    foreach (var t in property.serializedObject.targetObjects)
+                    {
+                        // Record object state for undo:
+                        Undo.RecordObject(t, "Inspector");
 
-                    // Record prefab modification:
-                    PrefabUtility.RecordPrefabInstancePropertyModifications(property.serializedObject.targetObject);
+                        // Call property setter:
+                        propertyFieldInfo.SetValue(t, value, null);
+                        SetPropertyValue(property, propertyFieldInfo.PropertyType, value);
+
+                        // Record prefab modification:
+                        PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                    }
                 }
 				EditorGUI.EndProperty();
 
@@ -68,18 +71,18 @@ namespace Obi{
 
 		private object GetSource(SerializedProperty property)
         {
-			object target = property.serializedObject.targetObject;
+			object trgt = property.serializedObject.targetObject;
 			string[] data = property.propertyPath.Split('.');
 			
 			if (data.Length == 1) 
-				return target;
+				return trgt;
 			else{
 				for (int i = 0; i < data.Length-1;++i){
-					target = target.GetType().GetField(data[i]).GetValue(target);
+					trgt = trgt.GetType().GetField(data[i]).GetValue(trgt);
 				}
 			}
 			
-			return target;
+			return trgt;
 		} 
  
         private object DrawProperty(Rect position, SerializedPropertyType propertyType, Type type, object value, GUIContent label)
@@ -120,7 +123,46 @@ namespace Obi{
                     throw new NotImplementedException("Unimplemented propertyType "+propertyType+".");
             }
         }
- 
+
+        private void SetPropertyValue(SerializedProperty property, Type type, object value)
+        {
+            switch (property.propertyType)
+            {
+                case SerializedPropertyType.Integer: 
+                    property.intValue = (int)value; break;
+                case SerializedPropertyType.Boolean:
+                    property.boolValue = (bool)value; break;
+                case SerializedPropertyType.Float:
+                    property.floatValue = (float)value; break;
+                case SerializedPropertyType.String:
+                    property.stringValue = (string)value; break;
+                case SerializedPropertyType.Color:
+                    property.colorValue = (Color)value; break;
+                case SerializedPropertyType.ObjectReference:
+                    property.objectReferenceValue = (UnityEngine.Object)value; break;
+                case SerializedPropertyType.ExposedReference:
+                    property.exposedReferenceValue = (UnityEngine.Object)value; break;
+                case SerializedPropertyType.LayerMask:
+                    property.intValue = (int)value; break;
+                case SerializedPropertyType.Enum:
+                    property.enumValueIndex = (int)value; break;
+                case SerializedPropertyType.Vector2:
+                    property.vector2Value = (Vector2)value; break;
+                case SerializedPropertyType.Vector3:
+                    property.vector3Value = (Vector3)value; break;
+                case SerializedPropertyType.Vector4:
+                    property.vector4Value = (Vector4)value; break;
+                case SerializedPropertyType.Rect:
+                    property.rectValue = (Rect)value; break;
+                case SerializedPropertyType.AnimationCurve:
+                    property.animationCurveValue = (AnimationCurve)value; break;
+                case SerializedPropertyType.Bounds:
+                    property.boundsValue = (Bounds)value; break;
+                default:
+                    throw new NotImplementedException("Unimplemented propertyType " + property.propertyType + ".");
+            }
+        }
+
     }
     #endif
 }
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
index 1d0244b87..16920a9b1 100644
--- a/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
@@ -14,6 +14,7 @@ namespace Obi{
 
 		private MethodInfo eventMethodInfo = null;
 		private FieldInfo fieldInfo = null;
+        private PropertyInfo propertyInfo = null;
 
 		public VisibleIf(string methodName, bool negate = false)
 	    {
@@ -39,13 +40,19 @@ namespace Obi{
 			// If we could not find a method with that name, look for a field:
 			if (eventMethodInfo == null && fieldInfo == null)
 				fieldInfo = eventOwnerType.GetField(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
-			
-			if (eventMethodInfo != null)
+
+            // or maybe a property
+            if (eventMethodInfo == null && fieldInfo == null && propertyInfo == null)
+                propertyInfo = eventOwnerType.GetProperty(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+
+            if (eventMethodInfo != null)
 				return (bool)eventMethodInfo.Invoke(property.serializedObject.targetObject, null); 
 			else if (fieldInfo != null)
 				return (bool)fieldInfo.GetValue(property.serializedObject.targetObject);
-			else
-				Debug.LogWarning(string.Format("VisibleIf: Unable to find method or field {0} in {1}", eventName, eventOwnerType));
+            else if (propertyInfo != null)
+                return (bool)propertyInfo.GetValue(property.serializedObject.targetObject);
+            else
+				Debug.LogWarning(string.Format("VisibleIf: Unable to find method, field or property {0} in {1}", eventName, eventOwnerType));
 
 			return true;
 	    }
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
index c4c5aa21d..199ebcbee 100644
--- a/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
@@ -48,7 +48,7 @@ public class CoroutineJob{
 	private bool stop;
 	private Exception e;
 
-	public int asyncThreshold = 0; //Time in milliseconds that must pass before job switches to async mode. By default, the job is asynchronous from the start.
+	public int asyncThreshold = 250; //Time in milliseconds that must pass before job switches to async mode. By default, the job is asynchronous from the start.
 
 	private void Init(){
 		isDone = false;
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
index b000bcd80..7a7f83bb7 100644
--- a/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
@@ -6,38 +6,31 @@ using System.Collections;
 
 namespace Obi
 {
+    public class EditorCoroutine
+    {
 
-public class EditorCoroutine
-{
+	    public static bool ShowCoroutineProgressBar(string title, IEnumerator coroutine)
+        {
 
-	public static void ShowCoroutineProgressBar(string title, ref IEnumerator coroutine){
+            bool cancelled = false;
+
+        #if (UNITY_EDITOR)
+            if (coroutine != null){
+
+                while (coroutine.MoveNext() && !cancelled)
+                {
+                    var progressInfo = coroutine.Current as CoroutineJob.ProgressInfo;
+                    cancelled |= EditorUtility.DisplayCancelableProgressBar(title, progressInfo.userReadableInfo, progressInfo.progress);
+                }
+
+			    // once finished, set coroutine to null and clear progress bar.
+			    coroutine = null;
+			    EditorUtility.ClearProgressBar();
+
+            }
+        #endif
+            return cancelled;
+        }
 		
-		#if (UNITY_EDITOR)
-		if (coroutine != null){
-
-			CoroutineJob.ProgressInfo progressInfo;
-
-			do{
-				if (!coroutine.MoveNext())
-					progressInfo = null;
-				else 
-					progressInfo = coroutine.Current as CoroutineJob.ProgressInfo;
-			
-				if (progressInfo != null && EditorUtility.DisplayCancelableProgressBar(title, progressInfo.userReadableInfo, progressInfo.progress)){
-					progressInfo = null;
-				}
-			}while (progressInfo != null);
-
-			// once finished, clear progress bar and set coroutine to null.
-			coroutine = null;
-
-			// Unity bug here: https://issuetracker.unity3d.com/issues/unity-throws-nullreferenceexception-or-endlayoutgroup-errors-when-editorutility-dot-clearprogressbar-is-called
-			EditorUtility.ClearProgressBar();
-
-		}
-		#endif
-
-	}
-		
-}
+    }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs
deleted file mode 100644
index 6a9dbde3d..000000000
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs
+++ /dev/null
@@ -1,39 +0,0 @@
-using UnityEngine;
-using System;
-
-namespace Obi
-{
-	public class ObiAmbientForceZone : ObiExternalForce
-	{
-
-		public override void ApplyForcesToActor(ObiActor actor)
-        {
-
-			Matrix4x4 l2sTransform = actor.solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
-			
-			Vector4 force = l2sTransform.MultiplyVector(Vector3.forward * (intensity + GetTurbulence(turbulence)));
-
-			if (actor.usesCustomExternalForces)
-            {
-                for (int i = 0; i < actor.activeParticleCount; ++i)
-                    actor.solver.wind[actor.solverIndices[i]] += force;
-			}
-            else
-            {
-                for (int i = 0; i < actor.activeParticleCount; ++i)
-					actor.solver.externalForces[actor.solverIndices[i]] += force;	
-			}
-		}
-
-		public void OnDrawGizmosSelected()
-        {
-
-			Gizmos.matrix = transform.localToWorldMatrix;
-			Gizmos.color = new Color(0,0.7f,1,1);
-
-			// arrow body:
-			ObiUtils.DrawArrowGizmo(0.5f + GetTurbulence(1),0.2f,0.3f,0.2f);
-		}
-	}
-}
-
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs
deleted file mode 100644
index 41089fd0c..000000000
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs
+++ /dev/null
@@ -1,50 +0,0 @@
-using UnityEngine;
-using System;
-
-namespace Obi
-{
-	public abstract class ObiExternalForce : MonoBehaviour
-	{
-
-		public float intensity = 0;
-		public float turbulence = 0;
-		public float turbulenceFrequency = 1;
-		public float turbulenceSeed = 0;
-		public ObiSolver[] affectedSolvers;
-
-		public void OnEnable()
-		{
-            foreach (ObiSolver solver in affectedSolvers)
-            {
-                if (solver != null)
-                    solver.OnBeginStep += Solver_OnStepBegin;
-            }
-		}
-
-		public void OnDisable()
-		{
-            foreach (ObiSolver solver in affectedSolvers)
-            {
-                if (solver != null)
-                    solver.OnBeginStep -= Solver_OnStepBegin;
-            }
-		}
-
-        void Solver_OnStepBegin(ObiSolver solver, float stepTime)
-        {
-            foreach (ObiActor actor in solver.actors)
-            {
-                if (actor != null)
-                    ApplyForcesToActor(actor);
-            }
-        }
-
-		protected float GetTurbulence(float turbulenceIntensity){
-			return Mathf.PerlinNoise(Time.fixedTime * turbulenceFrequency,turbulenceSeed) * turbulenceIntensity;
-		}
-
-		public abstract void ApplyForcesToActor(ObiActor actor);	
-		
-	}
-}
-
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs.meta b/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs.meta
deleted file mode 100644
index adabe4f4f..000000000
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs.meta
+++ /dev/null
@@ -1,12 +0,0 @@
-fileFormatVersion: 2
-guid: 4978a525b6164476d96f5d28d8b309f8
-timeCreated: 1480349422
-licenseType: Store
-MonoImporter:
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs
new file mode 100644
index 000000000..23bd10b92
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs
@@ -0,0 +1,137 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiCollider))]
+	public class ObiForceZone : MonoBehaviour
+	{
+        [SerializeProperty("sourceCollider")]
+        [SerializeField] private ObiCollider m_SourceCollider;
+
+        protected ObiForceZoneHandle forcezoneHandle;
+
+        /// <summary>
+        /// The ObiCollider this ObiForceZone should affect.
+        /// </summary>
+        /// This is automatically set when you first create the ObiForceZone component, but you can override it afterwards.
+        public ObiCollider SourceCollider
+        {
+            set
+            {
+                if (value != null && value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The ObiCollider component must reside in the same GameObject as ObiForceZone.");
+                    return;
+                }
+
+                RemoveCollider();
+                m_SourceCollider = value;
+                AddCollider();
+
+            }
+            get { return m_SourceCollider; }
+        }
+
+        public ObiForceZoneHandle Handle
+        {
+            get
+            {
+                // don't check forcezoneHandle.isValid:
+                // CreateForceZone may defer creation, so we get a non-null, but invalid handle.
+                // If calling handle again right away before it becomes valid, it will call CreateForceZone again and create a second handle to the same zone.
+                if (forcezoneHandle == null)
+                {
+                    var world = ObiColliderWorld.GetInstance();
+
+                    // create the material:
+                    forcezoneHandle = world.CreateForceZone();
+                    forcezoneHandle.owner = this;
+                }
+                return forcezoneHandle;
+            }
+        }
+
+        public ForceZone.ZoneType type;
+        public ForceZone.ForceMode mode;
+        public float intensity;
+
+        [Header("Damping")]
+        public ForceZone.DampingDirection dampingDir;
+        public float damping = 0;
+
+        [Header("Falloff")]
+        public float minDistance;
+        public float maxDistance;
+        [Min(0)]
+        public float falloffPower = 1;
+
+        [Header("Tint")]
+        public Color color = Color.clear;
+
+        [Header("Pulse")]
+        public float pulseIntensity;
+        public float pulseFrequency;
+        public float pulseSeed;
+
+        protected float intensityVariation;
+
+        public void OnEnable()
+        {
+            forcezoneHandle = ObiColliderWorld.GetInstance().CreateForceZone();
+            forcezoneHandle.owner = this;
+            FindSourceCollider();
+        }
+
+        public void OnDisable()
+        {
+            RemoveCollider();
+            ObiColliderWorld.GetInstance().DestroyForceZone(forcezoneHandle);
+        }
+
+        private void FindSourceCollider()
+        {
+            if (SourceCollider == null)
+                SourceCollider = GetComponent<ObiCollider>();
+            else
+                AddCollider();
+        }
+
+        private void AddCollider()
+        {
+            if (m_SourceCollider != null)
+                m_SourceCollider.ForceZone = this;
+        }
+
+        private void RemoveCollider()
+        {
+            if (m_SourceCollider != null)
+                m_SourceCollider.ForceZone = null;
+        }
+
+        public virtual void UpdateIfNeeded()
+        {
+            if (!Handle.isValid)
+                return;
+
+            var fc = ObiColliderWorld.GetInstance().forceZones[Handle.index];
+            fc.type = type;
+            fc.mode = mode;
+            fc.intensity = intensity + intensityVariation;
+            fc.minDistance = minDistance;
+            fc.maxDistance = maxDistance;
+            fc.falloffPower = falloffPower;
+            fc.damping = damping;
+            fc.dampingDir = dampingDir;
+            fc.color = color;
+            ObiColliderWorld.GetInstance().forceZones[Handle.index] = fc;
+        }
+
+        public void Update()
+        {
+            if (Application.isPlaying)
+                intensityVariation = Mathf.PerlinNoise(Time.time * pulseFrequency, pulseSeed) * pulseIntensity;
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs.meta b/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta
similarity index 86%
rename from Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs.meta
rename to Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta
index 56ae827cd..b0a77b8f4 100644
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs.meta
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiForceZone.cs.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: f05961933f21f46a683fc5d5beec4061
+guid: 4978a525b6164476d96f5d28d8b309f8
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs
deleted file mode 100644
index 7e7bb03bd..000000000
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-using UnityEngine;
-using System;
-
-namespace Obi
-{
-	public class ObiSphericalForceZone : ObiExternalForce
-	{
-
-		public float radius = 5;
-		public bool radial = true;
-
-		public override void ApplyForcesToActor(ObiActor actor)
-        {
-
-			float sqrRadius = radius * radius;
-			float finalIntensity = intensity + GetTurbulence(turbulence);
-
-			Matrix4x4 l2sTransform = actor.solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
-
-			Vector4 center = l2sTransform.MultiplyPoint3x4(Vector4.zero);
-			Vector4 forward = l2sTransform.MultiplyVector(Vector3.forward);
-
-			// Calculate force intensity for each actor particle:
-            for (int i = 0; i < actor.activeParticleCount; ++i){
-
-				Vector4 distanceVector = actor.solver.positions[actor.solverIndices[i]] - center;
-
-				float sqrMag = distanceVector.sqrMagnitude;
-				float falloff = Mathf.Clamp01((sqrRadius - sqrMag) / sqrRadius);
-
-				Vector4 force;
-				if (radial)
-					force = distanceVector/(Mathf.Sqrt(sqrMag) + float.Epsilon) * falloff * finalIntensity;
-				else
-					force = forward * falloff * finalIntensity;
-
-				if (actor.usesCustomExternalForces)
-					actor.solver.wind[actor.solverIndices[i]] += force;
-				else
-					actor.solver.externalForces[actor.solverIndices[i]] += force;	
-			}			
-
-		}
-
-		public void OnDrawGizmosSelected()
-        {
-			Gizmos.matrix = transform.localToWorldMatrix;
-			Gizmos.color = new Color(0,0.7f,1,1);
-			Gizmos.DrawWireSphere(Vector3.zero,radius);
-
-			float turb = GetTurbulence(1);
-
-			if (!radial){
-				ObiUtils.DrawArrowGizmo(radius + turb,radius*0.2f,radius*0.3f,radius*0.2f);
-			}else{
-				Gizmos.DrawLine(new Vector3(0,0,-radius*0.5f)*turb,new Vector3(0,0,radius*0.5f)*turb);
-				Gizmos.DrawLine(new Vector3(0,-radius*0.5f,0)*turb,new Vector3(0,radius*0.5f,0)*turb);
-				Gizmos.DrawLine(new Vector3(-radius*0.5f,0,0)*turb,new Vector3(radius*0.5f,0,0)*turb);
-			}
-		}
-	}
-}
-
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
index c8c1315ef..6e67c4a1c 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
@@ -1,5 +1,6 @@
 using UnityEngine;
 using UnityEngine.Events;
+using Unity.Collections;
 using System;
 using System.Collections.Generic;
 
@@ -24,11 +25,11 @@ namespace Obi
 
             public int Compare(Oni.Contact x, Oni.Contact y)
             {
-                return CompareByRef(ref x, ref y, solver);
+                return CompareByRef(x, y, solver);
             }
         }
 
-        private static int CompareByRef(ref Oni.Contact a, ref Oni.Contact b, ObiSolver solver)
+        private static int CompareByRef(Oni.Contact a, Oni.Contact b, ObiSolver solver)
         {
             if (a.bodyB == b.bodyB)
             {
@@ -64,7 +65,7 @@ namespace Obi
             solver.OnCollision -= Solver_OnCollision;
         }
 
-        private int FilterOutDistantContacts(Oni.Contact[] data, int count)
+        private int FilterOutDistantContacts(ObiNativeContactList data, int count)
         {
             int filteredCount = count;
 
@@ -72,12 +73,12 @@ namespace Obi
             // moving the ones above the threshold to the end of the array:
             for (int i = count - 1; i >= 0; --i)
                 if (data[i].distance > distanceThreshold)
-                    ObiUtils.Swap(ref data[i], ref data[--filteredCount]);
+                    data.Swap(i, --filteredCount);
 
             return filteredCount;
         }
 
-        private int RemoveDuplicates(Oni.Contact[] data, int count)
+        private int RemoveDuplicates(ObiNativeContactList data, int count)
         {
             if (count == 0)
                 return 0;
@@ -86,13 +87,13 @@ namespace Obi
             // replacing duplicates by the first contact that's different:
             int i = 0, r = 0;
             while (++i != count)
-                if (CompareByRef(ref data[i], ref data[r], solver) != 0 && ++r != i)
+                if (CompareByRef(data[i], data[r], solver) != 0 && ++r != i)
                     data[r] = data[i];
 
             return ++r;
         }
 
-        private void InvokeCallbacks(Oni.Contact[] data, int count)
+        private void InvokeCallbacks(ObiNativeContactList data, int count)
         {
             int a = 0, b = 0;
             int lengthA = count, lengthB = prevCount;
@@ -101,7 +102,7 @@ namespace Obi
             while (a < lengthA && b < lengthB)
             {
                 // compare both contacts: 
-                int compare = CompareByRef(ref data[a], ref prevData[b], solver);
+                int compare = CompareByRef(data[a], prevData[b], solver);
 
                 // call the appropiate event depending on the comparison result:
                 if (compare < 0)
@@ -122,30 +123,26 @@ namespace Obi
                 onContactExit.Invoke(solver, prevData[b++]);
         }
 
-        void Solver_OnCollision(object sender, ObiSolver.ObiCollisionEventArgs args)
+        void Solver_OnCollision(object sender, ObiNativeContactList contacts)
         {
-            // here we access the internal backing array (Data) directly,
-            // instead of using the accessor property. This slightly improves performance.
-            // note: the backing array length is the lists' capacity, so we
-            // need to use args.contacts.Count to get the actual number of contacts.
-
             // skip all contacts above the distance threshold by moving them to the end of the array:
-            int filteredCount = FilterOutDistantContacts(args.contacts.Data, args.contacts.Count);
+            int filteredCount = FilterOutDistantContacts(contacts, contacts.count);
 
             // sort the remaining contacts by collider, then by actor:
-            Array.Sort(args.contacts.Data, 0, filteredCount, comparer);
+            contacts.AsNativeArray().Slice(0,filteredCount).Sort(comparer);
 
             // remove duplicates:
-            filteredCount = RemoveDuplicates(args.contacts.Data, filteredCount);
+            filteredCount = RemoveDuplicates(contacts, filteredCount);
 
             // zip trough the current and previous contact lists once, invoking events when appropiate.
-            InvokeCallbacks(args.contacts.Data, filteredCount);
+            InvokeCallbacks(contacts, filteredCount);
 
             // store current contact list/count for next frame.
             // could get better performance by double buffering instead of copying:
             if (filteredCount > prevData.Length)
                 Array.Resize(ref prevData, filteredCount);
-            Array.Copy(args.contacts.Data, prevData, filteredCount);
+
+            contacts.CopyTo(prevData, 0, filteredCount);
 
             prevCount = filteredCount;
         }
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
index bdd58b078..caadb3b8b 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
@@ -45,7 +45,7 @@ public class ObiContactGrabber : MonoBehaviour
         }
     }
 
-    private Dictionary<ObiSolver, ObiSolver.ObiCollisionEventArgs> collisionEvents = new Dictionary<ObiSolver, ObiSolver.ObiCollisionEventArgs>();                                 /**< store the current collision event*/
+    private Dictionary<ObiSolver, ObiNativeContactList> collisionEvents = new Dictionary<ObiSolver, ObiNativeContactList>();                                 /**< store the current collision event*/
     private ObiCollider localCollider;                                                           /**< the collider on this gameObject.*/
     private HashSet<GrabbedParticle> grabbedParticles = new HashSet<GrabbedParticle>();          /**< set to store all currently grabbed particles.*/
     private HashSet<ObiActor> grabbedActors = new HashSet<ObiActor>();                           /**< set of softbodies grabbed during this step.*/
@@ -69,7 +69,7 @@ public class ObiContactGrabber : MonoBehaviour
                 solver.OnCollision -= Solver_OnCollision;
     }
 
-    private void Solver_OnCollision(object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
+    private void Solver_OnCollision(object sender, ObiNativeContactList e)
     {
         collisionEvents[(ObiSolver)sender] = e;
     }
@@ -122,10 +122,10 @@ public class ObiContactGrabber : MonoBehaviour
         {
             foreach (ObiSolver solver in solvers)
             {
-                ObiSolver.ObiCollisionEventArgs collisionEvent;
+                ObiNativeContactList collisionEvent;
                 if (collisionEvents.TryGetValue(solver, out collisionEvent))
                 {
-                    foreach (Oni.Contact contact in collisionEvent.contacts)
+                    foreach (Oni.Contact contact in collisionEvent)
                     {
                         // this one is an actual collision:
                         if (contact.distance < 0.01f)
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs b/Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs
new file mode 100644
index 000000000..f2419738b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs
@@ -0,0 +1,39 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    [AddComponentMenu("Physics/Obi/Obi Foam Emitter", 1000)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    [DisallowMultipleComponent]
+    public class ObiFoamEmitter : ObiFoamGenerator
+    {
+        public enum ShapeType
+        {
+            Cylinder = 0,
+            Box = 1
+        }
+
+        [Header("Emission shape")] 
+        public ShapeType shape;
+        public Transform shapeTransform;
+        public Vector3 shapeSize = Vector3.one;
+
+        private float emissionAccumulator = 0;
+
+        public int GetParticleNumberToEmit(float deltaTime)
+        {
+            emissionAccumulator += foamGenerationRate * deltaTime;
+            int particles = (int)emissionAccumulator;
+            emissionAccumulator -= particles;
+            return particles;
+        }
+
+        public void Reset()
+        {
+            emissionAccumulator = 0;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs.meta
similarity index 64%
rename from Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs.meta
rename to Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs.meta
index cac670221..f626a9f32 100644
--- a/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs.meta
+++ b/Assets/Obi/Scripts/Common/Utils/ObiFoamEmitter.cs.meta
@@ -1,11 +1,11 @@
 fileFormatVersion: 2
-guid: 1d9704d540ac448439a425526f6b2986
+guid: 3a2bd12c1cc9c45428b37635331065db
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0
-  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  icon: {fileID: 2800000, guid: b7cec6e680e3a479ca03a89eccd4e052, type: 3}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs b/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs
new file mode 100644
index 000000000..fe9cec91b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs
@@ -0,0 +1,101 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+	/**
+	 * Foam generators create diffuse particles in areas where certain conditions meet (high velocity constrasts, high vorticity, low density, high normal values, etc.). These particles
+	 * are then advected trough the fluid velocity field.
+	 */
+
+    [AddComponentMenu("Physics/Obi/Obi Foam Generator", 1000)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    [DisallowMultipleComponent]
+    public class ObiFoamGenerator : MonoBehaviour, ObiActorRenderer<ObiFoamGenerator>
+    {
+        public ObiActor actor { get; private set; }
+
+        [Header("Foam spawning")]
+        public float foamGenerationRate = 100;
+        public float foamPotential = 50;
+
+        [Range(0,1)]
+        public float foamPotentialDiffusion = 0.95f;
+        public Vector2 velocityRange = new Vector2(2, 4);
+        public Vector2 vorticityRange = new Vector2(4, 8);
+
+        [Header("Foam properties")]
+        public Light volumeLight;
+        public Color color = new Color(1,1,1,0.25f);
+        public float size = 0.02f;
+        [Range(0,1)]
+        public float sizeRandom = 0.2f;
+        public float lifetime = 5;
+        [Range(0, 1)]
+        public float lifetimeRandom = 0.2f;
+
+        public float buoyancy = 0.5f;
+
+        [Range(0, 1)]
+        public float drag = 0.5f;
+
+        [Range(0, 1)]
+        public float atmosphericDrag = 0.5f;
+
+        [Range(1, 50)]
+        public float airAging = 2;
+
+        [Range(0, 1)]
+        public float isosurface = 0.02f;
+
+        [Header("Density Control (Compute only)")]
+        [Range(0, 1)]
+        public float pressure = 1;
+        [Range(0, 1)]
+        public float density = 0.3f;
+        [Range(1, 4)]
+        public float smoothingRadius = 2.5f;
+        [Range(0, 1)]
+        public float viscosity = 0.5f;
+        [Min(0)]
+        public float surfaceTension = 2;
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).EnableRenderer();
+        }
+
+        public void OnDisable()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).DisableRenderer();
+        }
+
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiFoamGenerator>)this).SetRendererDirty(Oni.RenderingSystemType.FoamParticles);
+        }
+
+        RenderSystem<ObiFoamGenerator> ObiRenderer<ObiFoamGenerator>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstFoamRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeFoamRenderSystem(solver);
+                    return null;
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta
similarity index 64%
rename from Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs.meta
rename to Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta
index 3982fd1ef..a26a9e659 100644
--- a/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs.meta
+++ b/Assets/Obi/Scripts/Common/Utils/ObiFoamGenerator.cs.meta
@@ -1,11 +1,11 @@
 fileFormatVersion: 2
-guid: 434ec3c1822e84ae79a7f64f950b1bf9
+guid: 87b741a43af4845478fd8eff354a1510
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0
-  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  icon: {fileID: 2800000, guid: b7cec6e680e3a479ca03a89eccd4e052, type: 3}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs b/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs
new file mode 100644
index 000000000..8c0f50135
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs
@@ -0,0 +1,50 @@
+using UnityEngine;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+    public static class ObiIntegration
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 IntegrateLinear(Vector4 position, Vector4 velocity, float dt)
+        {
+            return position + velocity * dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 DifferentiateLinear(Vector4 position, Vector4 prevPosition, float dt)
+        {
+            return (position - prevPosition) / dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Quaternion AngularVelocityToSpinQuaternion(Quaternion rotation, Vector4 angularVelocity, float dt)
+        {
+            var delta = new Quaternion(angularVelocity.x,
+                                       angularVelocity.y,
+                                       angularVelocity.z, 0);
+
+            var rot = delta * rotation;
+            var v = new Vector4(rot.x, rot.y, rot.z, rot.w) * 0.5f * dt;
+            return new Quaternion(v.x, v.y, v.z, v.w);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Quaternion IntegrateAngular(Quaternion rotation, Vector4 angularVelocity, float dt)
+        {
+            var spin = AngularVelocityToSpinQuaternion(rotation, angularVelocity, dt);
+            rotation.x += spin.x;
+            rotation.y += spin.y;
+            rotation.z += spin.z;
+            rotation.w += spin.w;
+            return rotation.normalized; 
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector4 DifferentiateAngular(Quaternion rotation, Quaternion prevRotation, float dt)
+        {
+            var delta = rotation * Quaternion.Inverse(prevRotation);
+            return new Vector4(delta.x, delta.y, delta.z, 0) * 2.0f / dt;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta
new file mode 100644
index 000000000..819d6050c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiIntegration.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dbcd2b1cce6ff448ebca664dd6c55e2d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
index 9fbff25fe..3cd2b72d6 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
@@ -1,508 +1,70 @@
-using System;
-using UnityEngine;
-
-namespace Obi
-{
-    [AddComponentMenu("Physics/Obi/Obi Particle Attachment", 820)]
-    [RequireComponent(typeof(ObiActor))]
-    [ExecuteInEditMode]
-    public class ObiParticleAttachment : MonoBehaviour
-    {
-        public enum AttachmentType
-        {
-            Static,
-            Dynamic
-        }
-
-        [SerializeField] [HideInInspector] private ObiActor m_Actor;
-        [SerializeField] [HideInInspector] private Transform m_Target;
-
-        [SerializeField] [HideInInspector] private ObiParticleGroup m_ParticleGroup;
-        [SerializeField] [HideInInspector] private AttachmentType m_AttachmentType = AttachmentType.Static;
-        [SerializeField] [HideInInspector] private bool m_ConstrainOrientation = false;
-        [SerializeField] [HideInInspector] private float m_Compliance = 0;
-        [SerializeField] [HideInInspector] [Delayed] private float m_BreakThreshold = float.PositiveInfinity;
+using System;
using UnityEngine;

namespace Obi
{
    [AddComponentMenu("Physics/Obi/Obi Particle Attachment", 820)]
    [RequireComponent(typeof(ObiActor))]
    [ExecuteInEditMode]
    public class ObiParticleAttachment : MonoBehaviour
    {
        public enum AttachmentType
        {
            Static,
            Dynamic
        }

        [SerializeField] [HideInInspector] private ObiActor m_Actor;
        [SerializeField] [HideInInspector] private Transform m_Target;

        [SerializeField] [HideInInspector] private ObiParticleGroup m_ParticleGroup;
        [SerializeField] [HideInInspector] private AttachmentType m_AttachmentType = AttachmentType.Static;
        [SerializeField] [HideInInspector] private bool m_ConstrainOrientation = false;
+        [SerializeField] [HideInInspector] private bool m_Projection = false;
        [SerializeField] [HideInInspector] private float m_Compliance = 0;
 
         // private variables are serialized during script reloading, to keep their value. Must mark them explicitly as non-serialized.
-        [NonSerialized] private ObiPinConstraintsBatch pinBatch;
-        [NonSerialized] private ObiColliderBase attachedCollider;
-        [NonSerialized] private int attachedColliderHandleIndex;
+        [NonSerialized] private ObiPinConstraintsBatch pinBatch;
        [NonSerialized] private ObiColliderBase attachedCollider;
        [NonSerialized] private int attachedColliderHandleIndex;

        [NonSerialized] private int[] m_SolverIndices;
        [NonSerialized] private Vector3[] m_PositionOffsets = null;
        [NonSerialized] private Quaternion[] m_OrientationOffsets = null;
 
-        [NonSerialized] private int[] m_SolverIndices;
-        [NonSerialized] private Vector3[] m_PositionOffsets = null;
-        [NonSerialized] private Quaternion[] m_OrientationOffsets = null;
+        /// <summary>  
        /// The actor this attachment is added to.
        /// </summary> 
        public ObiActor actor
        {
            get { return m_Actor; }
        }
 
-        /// <summary>  
-        /// The actor this attachment is added to.
-        /// </summary> 
-        public ObiActor actor
-        {
-            get { return m_Actor; }
-        }
+        /// <summary>  
        /// The target transform that the <see cref="particleGroup"/> should be attached to.
        /// </summary> 
        public Transform target
        {
            get { return m_Target; }
            set
            {
                if (value != m_Target)
                {
                    m_Target = value;
                    Bind();
                }
            }
        }
 
-        /// <summary>  
-        /// The target transform that the <see cref="particleGroup"/> should be attached to.
-        /// </summary> 
-        public Transform target
-        {
-            get { return m_Target; }
-            set
-            {
-                if (value != m_Target)
-                {
-                    m_Target = value;
-                    Bind();
-                }
-            }
-        }
+        /// <summary>  
        /// The particle group that should be attached to the <see cref="target"/>.
        /// </summary> 
        public ObiParticleGroup particleGroup
        {
            get
            {
                return m_ParticleGroup;
            }

            set
            {
                if (value != m_ParticleGroup)
                {
                    m_ParticleGroup = value;
                    Bind();
                }
            }
        }
 
-        /// <summary>  
-        /// The particle group that should be attached to the <see cref="target"/>.
-        /// </summary> 
-        public ObiParticleGroup particleGroup
-        {
-            get
-            {
-                return m_ParticleGroup;
-            }
+        /// <summary>  
        /// Whether this attachment is currently bound or not.
        /// </summary> 
        public bool isBound
        {
            get { return m_Target != null && m_SolverIndices != null && m_PositionOffsets != null; }
        }
 
-            set
-            {
-                if (value != m_ParticleGroup)
-                {
-                    m_ParticleGroup = value;
-                    Bind();
-                }
-            }
-        }
+        /// <summary>  
        /// Type of attachment, can be either static or dynamic.
        /// </summary> 
        public AttachmentType attachmentType
        {
            get { return m_AttachmentType; }
            set
            {
                if (value != m_AttachmentType)
                {
                    DisableAttachment(m_AttachmentType);
                    m_AttachmentType = value;
                    EnableAttachment(m_AttachmentType);
                }
            }
        }
 
-        /// <summary>  
-        /// Whether this attachment is currently bound or not.
-        /// </summary> 
-        public bool isBound
-        {
-            get { return m_Target != null && m_SolverIndices != null && m_PositionOffsets != null; }
-        }
+        /// <summary>  
        /// Should this attachment constraint particle orientations too?
        /// </summary>
        public bool constrainOrientation
        {
            get { return m_ConstrainOrientation; }
            set
            {
                if (value != m_ConstrainOrientation)
                {
                    DisableAttachment(m_AttachmentType);
                    m_ConstrainOrientation = value;
                    EnableAttachment(m_AttachmentType);
                }
            }
        }
 
-        /// <summary>  
-        /// Type of attachment, can be either static or dynamic.
-        /// </summary> 
-        public AttachmentType attachmentType
-        {
-            get { return m_AttachmentType; }
-            set
-            {
-                if (value != m_AttachmentType)
-                {
-                    DisableAttachment(m_AttachmentType);
-                    m_AttachmentType = value;
-                    EnableAttachment(m_AttachmentType);
-                }
-            }
-        }
+        /// <summary>  
        /// Should this dynamic attachment project renderable particle positions every frame to the target?
        /// </summary>
        public bool projection
        {
            get { return m_Projection; }
            set
            {
                if (value != m_Projection)
                {
                    DisableAttachment(m_AttachmentType);
                    m_Projection = value;
                    EnableAttachment(m_AttachmentType);
                }
            }
        }
 
-        /// <summary>  
-        /// Should this attachment constraint particle orientations too?
-        /// </summary>
-        public bool constrainOrientation
-        {
-            get { return m_ConstrainOrientation; }
-            set
-            {
-                if (value != m_ConstrainOrientation)
-                {
-                    DisableAttachment(m_AttachmentType);
-                    m_ConstrainOrientation = value;
-                    EnableAttachment(m_AttachmentType);
-                }
-            }
-        }
+        /// <summary>  
        /// Constraint compliance, in case this attachment is dynamic.
        /// </summary>
        /// High compliance values will increase the attachment's elasticity.
        public float compliance
        {
            get { return m_Compliance; }
            set
            {
                if (!Mathf.Approximately(value, m_Compliance))
                {
                    m_Compliance = value;
                    if (m_AttachmentType == AttachmentType.Dynamic && pinBatch != null)
                    {
                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                            pinBatch.stiffnesses[i * 2] = m_Compliance;
                    }
                }
            }
        }
 
+        /// <summary>  
        /// Force thershold above which the attachment should break.
        /// </summary>
        /// Only affects dynamic attachments, as static attachments do not work with forces.
        [Delayed] public float breakThreshold = float.PositiveInfinity;

        private void OnEnable()
        {
            m_Actor = GetComponent<ObiActor>();
            m_Actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
            m_Actor.OnSimulationStart += Actor_OnSimulate;

            if (m_Actor.solver != null)
                Actor_OnBlueprintLoaded(m_Actor, m_Actor.sourceBlueprint);

            EnableAttachment(m_AttachmentType);
        }
 
-        /// <summary>  
-        /// Constraint compliance, in case this attachment is dynamic.
-        /// </summary>
-        /// High compliance values will increase the attachment's elasticity.
-        public float compliance
-        {
-            get { return m_Compliance; }
-            set
-            {
-                if (!Mathf.Approximately(value, m_Compliance))
-                {
-                    m_Compliance = value;
-                    if (m_AttachmentType == AttachmentType.Dynamic && pinBatch != null)
-                    {
-                        for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            pinBatch.stiffnesses[i * 2] = m_Compliance;
-                    }
-                }
-            }
-        }
-
-        /// <summary>  
-        /// Force thershold above which the attachment should break.
-        /// </summary>
-        /// Only affects dynamic attachments, as static attachments do not work with forces.
-        public float breakThreshold
-        {
-            get { return m_BreakThreshold; }
-            set
-            {
-                if (!Mathf.Approximately(value, m_BreakThreshold))
-                {
-                    m_BreakThreshold = value;
-                    if (m_AttachmentType == AttachmentType.Dynamic && pinBatch != null)
-                    {
-                        for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            pinBatch.breakThresholds[i] = m_BreakThreshold;
-                    }
-                }
-            }
-        }
-
-        private void OnEnable()
-        {
-            m_Actor = GetComponent<ObiActor>();
-            m_Actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
-            m_Actor.OnPrepareStep += Actor_OnPrepareStep;
-            m_Actor.OnEndStep += Actor_OnEndStep;
-
-            if (m_Actor.solver != null)
-                Actor_OnBlueprintLoaded(m_Actor, m_Actor.sourceBlueprint);
-
-            EnableAttachment(m_AttachmentType);
-        }
-
-        private void OnDisable()
-        {
-            DisableAttachment(m_AttachmentType);
-
-            m_Actor.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
-            m_Actor.OnPrepareStep -= Actor_OnPrepareStep;
-            m_Actor.OnEndStep -= Actor_OnEndStep;
-        }
-
-        private void OnValidate()
-        {
-            m_Actor = GetComponent<ObiActor>();
+        private void OnDisable()
        {
            DisableAttachment(m_AttachmentType);

            m_Actor.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
            m_Actor.OnSimulationStart -= Actor_OnSimulate;
        }

        private void OnValidate()
        {
            m_Actor = GetComponent<ObiActor>();
 
             // do not re-bind: simply disable and re-enable the attachment.
-            DisableAttachment(AttachmentType.Static);
-            DisableAttachment(AttachmentType.Dynamic);
-            EnableAttachment(m_AttachmentType);
-        }
+            DisableAttachment(AttachmentType.Static);
            DisableAttachment(AttachmentType.Dynamic);
            EnableAttachment(m_AttachmentType);
        }

        void Actor_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
        {
            Bind();
        }
 
-        void Actor_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
-        {
-            Bind();
-        }
-
-        void Actor_OnPrepareStep(ObiActor act, float stepTime)
-        {
+        void Actor_OnSimulate(ObiActor act, float stepTime, float substepTime)
        {
             // Attachments must be updated at the start of the step, before performing any simulation.
             UpdateAttachment();
-        }
 
-        private void Actor_OnEndStep(ObiActor act, float stepTime)
-        {
-            // dynamic attachments must be tested at the end of the step, once constraint forces have been calculated.
             // if there's any broken constraint, flag pin constraints as dirty for remerging at the start of the next step.
-            BreakDynamicAttachment(stepTime);
-        }
-
-        private void Bind()
-        {
+            BreakDynamicAttachment(substepTime);
        }

        private void Bind()
        {
             // Disable attachment.
-            DisableAttachment(m_AttachmentType);
-
-            if (m_Target != null && m_ParticleGroup != null && m_Actor.isLoaded)
-            {
-                Matrix4x4 bindMatrix = m_Target.worldToLocalMatrix * m_Actor.solver.transform.localToWorldMatrix;
-
-                m_SolverIndices = new int[m_ParticleGroup.Count];
-                m_PositionOffsets = new Vector3[m_ParticleGroup.Count];
-                m_OrientationOffsets = new Quaternion[m_ParticleGroup.Count];
-
-                for (int i = 0; i < m_ParticleGroup.Count; ++i)
-                {
-                    int particleIndex = m_ParticleGroup.particleIndices[i];
-                    if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.Length)
-                    {
-                        m_SolverIndices[i] = m_Actor.solverIndices[particleIndex];
-                        m_PositionOffsets[i] = bindMatrix.MultiplyPoint3x4(m_Actor.solver.positions[m_SolverIndices[i]]);
-                    }
-                    else
-                    {
-                        Debug.LogError("The particle group \'" + m_ParticleGroup.name + "\' references a particle that does not exist in the actor \'" + m_Actor.name + "\'.");
-                        m_SolverIndices = null;
-                        m_PositionOffsets = null;
-                        m_OrientationOffsets = null;
-                        return;
-                    }
-                }
-
-                if (m_Actor.usesOrientedParticles)
-                {
-                    Quaternion bindOrientation = bindMatrix.rotation;
-
-                    for (int i = 0; i < m_ParticleGroup.Count; ++i)
-                    {
-                        int particleIndex = m_ParticleGroup.particleIndices[i];
-                        if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.Length)
-                            m_OrientationOffsets[i] = bindOrientation * m_Actor.solver.orientations[m_SolverIndices[i]];
-                    }
-                }
-            }
-            else
-            {
-                m_PositionOffsets = null;
-                m_OrientationOffsets = null;
-            }
-
-            EnableAttachment(m_AttachmentType);
-        }
-
-
-        private void EnableAttachment(AttachmentType type)
-        {
-
-            if (enabled && m_Actor.isLoaded && isBound)
-            {
-                var solver = m_Actor.solver;
-
-                switch (type)
-                {
-                    case AttachmentType.Dynamic:
-
-                        var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiPinConstraintsData;
-                        attachedCollider = m_Target.GetComponent<ObiColliderBase>();
-
-                        if (pins != null && attachedCollider != null && pinBatch == null)
-                        {
+            DisableAttachment(m_AttachmentType);

            if (m_Target != null && m_ParticleGroup != null && m_Actor.isLoaded)
            {
                Matrix4x4 bindMatrix = m_Target.worldToLocalMatrix * m_Actor.solver.transform.localToWorldMatrix;

                m_SolverIndices = new int[m_ParticleGroup.Count];
                m_PositionOffsets = new Vector3[m_ParticleGroup.Count];
                m_OrientationOffsets = new Quaternion[m_ParticleGroup.Count];

                for (int i = 0; i < m_ParticleGroup.Count; ++i)
                {
                    int particleIndex = m_ParticleGroup.particleIndices[i];
                    if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.count)
                    {
                        m_SolverIndices[i] = m_Actor.solverIndices[particleIndex];
                        m_PositionOffsets[i] = bindMatrix.MultiplyPoint3x4(m_Actor.solver.positions[m_SolverIndices[i]]);
                    }
                    else
                    {
                        Debug.LogError("The particle group \'" + m_ParticleGroup.name + "\' references a particle that does not exist in the actor \'" + m_Actor.name + "\'.");
                        m_SolverIndices = null;
                        m_PositionOffsets = null;
                        m_OrientationOffsets = null;
                        return;
                    }
                }

                if (m_Actor.usesOrientedParticles)
                {
                    Quaternion bindOrientation = bindMatrix.rotation;

                    for (int i = 0; i < m_ParticleGroup.Count; ++i)
                    {
                        int particleIndex = m_ParticleGroup.particleIndices[i];
                        if (particleIndex >= 0 && particleIndex < m_Actor.solverIndices.count)
                            m_OrientationOffsets[i] = bindOrientation * m_Actor.solver.orientations[m_SolverIndices[i]];
                    }
                }
            }
            else
            {
                m_PositionOffsets = null;
                m_OrientationOffsets = null;
            }

            EnableAttachment(m_AttachmentType);
        }


        private void EnableAttachment(AttachmentType type)
        {
            if (enabled && m_Actor.isLoaded && isBound)
            {
                var solver = m_Actor.solver;

                switch (type)
                {
                    case AttachmentType.Dynamic:

                        var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiPinConstraintsData;
                        attachedCollider = m_Target.GetComponent<ObiColliderBase>();

                        if (pins != null && attachedCollider != null && pinBatch == null)
                        {
                             // create a new data batch with all our pin constraints:
-                            pinBatch = new ObiPinConstraintsBatch(pins);
-                            for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            {
-                                pinBatch.AddConstraint(m_SolverIndices[i],
-                                                       attachedCollider,
-                                                       m_PositionOffsets[i],
-                                                       m_OrientationOffsets[i],
-                                                       m_Compliance,
-                                                       constrainOrientation ? 0 : 10000,
-                                                       m_BreakThreshold);
-
-                                pinBatch.activeConstraintCount++;
-                            }
+                            pinBatch = new ObiPinConstraintsBatch(pins);
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                pinBatch.AddConstraint(m_SolverIndices[i],
                                                       attachedCollider,
                                                       m_PositionOffsets[i],
                                                       m_OrientationOffsets[i],
                                                       m_Compliance,
                                                       constrainOrientation ? 0 : 10000,
                                                       projection);

                                pinBatch.activeConstraintCount++;
                            }
 
                             // add the batch to the actor:
                             pins.AddBatch(pinBatch);
 
                             // store the attached collider's handle:
-                            attachedColliderHandleIndex = -1;
-                            if (attachedCollider.Handle != null)
-                                attachedColliderHandleIndex = attachedCollider.Handle.index;
-
-                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
-                        }
-
-                        break;
-
-                    case AttachmentType.Static:
-
-                        for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invMasses.count)
-                                solver.invMasses[m_SolverIndices[i]] = 0;
-
-                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
-                        {
-                            for (int i = 0; i < m_SolverIndices.Length; ++i)
-                                if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invRotationalMasses.count)
-                                    solver.invRotationalMasses[m_SolverIndices[i]] = 0;
-                        }
-
-                        m_Actor.UpdateParticleProperties();
-
-                        break;
-
-                }
-            }
-
-        }
-
-        private void DisableAttachment(AttachmentType type)
-        {
-            if (isBound)
-            {
-                switch (type)
-                {
-                    case AttachmentType.Dynamic:
-
-                        if (pinBatch != null)
-                        {
-                            var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-                            if (pins != null)
-                            {
-                                pins.RemoveBatch(pinBatch);
-                                if (actor.isLoaded)
-                                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
-                            }
-
-                            attachedCollider = null;
-                            pinBatch = null;
-                            attachedColliderHandleIndex = -1;
-                        }
-
-                        break;
-
-                    case AttachmentType.Static:
-
-                        var solver = m_Actor.solver;
-                        var blueprint = m_Actor.sourceBlueprint;
-
-                        for (int i = 0; i < m_SolverIndices.Length; ++i)
-                        {
-                            int solverIndex = m_SolverIndices[i];
-                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
-                                solver.invMasses[solverIndex] = blueprint.invMasses[i];
-                        }
-
-                        if (m_Actor.usesOrientedParticles)
-                        {
-                            for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            {
-                                int solverIndex = m_SolverIndices[i];
-                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
-                                    solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
-                            }
-                        }
-
-                        m_Actor.UpdateParticleProperties();
-
-                        break;
-
-                }
-            }
-        }
-
-        private void UpdateAttachment()
-        {
-
-            if (enabled && m_Actor.isLoaded && isBound)
-            {
-                var solver = m_Actor.solver;
-
-                switch (m_AttachmentType)
-                {
-                    case AttachmentType.Dynamic:
+                            attachedColliderHandleIndex = -1;
                            if (attachedCollider.Handle != null)
                                attachedColliderHandleIndex = attachedCollider.Handle.index;

                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                        }

                        break;

                    case AttachmentType.Static:

                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                            if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invMasses.count)
                                solver.invMasses[m_SolverIndices[i]] = 0;

                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
                        {
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                                if (m_SolverIndices[i] >= 0 && m_SolverIndices[i] < solver.invRotationalMasses.count)
                                    solver.invRotationalMasses[m_SolverIndices[i]] = 0;
                        }

                        m_Actor.UpdateParticleProperties();

                        break;

                }
            }

        }

        private void DisableAttachment(AttachmentType type)
        {
            if (isBound)
            {
                switch (type)
                {
                    case AttachmentType.Dynamic:

                        if (pinBatch != null)
                        {
                            var pins = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
                            if (pins != null)
                            {
                                pins.RemoveBatch(pinBatch);
                                if (actor.isLoaded)
                                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                            }

                            attachedCollider = null;
                            pinBatch = null;
                            attachedColliderHandleIndex = -1;
                        }

                        break;

                    case AttachmentType.Static:

                        var solver = m_Actor.solver;
                        var blueprint = m_Actor.sourceBlueprint;

                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                        {
                            int solverIndex = m_SolverIndices[i];
                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
                                solver.invMasses[solverIndex] = blueprint.invMasses[i];
                        }

                        if (m_Actor.usesOrientedParticles)
                        {
                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                int solverIndex = m_SolverIndices[i];
                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
                                    solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
                            }
                        }

                        m_Actor.UpdateParticleProperties();

                        break;

                }
            }
        }

        private void UpdateAttachment()
        {

            if (enabled && m_Actor.isLoaded && isBound)
            {
                var solver = m_Actor.solver;

                switch (m_AttachmentType)
                {
                    case AttachmentType.Dynamic:
 
                         // in case the handle has been updated/invalidated (for instance, when disabling the target) rebuild constraints:
                         if (attachedCollider != null &&
                             attachedCollider.Handle != null &&
-                            attachedCollider.Handle.index != attachedColliderHandleIndex)
-                        {
-                            attachedColliderHandleIndex = attachedCollider.Handle.index;
-                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
-                        }
-
-                        break;
-
-                    case AttachmentType.Static:
-
-                        var blueprint = m_Actor.sourceBlueprint;
-                        bool targetActive = m_Target.gameObject.activeInHierarchy;
+                            attachedCollider.Handle.index != attachedColliderHandleIndex)
                        {
                            attachedColliderHandleIndex = attachedCollider.Handle.index;
                            m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
                        }

                        break;

                    case AttachmentType.Static:

                        var blueprint = m_Actor.sourceBlueprint;
                        bool targetActive = m_Target.gameObject.activeInHierarchy;
 
                         // Build the attachment matrix:
                         Matrix4x4 attachmentMatrix = solver.transform.worldToLocalMatrix * m_Target.localToWorldMatrix;
 
                         // Fix all particles in the group and update their position 
                         // Note: skip assignment to startPositions if you want attached particles to be interpolated too.
-                        for (int i = 0; i < m_SolverIndices.Length; ++i)
-                        {
-                            int solverIndex = m_SolverIndices[i];
-
-                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
-                            {
-                                if (targetActive)
-                                {
-                                    solver.invMasses[solverIndex] = 0;
-                                    solver.velocities[solverIndex] = Vector3.zero;
-                                    solver.startPositions[solverIndex] = solver.positions[solverIndex] = attachmentMatrix.MultiplyPoint3x4(m_PositionOffsets[i]);
-                                }else
-                                    solver.invMasses[solverIndex] = blueprint.invMasses[i];
-                            }
-                        }
-
-                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
-                        {
-                            Quaternion attachmentRotation = attachmentMatrix.rotation;
-
-                            for (int i = 0; i < m_SolverIndices.Length; ++i)
-                            {
-                                int solverIndex = m_SolverIndices[i];
-
-                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
-                                {
-                                    if (targetActive)
-                                    {
-                                        solver.invRotationalMasses[solverIndex] = 0;
-                                        solver.angularVelocities[solverIndex] = Vector3.zero;
-                                        solver.startOrientations[solverIndex] = solver.orientations[solverIndex] = attachmentRotation * m_OrientationOffsets[i];
-                                    }
-                                    else
-                                        solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
-                                }
-                            }
-                        }
-                        break;
-                }
-            }
-        }
-
-        private void BreakDynamicAttachment(float stepTime)
-        {
-
-            if (enabled && m_AttachmentType == AttachmentType.Dynamic && m_Actor.isLoaded && isBound)
+                        for (int i = 0; i < m_SolverIndices.Length; ++i)
                        {
                            int solverIndex = m_SolverIndices[i];

                            if (solverIndex >= 0 && solverIndex < solver.invMasses.count)
                            {
                                if (targetActive)
                                {
                                    solver.invMasses[solverIndex] = 0;
                                    solver.velocities[solverIndex] = Vector3.zero;
                                    solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = attachmentMatrix.MultiplyPoint3x4(m_PositionOffsets[i]);
                                }
+                                else
                                    solver.invMasses[solverIndex] = blueprint.invMasses[i];
                            }
                        }

                        if (m_Actor.usesOrientedParticles && m_ConstrainOrientation)
                        {
                            Quaternion attachmentRotation = attachmentMatrix.rotation;

                            for (int i = 0; i < m_SolverIndices.Length; ++i)
                            {
                                int solverIndex = m_SolverIndices[i];

                                if (solverIndex >= 0 && solverIndex < solver.invRotationalMasses.count)
                                {
                                    if (targetActive)
                                    {
                                        solver.invRotationalMasses[solverIndex] = 0;
                                        solver.angularVelocities[solverIndex] = Vector3.zero;
                                        solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = attachmentRotation * m_OrientationOffsets[i];
                                    }
                                    else
                                        solver.invRotationalMasses[solverIndex] = blueprint.invRotationalMasses[i];
                                }
                            }
                        }
                        break;
                }
            }
            else if (!isBound && attachedColliderHandleIndex >= 0)
             {
-
-                var solver = m_Actor.solver;
-
-                var actorConstraints = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
-
-                bool dirty = false;
-                if (actorConstraints != null && pinBatch != null)
-                {
-                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
-                    if (pinBatchIndex >= 0 && pinBatchIndex < actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin].Count)
-                    {
-                        int offset = actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin][pinBatchIndex];
-                        var solverBatch = solverConstraints.batches[pinBatchIndex];
-
-                        float sqrTime = stepTime * stepTime;
-                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
-                        {
+                attachedColliderHandleIndex = -1;
+                m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
+            }
        }

        private void BreakDynamicAttachment(float substepTime)
        {
            if (enabled && m_AttachmentType == AttachmentType.Dynamic && m_Actor.isLoaded && isBound)
            {
                var solver = m_Actor.solver;

                var actorConstraints = m_Actor.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;
                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;

                bool dirty = false;
                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
                {
                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
                    if (pinBatchIndex >= 0 && pinBatchIndex < actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin].Count)
                    {
                        int offset = actor.solverBatchOffsets[(int)Oni.ConstraintType.Pin][pinBatchIndex];
                        var solverBatch = solverConstraints.batches[pinBatchIndex];

                        float sqrTime = substepTime * substepTime;
                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
                        {
                             // In case the handle has been created/destroyed.
-                            if (pinBatch.pinBodies[i] != attachedCollider.Handle)
-                            {
-                                pinBatch.pinBodies[i] = attachedCollider.Handle;
-                                dirty = true;
-                            }
+                            if (pinBatch.pinBodies[i] != attachedCollider.Handle)
                            {
                                pinBatch.pinBodies[i] = attachedCollider.Handle;
                                dirty = true;
                            }
 
                             // in case the constraint has been broken:
-                            if (-solverBatch.lambdas[(offset + i) * 4 + 3] / sqrTime > pinBatch.breakThresholds[i])
-                            {
-                                pinBatch.DeactivateConstraint(i);
-                                dirty = true;
-                            }
-                        }
-                    }
-                }
+                            if (-solverBatch.lambdas[(offset + i) * 4 + 3] / sqrTime > breakThreshold)
                            {
                                pinBatch.DeactivateConstraint(i);
                                dirty = true;
                            }
                        }
                    }
                }
 
                 // constraints are recreated at the start of a step.
-                if (dirty)
-                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
-            }
-        }
-    }
-}
+                if (dirty)
                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
            }
        }
    }
}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
index 90f193dec..564490594 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
@@ -22,23 +22,24 @@ namespace Obi
             picker.OnParticlePicked.AddListener(Picker_OnParticleDragged);
             picker.OnParticleDragged.AddListener(Picker_OnParticleDragged);
             picker.OnParticleReleased.AddListener(Picker_OnParticleReleased);
+
+            picker.solver.OnSimulationStart += Solver_OnEndSimulation;
         }
 
         void OnDisable()
         {
+            picker.solver.OnSimulationStart -= Solver_OnEndSimulation;
+
             picker.OnParticlePicked.RemoveListener(Picker_OnParticleDragged);
             picker.OnParticleDragged.RemoveListener(Picker_OnParticleDragged);
             picker.OnParticleReleased.RemoveListener(Picker_OnParticleReleased);
             lineRenderer.positionCount = 0;
         }
 
-        void FixedUpdate()
+        private void Solver_OnEndSimulation(ObiSolver solver, float timeToSimulate, float substepTime)
         {
-            ObiSolver solver = picker.solver;
-
             if (solver != null && pickArgs != null)
             {
-
                 // Calculate picking position in solver space:
                 Vector4 targetPosition = solver.transform.InverseTransformPoint(pickArgs.worldPosition);
 
@@ -52,7 +53,6 @@ namespace Obi
                     Vector4 velocity = solver.velocities[pickArgs.particleIndex];
                     solver.externalForces[pickArgs.particleIndex] = ((targetPosition - position) * springStiffness - velocity * springDamping) / invMass;
 
-
                     if (drawSpring)
                     {
                         lineRenderer.positionCount = 2;
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs
deleted file mode 100644
index 4a2a827b4..000000000
--- a/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs
+++ /dev/null
@@ -1,45 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-namespace Obi
-{
-
-    [RequireComponent(typeof(ObiSolver))]
-    public class ObiParticleGridDebugger : MonoBehaviour
-    {
-
-	    ObiSolver solver;
-        ObiNativeAabbList cells;
-
-        void OnEnable()
-        {
-            solver = GetComponent<ObiSolver>();
-            cells = new ObiNativeAabbList();
-        }
-
-        private void OnDisable()
-        {
-            cells.Dispose();
-        }
-
-        void LateUpdate ()
-	    {
-            cells.count = solver.implementation.GetParticleGridSize();
-            solver.implementation.GetParticleGrid(cells);
-	    }
-
-	    void OnDrawGizmos()
-        {
-
-		    if (cells != null)
-            {
-                Gizmos.color = Color.yellow;
-                for(int i = 0; i < cells.count; ++i)
-			        Gizmos.DrawWireCube(cells[i].center, cells[i].size);
-            }
-
-        }
-
-    }
-}
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs.meta
deleted file mode 100644
index f787114ba..000000000
--- a/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs.meta
+++ /dev/null
@@ -1,12 +0,0 @@
-fileFormatVersion: 2
-guid: 12c0ac28542b14de6a887a6a9067d86d
-timeCreated: 1487351379
-licenseType: Store
-MonoImporter:
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
index 9c5d4a474..8c2d7fdb9 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
@@ -63,13 +63,13 @@ namespace Obi
                     Matrix4x4 solver2World = solver.transform.localToWorldMatrix;
 
                     // Find the closest particle hit by the ray:
-                    for (int i = 0; i < solver.renderablePositions.count; ++i)
+                    for (int i = 0; i < solver.positions.count; ++i)
                     {
 
-                        Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.renderablePositions[i]);
+                        Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.positions[i]);
 
                         float mu;
-                        Vector3 projected = ObiUtils.ProjectPointLine(worldPos, ray.origin, ray.origin + ray.direction, out mu, false);
+                        Vector3 projected = ObiUtils.ProjectPointLine(ray.origin, ray.origin + ray.direction, worldPos, out mu, false);
                         float distanceToRay = Vector3.SqrMagnitude(worldPos - projected);
 
                         // Disregard particles behind the camera:
@@ -88,7 +88,7 @@ namespace Obi
                     if (pickedParticleIndex >= 0)
                     {
 
-                        pickedParticleDepth = Camera.main.transform.InverseTransformVector(solver2World.MultiplyPoint3x4(solver.renderablePositions[pickedParticleIndex]) - Camera.main.transform.position).z;
+                        pickedParticleDepth = Camera.main.transform.InverseTransformVector(solver2World.MultiplyPoint3x4(solver.positions[pickedParticleIndex]) - Camera.main.transform.position).z;
 
                         if (OnParticlePicked != null)
                         {
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs b/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs
deleted file mode 100644
index 32e62596f..000000000
--- a/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs
+++ /dev/null
@@ -1,215 +0,0 @@
-using System;
-using UnityEngine;
-
-namespace Obi
-{
-	[DisallowMultipleComponent]
-	public class ObiProfiler : MonoBehaviour
-	{
-		[Header("Appearance")]
-		public GUISkin skin;	
-		public Color threadColor = Color.white;
-        public Color taskColor = new Color(0.1f, 1, 0.2f);
-		public Color parallelTaskColor = new Color(1,0.8f,0.2f);
-		//public Color idleColor = new Color(0.7f,0.7f,0.7f);
-        public Color renderTaskColor = new Color(0.2f, 0.7f, 1.0f);
-        public Color defaultTaskColor = new Color(1, 0.5f, 0.2f);
-
-		[Header("Visualization")]
-		public bool showPercentages = false;
-		public int profileThrottle = 30;
-
-		private Oni.ProfileInfo[] info;
-        private double frameStart;
-		private double frameEnd;
-		private int frameCounter = 0;
-		private int yPos = 25;
-        private bool profiling = false;
-
-		private float zoom = 1;
-		private Vector2 scrollPosition = Vector2.zero;
-
-		private static ObiProfiler _instance;
-
-	    private void Awake()
-	    {
-	        if (_instance != null && _instance != this)
-	            DestroyImmediate(this);
-	        else{
-	            _instance = this;
-			}
-	    }
-
-		public void OnDestroy(){
-#if (OBI_ONI_SUPPORTED)
-            _instance = null;
-            Oni.EnableProfiler(false);
-#endif
-        }
-
-        private void OnEnable()
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null && _instance.profiling)
-                Oni.EnableProfiler(true);
-#endif
-        }
-
-        private void OnDisable()
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null)
-                Oni.EnableProfiler(false);
-#endif
-        }
-
-        public static void EnableProfiler()
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null)
-            {
-                _instance.profiling = true;
-                if (_instance.isActiveAndEnabled)
-                    Oni.EnableProfiler(true);
-            }
-#endif
-        }
-
-        public static void DisableProfiler()
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null)
-            {
-                _instance.profiling = false;
-                Oni.EnableProfiler(false);
-            }
-#endif
-        }
-
-        public static void BeginSample(string name, byte type)
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null)
-                Oni.BeginSample(name, type);
-#endif
-        }
-
-        public static void EndSample()
-        {
-#if (OBI_ONI_SUPPORTED)
-            if (_instance != null)
-                Oni.EndSample();
-#endif
-        }
-
-		private void UpdateProfilerInfo(){
-#if (OBI_ONI_SUPPORTED)
-            frameCounter--;
-			if (frameCounter <= 0)
-			{
-				int count = Oni.GetProfilingInfoCount();
-				info = new Oni.ProfileInfo[count];
-				Oni.GetProfilingInfo(info,count);
-
-				frameCounter = profileThrottle;
-
-				// Calculate frame duration:
-                frameStart = double.MaxValue;		
-                frameEnd = double.MinValue;
-				foreach (Oni.ProfileInfo i in info){
-                    frameStart = Math.Min(frameStart,i.start);
-                    frameEnd = Math.Max(frameEnd,i.end);
-				}
-			}
-
-            Oni.ClearProfiler();
-#endif
-        }
-
-		public void OnGUI()
-		{
-#if (OBI_ONI_SUPPORTED)
-            if (Event.current.type == EventType.Layout)
-				UpdateProfilerInfo();
-
-			if (info == null)
-				return;
-
-			GUI.skin = skin;
-			int toolbarHeight = 20;
-			int threadHeight = 20;
-			int scrollViewWidth = (int)(Screen.width / zoom);
-
-            double frameDuration = frameEnd - frameStart;
-	
-			// Toolbar:
-			GUI.BeginGroup(new Rect(0,0,Screen.width,toolbarHeight),"","Box");
-
-				GUI.Label(new Rect(5,0,50,toolbarHeight),"Zoom:");
-				zoom = GUI.HorizontalSlider(new Rect(50,5,100,toolbarHeight),zoom,0.005f,1);
-				GUI.Label(new Rect(Screen.width - 100,0,100,toolbarHeight),(frameDuration/1000.0f).ToString("0.###") + " ms/frame");
-
-			GUI.EndGroup();
-
-			// Timeline view:
-			scrollPosition = GUI.BeginScrollView(new Rect(0, toolbarHeight, Screen.width, Screen.height-20), scrollPosition,
-												 new Rect(0, 0, scrollViewWidth, yPos+30)); // height depends on amount of threads.
-
-			GUI.color = threadColor;
-			GUI.Label(new Rect(5,0,200,20),"Thread 1");
-			GUI.Box(new Rect(0, 0, scrollViewWidth, 40),"","Thread");
-
-			yPos = 25;
-			uint currentThreadId = 0;
-			uint currentLevel = 0;
-			foreach (Oni.ProfileInfo i in info)
-			{	
-				uint threadId = (i.info & (uint)Oni.ProfileMask.ThreadIdMask) >> 16;
-				uint level 	  = (i.info & (uint)Oni.ProfileMask.StackLevelMask) >> 8;
-				uint type 	  = i.info & (uint)Oni.ProfileMask.TypeMask;
-
-				if (currentThreadId != threadId){
-					yPos += threadHeight+1;
-					GUI.color = threadColor;
-					GUI.Label(new Rect(5,yPos+5,200,20),"Thread "+(threadId+1));
-					GUI.Box(new Rect(0, yPos+5, scrollViewWidth, 40),"","Thread");
-					yPos += 30;
-				}else if (currentLevel != level){
-					yPos += threadHeight+1;
-				}
-
-				currentLevel = level;
-				currentThreadId = threadId;
-
-				switch(type){
-					case 0: GUI.color = taskColor; break;
-					//case 1: GUI.color = idleColor; break;
-					case 2: GUI.color = parallelTaskColor; break;
-                    case 3: GUI.color = renderTaskColor; break;
-                    default: GUI.color = defaultTaskColor; break;
-				}
-
-				// task duration:
-                int taskStart = (int) ((i.start - frameStart) / frameDuration * (Screen.width-10) / zoom);
-                int taskEnd = (int) ((i.end - frameStart) / frameDuration * (Screen.width-10) / zoom);
-				int taskDuration = taskEnd-taskStart;
-			
-				string name;
-				if (showPercentages)
-				{
-					double pctg = (i.end-i.start)/frameDuration*100;
-					name = i.name + " ("+pctg.ToString("0.#")+"%)"; 
-				}
-				else{
-					double ms = (i.end-i.start)/1000.0f;
-					name = i.name + " ("+ms.ToString("0.###")+"ms)"; 
-				}
-
-				GUI.Box(new Rect(taskStart, yPos, taskDuration-1, threadHeight),name,"Task");
-			}
-			GUI.EndScrollView();
-#endif
-        }
-    }
-}
-
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs.meta
deleted file mode 100644
index d26c93d7c..000000000
--- a/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 62e83a599724f45a4aa337d74764e572
-timeCreated: 1482252100
-licenseType: Store
-MonoImporter:
-  serializedVersion: 2
-  defaultReferences:
-  - skin: {fileID: 11400000, guid: b90d3c214c99743b0865fc0e0d1f1a15, type: 2}
-  executionOrder: 0
-  icon: {fileID: 2800000, guid: 1c322d61eeb3640408ee1119729d5c21, type: 3}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs b/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
index 86c1f76bd..e7c95e84b 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
@@ -34,9 +34,9 @@ namespace Obi
         [SerializeField] [HideInInspector] private ObiActor actor1 = null;          /**< one of the actors used by the stitcher.*/
         [SerializeField] [HideInInspector] private ObiActor actor2 = null;           /**< the second actor used by the stitcher.*/
 
-        [HideInInspector] public ObiNativeIntList particleIndices = new ObiNativeIntList();
-        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();
-        [HideInInspector] public ObiNativeFloatList lambdas = new ObiNativeFloatList();
+        [HideInInspector] public ObiNativeIntList particleIndices;
+        [HideInInspector] public ObiNativeFloatList stiffnesses;
+        [HideInInspector] public ObiNativeFloatList lambdas;
 
         //private IntPtr batch;
         private IStitchConstraintsBatchImpl m_BatchImpl;
@@ -176,6 +176,10 @@ namespace Obi
 
                 inSolver = true;
 
+                particleIndices = new ObiNativeIntList();
+                stiffnesses = new ObiNativeFloatList();
+                lambdas = new ObiNativeFloatList();
+
                 // create a constraint batch (CreateStitchConstraints() in burst returns a singleton):
                 m_BatchImpl = solver.implementation.CreateConstraintsBatch(Oni.ConstraintType.Stitch) as IStitchConstraintsBatchImpl;
 
@@ -195,6 +199,10 @@ namespace Obi
             // Oni.RemoveBatch(actor1.solver.OniSolver, batch);
             if (inSolver && m_BatchImpl != null)
             {
+                lambdas.Dispose();
+                particleIndices.Dispose();
+                stiffnesses.Dispose();
+
                 solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IStitchConstraintsBatchImpl);
                 m_BatchImpl.Destroy();
                 m_BatchImpl = null;
@@ -227,7 +235,6 @@ namespace Obi
             m_BatchImpl.SetStitchConstraints(particleIndices, stiffnesses, lambdas, stitches.Count);
 
         }
-
     }
 }
 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
index fcf48adf2..a3e1a1966 100644
--- a/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
+++ b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
@@ -1,888 +1,114 @@
-using UnityEngine;
-using System;
-using System.Collections.Generic;
-using System.Runtime.CompilerServices;
+using UnityEngine;
using System;
using System.Collections.Generic;
using System.Runtime.CompilerServices;
using System.IO;

namespace Obi
{

    public static class Constants
    {
        public const int maxVertsPerMesh = 65000;
        public const int maxInstancesPerBatch = 1023;
    }

    public static class ObiUtils
    {

        public const float epsilon = 0.0000001f;
        public const float sqrt3 = 1.73205080f;
        public const float sqrt2 = 1.41421356f; 

        public const int FilterMaskBitmask = unchecked((int)0xffff0000);
        public const int FilterCategoryBitmask = 0x0000ffff;
        public const int ParticleGroupBitmask = 0x00ffffff;

        public const int CollideWithEverything = 0x0000ffff;
        public const int CollideWithNothing= 0x0;

        public const int MaxCategory = 15;
        public const int MinCategory = 0;

        [Flags]
        public enum ParticleFlags
        {
            SelfCollide = 1 << 24,
            Fluid = 1 << 25,
            OneSided = 1 << 26,
            Isolated = 1 << 27 // particles that are not part of persistent constraints and can be deleted without ill effects: fluids and granulars
+        }

        // Colour alphabet from https://www.aic-color.org/resources/Documents/jaic_v5_06.pdf
        public static readonly Color32[] colorAlphabet =
        {
            new Color32(240,163,255,255), 
            new Color32(0,117,220,255),
            new Color32(153,63,0,255),
            new Color32(76,0,92,255),
            new Color32(25,25,25,255),
            new Color32(0,92,49,255),
            new Color32(43,206,72,255),
            new Color32(255,204,153,255),
            new Color32(128,128,128,255),
            new Color32(148,255,181,255),
            new Color32(143,124,0,255),
            new Color32(157,204,0,255),
            new Color32(194,0,136,255),
            new Color32(0,51,128,255),
            new Color32(255,164,5,255),
            new Color32(255,168,187,255),
            new Color32(66,102,0,255),
            new Color32(255,0,16,255),
            new Color32(94,241,242,255),
            new Color32(0,153,143,255),
            new Color32(224,255,102,255),
            new Color32(116,10,255,255),
            new Color32(153,0,0,255),
            new Color32(255,255,128,255),  
            new Color32(255,255,0,255),
            new Color32(255,80,5,255)
        };

        public static readonly string[] categoryNames = 
        {
            "0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15"
        };
 
-namespace Obi
-{
-
-    public static class Constants
-    {
-        public const int maxVertsPerMesh = 65000;
-        public const int maxInstancesPerBatch = 1023;
-    }
-
-    public static class ObiUtils
-    {
-
-        public const float epsilon = 0.0000001f;
-        public const float sqrt3 = 1.73205080f;
-        public const float sqrt2 = 1.41421356f; 
-
-        public const int FilterMaskBitmask = unchecked((int)0xffff0000);
-        public const int FilterCategoryBitmask = 0x0000ffff;
-        public const int ParticleGroupBitmask = 0x00ffffff;
-
-        public const int CollideWithEverything = 0x0000ffff;
-        public const int CollideWithNothing= 0x0;
-
-        public const int MaxCategory = 15;
-        public const int MinCategory = 0;
-
-        [Flags]
-        public enum ParticleFlags
+        // Based on Kubelka-Munk theory: https://vanity-ibex.xyz/blog/kubelka_munk_colormixing/
+        public static Color RGBToAbsorption(this Color rgb)
         {
-            SelfCollide = 1 << 24,
-            Fluid = 1 << 25,
-            OneSided = 1 << 26
+            // S (scattering) is assumed to be 1 for all channels 
+            Color k;
+            k.r = Mathf.Pow(1 - rgb.r, 2) / (2 * rgb.r + epsilon);
+            k.g = Mathf.Pow(1 - rgb.g, 2) / (2 * rgb.g + epsilon);
+            k.b = Mathf.Pow(1 - rgb.b, 2) / (2 * rgb.b + epsilon);
+            k.a = rgb.a;
+            return k;
         }
 
-        // Colour alphabet from https://www.aic-color.org/resources/Documents/jaic_v5_06.pdf
-        public static readonly Color32[] colorAlphabet =
+        // Based on Kubelka-Munk theory: https://vanity-ibex.xyz/blog/kubelka_munk_colormixing/
+        public static Color AbsorptionToRGB(this Color k)
         {
-            new Color32(240,163,255,255), 
-            new Color32(0,117,220,255),
-            new Color32(153,63,0,255),
-            new Color32(76,0,92,255),
-            new Color32(25,25,25,255),
-            new Color32(0,92,49,255),
-            new Color32(43,206,72,255),
-            new Color32(255,204,153,255),
-            new Color32(128,128,128,255),
-            new Color32(148,255,181,255),
-            new Color32(143,124,0,255),
-            new Color32(157,204,0,255),
-            new Color32(194,0,136,255),
-            new Color32(0,51,128,255),
-            new Color32(255,164,5,255),
-            new Color32(255,168,187,255),
-            new Color32(66,102,0,255),
-            new Color32(255,0,16,255),
-            new Color32(94,241,242,255),
-            new Color32(0,153,143,255),
-            new Color32(224,255,102,255),
-            new Color32(116,10,255,255),
-            new Color32(153,0,0,255),
-            new Color32(255,255,128,255),  
-            new Color32(255,255,0,255),
-            new Color32(255,80,5,255)
-        };
+            // Assuming S=1 for all channels
+            Color rgb;
+            rgb.r = 1 + k.r - Mathf.Sqrt(k.r * (k.r + 2));
+            rgb.g = 1 + k.g - Mathf.Sqrt(k.g * (k.g + 2));
+            rgb.b = 1 + k.b - Mathf.Sqrt(k.b * (k.b + 2));
+            rgb.a = k.a;
+            return rgb;
+        }

        public static void DrawArrowGizmo(float bodyLenght, float bodyWidth, float headLenght, float headWidth)
        {
            float halfBodyLenght = bodyLenght * 0.5f;
            float halfBodyWidth = bodyWidth * 0.5f;

            // arrow body:
            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(-halfBodyWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, -halfBodyLenght));

            // arrow head:
            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, halfBodyLenght), new Vector3(headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, halfBodyLenght), new Vector3(-headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(headWidth, 0, halfBodyLenght));
            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(-headWidth, 0, halfBodyLenght));
        }
 
-        public static readonly string[] categoryNames = 
+        public static void DebugDrawBox(Vector3 pos, Quaternion rot, Vector3 scale, Color c)
         {
-            "0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15"
-        };
+            // create matrix
+            Matrix4x4 m = new Matrix4x4();
+            m.SetTRS(pos, rot, scale);
 
-        public static void DrawArrowGizmo(float bodyLenght, float bodyWidth, float headLenght, float headWidth)
-        {
+            var point1 = m.MultiplyPoint(new Vector3(-0.5f, -0.5f, 0.5f));
+            var point2 = m.MultiplyPoint(new Vector3(0.5f, -0.5f, 0.5f));
+            var point3 = m.MultiplyPoint(new Vector3(0.5f, -0.5f, -0.5f));
+            var point4 = m.MultiplyPoint(new Vector3(-0.5f, -0.5f, -0.5f));
 
-            float halfBodyLenght = bodyLenght * 0.5f;
-            float halfBodyWidth = bodyWidth * 0.5f;
+            var point5 = m.MultiplyPoint(new Vector3(-0.5f, 0.5f, 0.5f));
+            var point6 = m.MultiplyPoint(new Vector3(0.5f, 0.5f, 0.5f));
+            var point7 = m.MultiplyPoint(new Vector3(0.5f, 0.5f, -0.5f));
+            var point8 = m.MultiplyPoint(new Vector3(-0.5f, 0.5f, -0.5f));
 
-            // arrow body:
-            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, halfBodyLenght));
-            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(-halfBodyWidth, 0, halfBodyLenght));
-            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, -halfBodyLenght), new Vector3(halfBodyWidth, 0, -halfBodyLenght));
+            Debug.DrawLine(point1, point2, c);
+            Debug.DrawLine(point2, point3, c);
+            Debug.DrawLine(point3, point4, c);
+            Debug.DrawLine(point4, point1, c);
 
-            // arrow head:
-            Gizmos.DrawLine(new Vector3(halfBodyWidth, 0, halfBodyLenght), new Vector3(headWidth, 0, halfBodyLenght));
-            Gizmos.DrawLine(new Vector3(-halfBodyWidth, 0, halfBodyLenght), new Vector3(-headWidth, 0, halfBodyLenght));
-            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(headWidth, 0, halfBodyLenght));
-            Gizmos.DrawLine(new Vector3(0, 0, halfBodyLenght + headLenght), new Vector3(-headWidth, 0, halfBodyLenght));
+            Debug.DrawLine(point5, point6, c);
+            Debug.DrawLine(point6, point7, c);
+            Debug.DrawLine(point7, point8, c);
+            Debug.DrawLine(point8, point5, c);
+
+            Debug.DrawLine(point1, point5, c);
+            Debug.DrawLine(point2, point6, c);
+            Debug.DrawLine(point3, point7, c);
+            Debug.DrawLine(point4, point8, c);
         }
-
-        public static void DebugDrawCross(Vector3 pos, float size, Color color)
+

        public static void DebugDrawCross(Vector3 pos, float size, Color color)
        {
            Debug.DrawLine(pos - Vector3.right * size, pos + Vector3.right * size, color);
            Debug.DrawLine(pos - Vector3.up * size, pos + Vector3.up * size, color);
            Debug.DrawLine(pos - Vector3.forward * size, pos + Vector3.forward * size, color);
        }

        public static int CeilToPowerOfTwo(this int count)
        {
            int powerOfTwo = 1;
            while (powerOfTwo < count)
                powerOfTwo <<= 1;
            return powerOfTwo;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(ref T lhs, ref T rhs)
        {
            T temp = lhs;
            lhs = rhs;
            rhs = temp;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(this T[] source, int index1, int index2)
        {
            if (source != null && index1 >= 0 && index2 >= 0 && index1 < source.Length && index2 < source.Length)
            {
                T temp = source[index1];
                source[index1] = source[index2];
                source[index2] = temp;
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void Swap<T>(this IList<T> list, int index1, int index2)
        {
            if (list != null && index1 >= 0 && index2 >= 0 && index1 < list.Count && index2 < list.Count)
            {
                T temp = list[index1];
                list[index1] = list[index2];
                list[index2] = temp;
            }
        }

        public static void ShiftLeft<T>(this T[] source, int index, int count, int positions)
        {
            for (int j = 0; j < positions; ++j)
            {
                for (int i = index; i < index + count; ++i)
                    source.Swap(i, i - 1);
                index--;
            }
        }

        public static void ShiftRight<T>(this T[] source, int index, int count, int positions)
        {
            for (int j = 0; j < positions; ++j)
            {
                for (int i = index + count - 1; i >= index; --i)
                    source.Swap(i, i + 1);
                index++;
            }
        }

        public static int Unique<T>(this IList<T> list, Func<T,T,bool> equals)
        {
            int result = 0;
            for (int i = 0; i < list.Count; ++i)
            {
                if (!equals(list[result],list[i]) && ++result != i)
                    list[result] = list[i];
            }
            result++;
            return result;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static bool AreValid(this Bounds bounds)
        {
            return !(float.IsNaN(bounds.max.x) || float.IsInfinity(bounds.max.x) ||
                     float.IsNaN(bounds.max.y) || float.IsInfinity(bounds.max.y) ||
                     float.IsNaN(bounds.max.z) || float.IsInfinity(bounds.max.z) ||
                     float.IsNaN(bounds.min.x) || float.IsInfinity(bounds.min.x) ||
                     float.IsNaN(bounds.min.y) || float.IsInfinity(bounds.min.y) ||
                     float.IsNaN(bounds.min.z) || float.IsInfinity(bounds.min.z));
        }

        public static Bounds Transform(this Bounds b, Matrix4x4 m)
        {
            var xa = m.GetColumn(0) * b.min.x;
            var xb = m.GetColumn(0) * b.max.x;

            var ya = m.GetColumn(1) * b.min.y;
            var yb = m.GetColumn(1) * b.max.y;

            var za = m.GetColumn(2) * b.min.z;
            var zb = m.GetColumn(2) * b.max.z;

            Bounds result = new Bounds();
            Vector3 pos = m.GetColumn(3);
            result.SetMinMax(Vector3.Min(xa, xb) + Vector3.Min(ya, yb) + Vector3.Min(za, zb) + pos,
                             Vector3.Max(xa, xb) + Vector3.Max(ya, yb) + Vector3.Max(za, zb) + pos);


            return result;
        }

        public static int CountTrailingZeroes(int x)
        {
            int mask = 1;
            for (int i = 0; i < 32; i++, mask <<= 1)
                if ((x & mask) != 0)
                    return i;

            return 32;
        }

        public static void Add(Vector3 a, Vector3 b, ref Vector3 result)
        {
            result.x = a.x + b.x;
            result.y = a.y + b.y;
            result.z = a.z + b.z;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float Remap(this float value, float from1, float to1, float from2, float to2)
        {
            return (value - from1) / (to1 - from1) * (to2 - from2) + from2;
        }

        /**
         * Modulo operator that also follows intuition for negative arguments. That is , -1 mod 3 = 2, not -1.
         */
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float Mod(float a, float b)
        {
            return a - b * Mathf.Floor(a / b);
        }

        public static Matrix4x4 Add(this Matrix4x4 a, Matrix4x4 other)
        {
            for (int i = 0; i < 16; ++i)
                a[i] += other[i];
            return a;
        }

        public static float FrobeniusNorm(this Matrix4x4 a)
        {
            float norm = 0;
            for (int i = 0; i < 16; ++i)
                norm += a[i] * a[i];

            return norm > 0 ? Mathf.Sqrt(norm) : 0;
        }

        public static Matrix4x4 ScalarMultiply(this Matrix4x4 a, float s)
        {
            for (int i = 0; i < 16; ++i)
                a[i] *= s;
            return a;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static Vector4 Diagonal(this Matrix4x4 value)
        {
            return new Vector4(value.m00, value.m11, value.m22, value.m33);
        }

        public static Vector3 ProjectPointLine(Vector3 lineStart, Vector3 lineEnd, Vector3 point, out float mu, bool clampToSegment = true)
        {
            Vector3 ap = point - lineStart;
            Vector3 ab = lineEnd - lineStart;

            mu = Vector3.Dot(ap, ab) / Vector3.Dot(ab, ab);

            if (clampToSegment)
                mu = Mathf.Clamp01(mu);

            return lineStart + ab * mu;
        }

        public static bool LinePlaneIntersection(Vector3 planePoint, Vector3 planeNormal, Vector3 linePoint, Vector3 lineDirection, out Vector3 point)
        {
            point = linePoint;
            Vector3 lineNormal = lineDirection.normalized;
            float denom = Vector3.Dot(planeNormal, lineNormal);

            if (Mathf.Approximately(denom, 0))
                return false;

            float t = (Vector3.Dot(planeNormal,planePoint) - Vector3.Dot(planeNormal,linePoint)) / denom;
            point = linePoint + lineNormal * t;
            return true;
        }

        public static float RaySphereIntersection(Vector3 rayOrigin, Vector3 rayDirection, Vector3 center, float radius)
        {
            Vector3 oc = rayOrigin - center;

            float a = Vector3.Dot(rayDirection, rayDirection);
            float b = 2.0f * Vector3.Dot(oc, rayDirection);
            float c = Vector3.Dot(oc, oc) - radius * radius;
            float discriminant = b * b - 4 * a * c;
            if(discriminant < 0){
                return -1.0f;
            }
            else{
                return (-b - Mathf.Sqrt(discriminant)) / (2.0f * a);
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float InvMassToMass(float invMass)
        {
            return 1.0f / invMass;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float MassToInvMass(float mass)
        {
            return 1.0f / Mathf.Max(mass, 0.00001f);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int PureSign(this float val)
        {
            return ((0 <= val)?1:0) - ((val < 0)?1:0);
        }

        public static void NearestPointOnTri(in Vector3 p1,
                                                in Vector3 p2,
                                                in Vector3 p3,
                                                in Vector3 p,
                                                out Vector3 result)
        {
            float e0x = p2.x - p1.x;
            float e0y = p2.y - p1.y;
            float e0z = p2.z - p1.z;

            float e1x = p3.x - p1.x;
            float e1y = p3.y - p1.y;
            float e1z = p3.z - p1.z;

            float v0x = p1.x - p.x;
            float v0y = p1.y - p.y;
            float v0z = p1.z - p.z;

            float a00 = e0x * e0x + e0y * e0y + e0z * e0z;
            float a01 = e0x * e1x + e0y * e1y + e0z * e1z;
            float a11 = e1x * e1x + e1y * e1y + e1z * e1z;
            float b0 = e0x * v0x + e0y * v0y + e0z * v0z;
            float b1 = e1x * v0x + e1y * v0y + e1z * v0z;

            const float zero = 0;
            const float one = 1;

            float det = a00 * a11 - a01 * a01;
            float t0 = a01 * b1 - a11 * b0;
            float t1 = a01 * b0 - a00 * b1;

            if (t0 + t1 <= det)
            {
                if (t0 < zero)
                {
                    if (t1 < zero)  // region 4
                    {
                        if (b0 < zero)
                        {
                            t1 = zero;
                            if (-b0 >= a00)  // V0
                            {
                                t0 = one;
                            }
                            else  // E01
                            {
                                t0 = -b0 / a00;
                            }
                        }
                        else
                        {
                            t0 = zero;
                            if (b1 >= zero)  // V0
                            {
                                t1 = zero;
                            }
                            else if (-b1 >= a11)  // V2
                            {
                                t1 = one;
                            }
                            else  // E20
                            {
                                t1 = -b1 / a11;
                            }
                        }
                    }
                    else  // region 3
                    {
                        t0 = zero;
                        if (b1 >= zero)  // V0
                        {
                            t1 = zero;
                        }
                        else if (-b1 >= a11)  // V2
                        {
                            t1 = one;
                        }
                        else  // E20
                        {
                            t1 = -b1 / a11;
                        }
                    }
                }
                else if (t1 < zero)  // region 5
                {
                    t1 = zero;
                    if (b0 >= zero)  // V0
                    {
                        t0 = zero;
                    }
                    else if (-b0 >= a00)  // V1
                    {
                        t0 = one;
                    }
                    else  // E01
                    {
                        t0 = -b0 / a00;
                    }
                }
                else  // region 0, interior
                {
                    float invDet = one / det;
                    t0 *= invDet;
                    t1 *= invDet;
                }
            }
            else
            {
                float tmp0, tmp1, numer, denom;

                if (t0 < zero)  // region 2
                {
                    tmp0 = a01 + b0;
                    tmp1 = a11 + b1;
                    if (tmp1 > tmp0)
                    {
                        numer = tmp1 - tmp0;
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V1
                        {
                            t0 = one;
                            t1 = zero;
                        }
                        else  // E12
                        {
                            t0 = numer / denom;
                            t1 = one - t0;
                        }
                    }
                    else
                    {
                        t0 = zero;
                        if (tmp1 <= zero)  // V2
                        {
                            t1 = one;
                        }
                        else if (b1 >= zero)  // V0
                        {
                            t1 = zero;
                        }
                        else  // E20
                        {
                            t1 = -b1 / a11;
                        }
                    }
                }
                else if (t1 < zero)  // region 6
                {
                    tmp0 = a01 + b1;
                    tmp1 = a00 + b0;
                    if (tmp1 > tmp0)
                    {
                        numer = tmp1 - tmp0;
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V2
                        {
                            t1 = one;
                            t0 = zero;
                        }
                        else  // E12
                        {
                            t1 = numer / denom;
                            t0 = one - t1;
                        }
                    }
                    else
                    {
                        t1 = zero;
                        if (tmp1 <= zero)  // V1
                        {
                            t0 = one;
                        }
                        else if (b0 >= zero)  // V0
                        {
                            t0 = zero;
                        }
                        else  // E01
                        {
                            t0 = -b0 / a00;
                        }
                    }
                }
                else  // region 1
                {
                    numer = a11 + b1 - a01 - b0;
                    if (numer <= zero)  // V2
                    {
                        t0 = zero;
                        t1 = one;
                    }
                    else
                    {
                        denom = a00 - 2 * a01 + a11;
                        if (numer >= denom)  // V1
                        {
                            t0 = one;
                            t1 = zero;
                        }
                        else  // 12
                        {
                            t0 = numer / denom;
                            t1 = one - t0;
                        }
                    }
                }
            }

            result.x = p1.x + t0 * e0x + t1 * e1x;
            result.y = p1.y + t0 * e0y + t1 * e1y;
            result.z = p1.z + t0 * e0z + t1 * e1z;
        }

        /**
         * Calculates the area of a triangle.
         */
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TriangleArea(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Mathf.Sqrt(Vector3.Cross(p2 - p1, p3 - p1).sqrMagnitude) / 2f;
        }

        // Volume of a tetrahedron, assumes one of the corners is at zero.
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TetraVolume(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Vector3.Dot(Vector3.Cross(p1, p2), p3) / 6.0f;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static Vector3 TriangleNormal(Vector3 p1, Vector3 p2, Vector3 p3)
        {
            return Vector3.Cross(p2 - p1, p3 - p1).normalized;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float TriangleAspectRatio(float a, float b, float c)
        {
            float s = (a + b + c) / 2.0f;
            float den = 8.0f * (s - a) * (s - b) * (s - c);

            if (den > epsilon)
                return (a * b * c) / den;

            // a triangle with zero area has zero aspect ratio:
            return 0;
        }

        public static void BestTriangleAxisProjection(Vector3 p1, Vector3 p2, Vector3 p3, out Vector2 r1, out Vector2 r2, out Vector2 r3)
        {
            float areaX = TriangleArea(new Vector3(0, p1.y, p1.z), new Vector3(0, p2.y, p2.z), new Vector3(0, p3.y, p3.z));
            float areaY = TriangleArea(new Vector3(p1.x, 0, p1.z), new Vector3(p2.x, 0, p2.z), new Vector3(p3.x, 0, p3.z));
            float areaZ = TriangleArea(new Vector3(p1.x, p1.y, 0), new Vector3(p2.x, p2.y, 0), new Vector3(p3.x, p3.y, 0));

            if (areaX > areaY && areaX > areaZ)
            {
                r1 = new Vector2(p1.y, p1.z);
                r2 = new Vector2(p2.y, p2.z);
                r3 = new Vector2(p3.y, p3.z);
            }
            else if (areaY > areaX && areaY > areaZ)
            {
                r1 = new Vector2(p1.x, p1.z);
                r2 = new Vector2(p2.x, p2.z);
                r3 = new Vector2(p3.x, p3.z);
            }
            else
            {
                r1 = new Vector2(p1.x, p1.y);
                r2 = new Vector2(p2.x, p2.y);
                r3 = new Vector2(p3.x, p3.y);
            }
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float EllipsoidVolume(Vector3 principalRadii)
        {
            return 4.0f / 3.0f * Mathf.PI * principalRadii.x * principalRadii.y * principalRadii.z;
        }

        public static Quaternion RestDarboux(Quaternion q1, Quaternion q2)
        {
            Quaternion darboux = Quaternion.Inverse(q1) * q2;

            Vector4 omega_plus, omega_minus;
            omega_plus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w + 1);
            omega_minus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w - 1);

            if (omega_minus.sqrMagnitude > omega_plus.sqrMagnitude)
                darboux = new Quaternion(darboux.x * -1, darboux.y * -1, darboux.z * -1, darboux.w * -1);

            return darboux;
        }

        public static Vector4 AsVector4(this Quaternion q)
         {
-            Debug.DrawLine(pos - Vector3.right * size, pos + Vector3.right * size, color);
-            Debug.DrawLine(pos - Vector3.up * size, pos + Vector3.up * size, color);
-            Debug.DrawLine(pos - Vector3.forward * size, pos + Vector3.forward * size, color);
-        }
+            return new Vector4(q.x,q.y,q.z,q.w);
+        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float RestBendingConstraint(Vector3 positionA, Vector3 positionB, Vector3 positionC)
        {
            Vector3 center = (positionA + positionB + positionC) / 3;
            return (positionC - center).magnitude;
        }

        public static System.Collections.IEnumerable BilateralInterleaved(int count)
        {
            for (int i = 0; i < count; ++i)
            {
                if (i % 2 != 0)
                    yield return count - (count % 2) - i;
                else yield return i;
            }
        }

        public static void BarycentricCoordinates(in Vector3 A,
                                                  in Vector3 B,
                                                  in Vector3 C,
                                                  in Vector3 P,
                                                  ref Vector3 bary)
        {

                // Compute vectors
                Vector3 v0 = C - A;
                Vector3 v1 = B - A;
                Vector3 v2 = P - A;

                // Compute dot products
                float dot00 = Vector3.Dot(v0,v0);
                float dot01 = Vector3.Dot(v0,v1);
                float dot02 = Vector3.Dot(v0,v2);
                float dot11 = Vector3.Dot(v1,v1);
                float dot12 = Vector3.Dot(v1,v2);

                // Compute barycentric coordinates
                float det = dot00 * dot11 - dot01 * dot01;
                if (Math.Abs(det) > 1E-38)
                {
                    float u = (dot11 * dot02 - dot01 * dot12) / det;
                    float v = (dot00 * dot12 - dot01 * dot02) / det;
                    bary = new Vector3(1-u-v,v,u);
                }

        }

        public static void BarycentricInterpolation(in Vector3 p1, in Vector3 p2, in Vector3 p3, in Vector3 coords, out Vector3 result)
        {
            result.x = coords.x * p1.x + coords.y * p2.x + coords.z * p3.x;
            result.y = coords.x * p1.y + coords.y * p2.y + coords.z * p3.y;
            result.z = coords.x * p1.z + coords.y * p2.z + coords.z * p3.z;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float BarycentricInterpolation(float p1, float p2, float p3, Vector3 coords)
        {
            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static float BarycentricExtrapolationScale(Vector3 coords)
        {

            return 1.0f / (coords[0] * coords[0] +
                           coords[1] * coords[1] +
                           coords[2] * coords[2]);

        }

        public static Vector3[] CalculateAngleWeightedNormals(Vector3[] vertices, int[] triangles)
        {
            Vector3[] normals = new Vector3[vertices.Length];
            var normalBuffer = new Dictionary<Vector3, Vector3>();

            Vector3 v1, v2, v3, e1, e2;
            for (int i = 0; i < triangles.Length; i += 3)
            {
                v1 = vertices[triangles[i]];
                v2 = vertices[triangles[i + 1]];
                v3 = vertices[triangles[i + 2]];

                if (!normalBuffer.ContainsKey(v1))
                    normalBuffer[v1] = Vector3.zero;
                if (!normalBuffer.ContainsKey(v2))
                    normalBuffer[v2] = Vector3.zero;
                if (!normalBuffer.ContainsKey(v3))
                    normalBuffer[v3] = Vector3.zero;

                e1 = v2 - v1;
                e2 = v3 - v1;
                normalBuffer[v1] += Vector3.Cross(e1,e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));

                e1 = v3 - v2;
                e2 = v1 - v2;
                normalBuffer[v2] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));

                e1 = v1 - v3;
                e2 = v2 - v3;
                normalBuffer[v3] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));
            }

            for (int i = 0; i < vertices.Length; ++i)
                normals[i] = normalBuffer[vertices[i]].normalized;

            return normals;
        }
        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int MakePhase(int group, ParticleFlags flags)
        {
            return (group & ParticleGroupBitmask) | (int)flags;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetGroupFromPhase(int phase)
        {
            return phase & ParticleGroupBitmask;
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static ParticleFlags GetFlagsFromPhase(int phase)
        {
            return (ParticleFlags)(phase & ~ParticleGroupBitmask);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int MakeFilter(int mask, int category)
        {
            return (mask << 16) | (1 << category);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetCategoryFromFilter(int filter)
        {
            return CountTrailingZeroes(filter & FilterCategoryBitmask);
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static int GetMaskFromFilter(int filter)
        {
            return (filter & FilterMaskBitmask) >> 16;
        }

        public static void EigenSolve(Matrix4x4 D, out Vector3 S, out Matrix4x4 V)
        {
            // D is symmetric
            // S is a vector whose elements are eigenvalues
            // V is a matrix whose columns are eigenvectors
            S = EigenValues(D);
            Vector3 V0, V1, V2;

            if (S[0] - S[1] > S[1] - S[2])
            {
                V0 = EigenVector(D, S[0]);
                if (S[1] - S[2] < epsilon)
                {
                    V2 = V0.unitOrthogonal();
                }
                else
                {
                    V2 = EigenVector(D, S[2]); V2 -= V0 * Vector3.Dot(V0, V2); V2 = Vector3.Normalize(V2);
                }
                V1 = Vector3.Cross(V2, V0);
            }
            else
            {
                V2 = EigenVector(D, S[2]);
                if (S[0] - S[1] < epsilon)
                {
                    V1 = V2.unitOrthogonal();
                }
                else
                {
                    V1 = EigenVector(D, S[1]); V1 -= V2 * Vector3.Dot(V2, V1); V1 = Vector3.Normalize(V1);
                }
                V0 = Vector3.Cross(V1, V2);
            }

            V = Matrix4x4.identity;
            V.SetColumn(0,V0);
            V.SetColumn(1,V1);
            V.SetColumn(2,V2);
        }

        static Vector3 unitOrthogonal(this Vector3 input)
        {
            // Find a vector to cross() the input with.
            if (!(input.x < input.z * epsilon)
             || !(input.y < input.z * epsilon))
            {
                float invnm = 1 / Vector3.Magnitude(new Vector2(input.x,input.y));
                return new Vector3(-input.y * invnm, input.x * invnm, 0);
            }
            else
            {
                float invnm = 1 / Vector3.Magnitude(new Vector2(input.y,input.z));
                return new Vector3(0, -input.z * invnm, input.y * invnm);
            }
        }

        // D is symmetric, S is an eigen value
        static Vector3 EigenVector(Matrix4x4 D, float S)
        {
            // Compute a cofactor matrix of D - sI.
            Vector4 c0 = D.GetColumn(0); c0[0] -= S;
            Vector4 c1 = D.GetColumn(1); c1[1] -= S;
            Vector4 c2 = D.GetColumn(2); c2[2] -= S;

            // Use an upper triangle
            Vector3 c0p = new Vector3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
            Vector3 c1p = new Vector3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
            Vector3 c2p = new Vector3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);

            // Get a column vector with a largest norm (non-zero).
            float C01s = c1p[0] * c1p[0];
            float C02s = c2p[0] * c2p[0];
            float C12s = c2p[1] * c2p[1];
            Vector3 norm = new Vector3(c0p[0] * c0p[0] + C01s + C02s,
                                       C01s + c1p[1] * c1p[1] + C12s,
                                       C02s + C12s + c2p[2] * c2p[2]);

            // index of largest:
            int index = 0;
            if (norm[0] > norm[1] && norm[0] > norm[2])
                index = 0;
            else if (norm[1] > norm[0] && norm[1] > norm[2])
                index = 1;
            else
                index = 2;

            Vector3 V = Vector3.zero;

            // special case
            if (norm[index] < epsilon)
            {
                V[0] = 1; return V;
            }
            else if (index == 0)
            {
                V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
            }
            else if (index == 1)
            {
                V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
            }
            else
            {
                V = c2p;
            }
            return Vector3.Normalize(V);
        }

        static Vector3 EigenValues(Matrix4x4 D)
        {
            float one_third = 1 / 3.0f;
            float one_sixth = 1 / 6.0f;
            float three_sqrt = Mathf.Sqrt(3.0f);

            Vector3 c0 = D.GetColumn(0);
            Vector3 c1 = D.GetColumn(1);
            Vector3 c2 = D.GetColumn(2);

            float m = one_third * (c0[0] + c1[1] + c2[2]);

            // K is D - I*diag(S)
            float K00 = c0[0] - m;
            float K11 = c1[1] - m;
            float K22 = c2[2] - m;

            float K01s = c1[0] * c1[0];
            float K02s = c2[0] * c2[0];
            float K12s = c2[1] * c2[1];

            float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
            float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));

            float p_sqrt = Mathf.Sqrt(p);

            float tmp = p * p * p - q * q;
            float phi = one_third * Mathf.Atan2(Mathf.Sqrt(Mathf.Max(0, tmp)), q);
            float phi_c = Mathf.Cos(phi);
            float phi_s = Mathf.Sin(phi);
            float sqrt_p_c_phi = p_sqrt * phi_c;
            float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;

            float e0 = m + 2 * sqrt_p_c_phi;
            float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
            float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;

            float aux;
            if (e0 > e1)
            {
                aux = e0;
                e0 = e1;
                e1 = aux;
            }
            if (e0 > e2)
            {
                aux = e0;
                e0 = e2;
                e2 = aux;
            }
            if (e1 > e2)
            {
                aux = e1;
                e1 = e2;
                e2 = aux;
            }

            return new Vector3(e2, e1, e0);
        }

        public static Vector3 GetPointCloudCentroid(List<Vector3> points)
        {
            Vector3 centroid = Vector3.zero;
            for (int i = 0; i < points.Count; ++i)
                centroid += points[i];
            return centroid / points.Count;
        }

        public static void GetPointCloudAnisotropy(List<Vector3> points, float max_anisotropy, float radius, in Vector3 hint_normal, ref Vector3 centroid, ref Quaternion orientation, ref Vector3 principal_radii)
        {
            int count = points.Count;
            if (count < 2 || radius <= 0 || max_anisotropy <= 0)
            {
                principal_radii = Vector3.one * radius;
                orientation = Quaternion.identity;
                return;
            }

            centroid = GetPointCloudCentroid(points);

            // three columns of a 3x3 anisotropy matrix: 
            Vector4 c0 = Vector4.zero,
                    c1 = Vector4.zero,
                    c2 = Vector4.zero;

            Matrix4x4 anisotropy = Matrix4x4.zero;

            // multiply offset by offset transposed, and add to matrix:
            for (int i = 0; i < count; i++)
            {
                Vector4 offset = points[i] - centroid;
                c0 += offset * offset[0];
                c1 += offset * offset[1];
                c2 += offset * offset[2];
            }

            // calculate maximum absolute value:
            float max0 = Mathf.Max(Mathf.Max(Mathf.Abs(c0.x), Mathf.Abs(c0.y)), Mathf.Abs(c0.z));
            float max1 = Mathf.Max(Mathf.Max(Mathf.Abs(c1.x), Mathf.Abs(c1.y)), Mathf.Abs(c1.z));
            float max2 = Mathf.Max(Mathf.Max(Mathf.Abs(c2.x), Mathf.Abs(c2.y)), Mathf.Abs(c2.z));
            float max = Mathf.Max(Mathf.Max(max0,max1), max2);

            // normalize matrix:
            if (max > epsilon)
            {
                c0 /= max;
                c1 /= max;
                c2 /= max;
            }

            anisotropy.SetColumn(0, c0); 
            anisotropy.SetColumn(1, c1); 
            anisotropy.SetColumn(2, c2); 

            Matrix4x4 orientMat;
            EigenSolve(anisotropy, out principal_radii, out orientMat);

            // flip orientation if it is not in the same side as the hint normal:
            if (Vector3.Dot(orientMat.GetColumn(2),hint_normal) < 0)
            {
                orientMat.SetColumn(2,orientMat.GetColumn(2) * -1);
                orientMat.SetColumn(1,orientMat.GetColumn(1) * -1);
            }

            max = principal_radii[0];
            principal_radii = Vector3.Max(principal_radii,Vector3.one * max/max_anisotropy) / max * radius;
            orientation = orientMat.rotation;
        }

        public static int MergeBatches<T>(List<T> batches, int count, bool trimExcess) where T : IRenderBatch
        {
            // merge batches (using a method similar to std::unique):
            int current = 0;
            for (int i = 1; i < count; ++i)
            {
                var resultBatch = batches[current];

                // see if we can merge this batch:
                if (current != i)
                {
+                    // if we can't merge with the current batch, 
+                    // advance to the next one.
+                    if (!resultBatch.TryMergeWith(batches[i]))
                        batches.Swap(++current, i);
                }
            }
            current++;

            // get rid of excess batches:
            if (trimExcess && current < batches.Count)
                batches.RemoveRange(current, batches.Count - current);

            return current;
        }

        public static int MergeBatches<T>(List<T> batches) where T : IRenderBatch
        {
+            return MergeBatches(batches, batches.Count, true);
        }

        public static void Concatenate(this MemoryStream ms, Vector3 v)
        {
            for (int i = 0; i < 3; ++i)
            {
                var b = BitConverter.GetBytes(v[i]);
                ms.Write(b, 0, b.Length);
            }
        }

        public static void Concatenate(this MemoryStream ms, Quaternion q)
        {
            for (int i = 0; i < 4; ++i)
            {
                var b = BitConverter.GetBytes(q[i]);
                ms.Write(b, 0, b.Length);
            }
        }

        public static void Concatenate(this MemoryStream ms, float f)
        {
            var b = BitConverter.GetBytes(f);
            ms.Write(b, 0, b.Length);
        }


        public static void Concatenate(this MemoryStream ms, int f)
        {
            var b = BitConverter.GetBytes(f);
            ms.Write(b, 0, b.Length);
        }

        public static uint Adler32(byte[] bytes)
        {
            const int mod = 65521;
            uint a = 1, b = 0;
            foreach (byte c in bytes)
            {
                a = (a + c) % mod;
                b = (b + a) % mod;
            }
            return (b << 16) | a;
        }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Swap<T>(ref T lhs, ref T rhs)
+        public unsafe static Vector3 OctDecode(float k)
         {
-            T temp = lhs;
-            lhs = rhs;
-            rhs = temp;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Swap<T>(this T[] source, int index1, int index2)
-        {
-            if (source != null && index1 >= 0 && index2 != 0 && index1 < source.Length && index2 < source.Length)
-            {
-                T temp = source[index1];
-                source[index1] = source[index2];
-                source[index2] = temp;
-            }
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Swap<T>(this IList<T> list, int index1, int index2)
-        {
-            if (list != null && index1 >= 0 && index2 != 0 && index1 < list.Count && index2 < list.Count)
-            {
-                T temp = list[index1];
-                list[index1] = list[index2];
-                list[index2] = temp;
-            }
-        }
-
-        public static void ShiftLeft<T>(this T[] source, int index, int count, int positions)
-        {
-            for (int j = 0; j < positions; ++j)
-            {
-                for (int i = index; i < index + count; ++i)
-                    source.Swap(i, i - 1);
-                index--;
-            }
-        }
-
-        public static void ShiftRight<T>(this T[] source, int index, int count, int positions)
-        {
-            for (int j = 0; j < positions; ++j)
-            {
-                for (int i = index + count - 1; i >= index; --i)
-                    source.Swap(i, i + 1);
-                index++;
-            }
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static bool AreValid(this Bounds bounds)
-        {
-            return !(float.IsNaN(bounds.center.x) || float.IsInfinity(bounds.center.x) ||
-                     float.IsNaN(bounds.center.y) || float.IsInfinity(bounds.center.y) ||
-                     float.IsNaN(bounds.center.z) || float.IsInfinity(bounds.center.z));
-        }
-
-        public static Bounds Transform(this Bounds b, Matrix4x4 m)
-        {
-            var xa = m.GetColumn(0) * b.min.x;
-            var xb = m.GetColumn(0) * b.max.x;
-
-            var ya = m.GetColumn(1) * b.min.y;
-            var yb = m.GetColumn(1) * b.max.y;
-
-            var za = m.GetColumn(2) * b.min.z;
-            var zb = m.GetColumn(2) * b.max.z;
-
-            Bounds result = new Bounds();
-            Vector3 pos = m.GetColumn(3);
-            result.SetMinMax(Vector3.Min(xa, xb) + Vector3.Min(ya, yb) + Vector3.Min(za, zb) + pos,
-                             Vector3.Max(xa, xb) + Vector3.Max(ya, yb) + Vector3.Max(za, zb) + pos);
-
-
-            return result;
-        }
-
-        public static int CountTrailingZeroes(int x)
-        {
-            int mask = 1;
-            for (int i = 0; i < 32; i++, mask <<= 1)
-                if ((x & mask) != 0)
-                    return i;
-
-            return 32;
-        }
-
-        public static void Add(Vector3 a, Vector3 b, ref Vector3 result)
-        {
-            result.x = a.x + b.x;
-            result.y = a.y + b.y;
-            result.z = a.z + b.z;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Remap(this float value, float from1, float to1, float from2, float to2)
-        {
-            return (value - from1) / (to1 - from1) * (to2 - from2) + from2;
-        }
-
-        /**
-         * Modulo operator that also follows intuition for negative arguments. That is , -1 mod 3 = 2, not -1.
-         */
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Mod(float a, float b)
-        {
-            return a - b * Mathf.Floor(a / b);
-        }
-
-        public static Matrix4x4 Add(this Matrix4x4 a, Matrix4x4 other)
-        {
-            for (int i = 0; i < 16; ++i)
-                a[i] += other[i];
-            return a;
-        }
-
-        public static float FrobeniusNorm(this Matrix4x4 a)
-        {
-            float norm = 0;
-            for (int i = 0; i < 16; ++i)
-                norm += a[i] * a[i];
-
-            return Mathf.Sqrt(norm);
-        }
-
-        public static Matrix4x4 ScalarMultiply(this Matrix4x4 a, float s)
-        {
-            for (int i = 0; i < 16; ++i)
-                a[i] *= s;
-            return a;
-        }
-
-        public static Vector3 ProjectPointLine(Vector3 point, Vector3 lineStart, Vector3 lineEnd, out float mu, bool clampToSegment = true)
-        {
-            Vector3 ap = point - lineStart;
-            Vector3 ab = lineEnd - lineStart;
-
-            mu = Vector3.Dot(ap, ab) / Vector3.Dot(ab, ab);
-
-            if (clampToSegment)
-                mu = Mathf.Clamp01(mu);
-
-            return lineStart + ab * mu;
-        }
-
-        public static bool LinePlaneIntersection(Vector3 planePoint, Vector3 planeNormal, Vector3 linePoint, Vector3 lineDirection, out Vector3 point)
-        {
-            point = linePoint;
-            Vector3 lineNormal = lineDirection.normalized;
-            float denom = Vector3.Dot(planeNormal, lineNormal);
-
-            if (Mathf.Approximately(denom, 0))
-                return false;
-
-            float t = (Vector3.Dot(planeNormal,planePoint) - Vector3.Dot(planeNormal,linePoint)) / denom;
-            point = linePoint + lineNormal * t;
-            return true;
-        }
-
-        public static float RaySphereIntersection(Vector3 rayOrigin, Vector3 rayDirection, Vector3 center, float radius)
-        {
-            Vector3 oc = rayOrigin - center;
-
-            float a = Vector3.Dot(rayDirection, rayDirection);
-            float b = 2.0f * Vector3.Dot(oc, rayDirection);
-            float c = Vector3.Dot(oc, oc) - radius * radius;
-            float discriminant = b * b - 4 * a * c;
-            if(discriminant < 0){
-                return -1.0f;
-            }
-            else{
-                return (-b - Mathf.Sqrt(discriminant)) / (2.0f * a);
-            }
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float InvMassToMass(float invMass)
-        {
-            return 1.0f / invMass;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float MassToInvMass(float mass)
-        {
-            return 1.0f / Mathf.Max(mass, 0.00001f);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int PureSign(this float val)
-        {
-            return ((0 <= val)?1:0) - ((val < 0)?1:0);
-        }
-
-        public static void NearestPointOnTri(in Vector3 p1,
-                                                in Vector3 p2,
-                                                in Vector3 p3,
-                                                in Vector3 p,
-                                                out Vector3 result)
-        {
-            float e0x = p2.x - p1.x;
-            float e0y = p2.y - p1.y;
-            float e0z = p2.z - p1.z;
-
-            float e1x = p3.x - p1.x;
-            float e1y = p3.y - p1.y;
-            float e1z = p3.z - p1.z;
-
-            float v0x = p1.x - p.x;
-            float v0y = p1.y - p.y;
-            float v0z = p1.z - p.z;
-
-            float a00 = e0x * e0x + e0y * e0y + e0z * e0z;
-            float a01 = e0x * e1x + e0y * e1y + e0z * e1z;
-            float a11 = e1x * e1x + e1y * e1y + e1z * e1z;
-            float b0 = e0x * v0x + e0y * v0y + e0z * v0z;
-            float b1 = e1x * v0x + e1y * v0y + e1z * v0z;
-
-            const float zero = 0;
-            const float one = 1;
-
-            float det = a00 * a11 - a01 * a01;
-            float t0 = a01 * b1 - a11 * b0;
-            float t1 = a01 * b0 - a00 * b1;
-
-            if (t0 + t1 <= det)
-            {
-                if (t0 < zero)
-                {
-                    if (t1 < zero)  // region 4
-                    {
-                        if (b0 < zero)
-                        {
-                            t1 = zero;
-                            if (-b0 >= a00)  // V0
-                            {
-                                t0 = one;
-                            }
-                            else  // E01
-                            {
-                                t0 = -b0 / a00;
-                            }
-                        }
-                        else
-                        {
-                            t0 = zero;
-                            if (b1 >= zero)  // V0
-                            {
-                                t1 = zero;
-                            }
-                            else if (-b1 >= a11)  // V2
-                            {
-                                t1 = one;
-                            }
-                            else  // E20
-                            {
-                                t1 = -b1 / a11;
-                            }
-                        }
-                    }
-                    else  // region 3
-                    {
-                        t0 = zero;
-                        if (b1 >= zero)  // V0
-                        {
-                            t1 = zero;
-                        }
-                        else if (-b1 >= a11)  // V2
-                        {
-                            t1 = one;
-                        }
-                        else  // E20
-                        {
-                            t1 = -b1 / a11;
-                        }
-                    }
-                }
-                else if (t1 < zero)  // region 5
-                {
-                    t1 = zero;
-                    if (b0 >= zero)  // V0
-                    {
-                        t0 = zero;
-                    }
-                    else if (-b0 >= a00)  // V1
-                    {
-                        t0 = one;
-                    }
-                    else  // E01
-                    {
-                        t0 = -b0 / a00;
-                    }
-                }
-                else  // region 0, interior
-                {
-                    float invDet = one / det;
-                    t0 *= invDet;
-                    t1 *= invDet;
-                }
-            }
-            else
-            {
-                float tmp0, tmp1, numer, denom;
-
-                if (t0 < zero)  // region 2
-                {
-                    tmp0 = a01 + b0;
-                    tmp1 = a11 + b1;
-                    if (tmp1 > tmp0)
-                    {
-                        numer = tmp1 - tmp0;
-                        denom = a00 - 2 * a01 + a11;
-                        if (numer >= denom)  // V1
-                        {
-                            t0 = one;
-                            t1 = zero;
-                        }
-                        else  // E12
-                        {
-                            t0 = numer / denom;
-                            t1 = one - t0;
-                        }
-                    }
-                    else
-                    {
-                        t0 = zero;
-                        if (tmp1 <= zero)  // V2
-                        {
-                            t1 = one;
-                        }
-                        else if (b1 >= zero)  // V0
-                        {
-                            t1 = zero;
-                        }
-                        else  // E20
-                        {
-                            t1 = -b1 / a11;
-                        }
-                    }
-                }
-                else if (t1 < zero)  // region 6
-                {
-                    tmp0 = a01 + b1;
-                    tmp1 = a00 + b0;
-                    if (tmp1 > tmp0)
-                    {
-                        numer = tmp1 - tmp0;
-                        denom = a00 - 2 * a01 + a11;
-                        if (numer >= denom)  // V2
-                        {
-                            t1 = one;
-                            t0 = zero;
-                        }
-                        else  // E12
-                        {
-                            t1 = numer / denom;
-                            t0 = one - t1;
-                        }
-                    }
-                    else
-                    {
-                        t1 = zero;
-                        if (tmp1 <= zero)  // V1
-                        {
-                            t0 = one;
-                        }
-                        else if (b0 >= zero)  // V0
-                        {
-                            t0 = zero;
-                        }
-                        else  // E01
-                        {
-                            t0 = -b0 / a00;
-                        }
-                    }
-                }
-                else  // region 1
-                {
-                    numer = a11 + b1 - a01 - b0;
-                    if (numer <= zero)  // V2
-                    {
-                        t0 = zero;
-                        t1 = one;
-                    }
-                    else
-                    {
-                        denom = a00 - 2 * a01 + a11;
-                        if (numer >= denom)  // V1
-                        {
-                            t0 = one;
-                            t1 = zero;
-                        }
-                        else  // 12
-                        {
-                            t0 = numer / denom;
-                            t1 = one - t0;
-                        }
-                    }
-                }
-            }
-
-            result.x = p1.x + t0 * e0x + t1 * e1x;
-            result.y = p1.y + t0 * e0y + t1 * e1y;
-            result.z = p1.z + t0 * e0z + t1 * e1z;
-        }
-
-        /**
-         * Calculates the area of a triangle.
-         */
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float TriangleArea(Vector3 p1, Vector3 p2, Vector3 p3)
-        {
-            return Mathf.Sqrt(Vector3.Cross(p2 - p1, p3 - p1).sqrMagnitude) / 2f;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float EllipsoidVolume(Vector3 principalRadii)
-        {
-            return 4.0f / 3.0f * Mathf.PI * principalRadii.x * principalRadii.y * principalRadii.z;
-        }
-
-        public static Quaternion RestDarboux(Quaternion q1, Quaternion q2)
-        {
-            Quaternion darboux = Quaternion.Inverse(q1) * q2;
-
-            Vector4 omega_plus, omega_minus;
-            omega_plus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w + 1);
-            omega_minus = new Vector4(darboux.x, darboux.y, darboux.z, darboux.w - 1);
-
-            if (omega_minus.sqrMagnitude > omega_plus.sqrMagnitude)
-                darboux = new Quaternion(darboux.x * -1, darboux.y * -1, darboux.z * -1, darboux.w * -1);
-
-            return darboux;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float RestBendingConstraint(Vector3 positionA, Vector3 positionB, Vector3 positionC)
-        {
-            Vector3 center = (positionA + positionB + positionC) / 3;
-            return (positionC - center).magnitude;
-        }
-
-        public static System.Collections.IEnumerable BilateralInterleaved(int count)
-        {
-            for (int i = 0; i < count; ++i)
-            {
-                if (i % 2 != 0)
-                    yield return count - (count % 2) - i;
-                else yield return i;
-            }
-        }
-
-        public static void BarycentricCoordinates(in Vector3 A,
-                                                  in Vector3 B,
-                                                  in Vector3 C,
-                                                  in Vector3 P,
-                                                  ref Vector3 bary)
-        {
-
-                // Compute vectors
-                Vector3 v0 = C - A;
-                Vector3 v1 = B - A;
-                Vector3 v2 = P - A;
-
-                // Compute dot products
-                float dot00 = Vector3.Dot(v0,v0);
-                float dot01 = Vector3.Dot(v0,v1);
-                float dot02 = Vector3.Dot(v0,v2);
-                float dot11 = Vector3.Dot(v1,v1);
-                float dot12 = Vector3.Dot(v1,v2);
-
-                // Compute barycentric coordinates
-                float det = dot00 * dot11 - dot01 * dot01;
-                if (Math.Abs(det) > 1E-38)
-                {
-                    float u = (dot11 * dot02 - dot01 * dot12) / det;
-                    float v = (dot00 * dot12 - dot01 * dot02) / det;
-                    bary = new Vector3(1-u-v,v,u);
-                }
-
-        }
-
-        public static void BarycentricInterpolation(in Vector3 p1, in Vector3 p2, in Vector3 p3, in Vector3 coords, out Vector3 result)
-        {
-            result.x = coords.x * p1.x + coords.y * p2.x + coords.z * p3.x;
-            result.y = coords.x * p1.y + coords.y * p2.y + coords.z * p3.y;
-            result.z = coords.x * p1.z + coords.y * p2.z + coords.z * p3.z;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float BarycentricInterpolation(float p1, float p2, float p3, Vector3 coords)
-        {
-            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float BarycentricExtrapolationScale(Vector3 coords)
-        {
-
-            return 1.0f / (coords[0] * coords[0] +
-                           coords[1] * coords[1] +
-                           coords[2] * coords[2]);
-
-        }
-
-        public static Vector3[] CalculateAngleWeightedNormals(Vector3[] vertices, int[] triangles)
-        {
-            Vector3[] normals = new Vector3[vertices.Length];
-            var normalBuffer = new Dictionary<Vector3, Vector3>();
-
-            Vector3 v1, v2, v3, e1, e2;
-            for (int i = 0; i < triangles.Length; i += 3)
-            {
-                v1 = vertices[triangles[i]];
-                v2 = vertices[triangles[i + 1]];
-                v3 = vertices[triangles[i + 2]];
-
-                if (!normalBuffer.ContainsKey(v1))
-                    normalBuffer[v1] = Vector3.zero;
-                if (!normalBuffer.ContainsKey(v2))
-                    normalBuffer[v2] = Vector3.zero;
-                if (!normalBuffer.ContainsKey(v3))
-                    normalBuffer[v3] = Vector3.zero;
-
-                e1 = v2 - v1;
-                e2 = v3 - v1;
-                normalBuffer[v1] += Vector3.Cross(e1,e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));
-
-                e1 = v3 - v2;
-                e2 = v1 - v2;
-                normalBuffer[v2] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));
-
-                e1 = v1 - v3;
-                e2 = v2 - v3;
-                normalBuffer[v3] += Vector3.Cross(e1, e2).normalized * Mathf.Acos(Vector3.Dot(e1.normalized, e2.normalized));
-            }
-
-            for (int i = 0; i < vertices.Length; ++i)
-                normals[i] = normalBuffer[vertices[i]].normalized;
-
-            return normals;
-        }
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int MakePhase(int group, ParticleFlags flags)
-        {
-            return (group & ParticleGroupBitmask) | (int)flags;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int GetGroupFromPhase(int phase)
-        {
-            return phase & ParticleGroupBitmask;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static ParticleFlags GetFlagsFromPhase(int phase)
-        {
-            return (ParticleFlags)(phase & ~ParticleGroupBitmask);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int MakeFilter(int mask, int category)
-        {
-            return (mask << 16) | (1 << category);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int GetCategoryFromFilter(int filter)
-        {
-            return CountTrailingZeroes(filter & FilterCategoryBitmask);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static int GetMaskFromFilter(int filter)
-        {
-            return (filter & FilterMaskBitmask) >> 16;
-        }
-
-        public static void EigenSolve(Matrix4x4 D, out Vector3 S, out Matrix4x4 V)
-        {
-            // D is symmetric
-            // S is a vector whose elements are eigenvalues
-            // V is a matrix whose columns are eigenvectors
-            S = EigenValues(D);
-            Vector3 V0, V1, V2;
-
-            if (S[0] - S[1] > S[1] - S[2])
-            {
-                V0 = EigenVector(D, S[0]);
-                if (S[1] - S[2] < epsilon)
-                {
-                    V2 = V0.unitOrthogonal();
-                }
-                else
-                {
-                    V2 = EigenVector(D, S[2]); V2 -= V0 * Vector3.Dot(V0, V2); V2 = Vector3.Normalize(V2);
-                }
-                V1 = Vector3.Cross(V2, V0);
-            }
-            else
-            {
-                V2 = EigenVector(D, S[2]);
-                if (S[0] - S[1] < epsilon)
-                {
-                    V1 = V2.unitOrthogonal();
-                }
-                else
-                {
-                    V1 = EigenVector(D, S[1]); V1 -= V2 * Vector3.Dot(V2, V1); V1 = Vector3.Normalize(V1);
-                }
-                V0 = Vector3.Cross(V1, V2);
-            }
-
-            V = Matrix4x4.identity;
-            V.SetColumn(0,V0);
-            V.SetColumn(1,V1);
-            V.SetColumn(2,V2);
+            uint d = *(uint*)&k;
+            Vector2 f = new Vector2((d >> 16) / 65535f, (d & 0xffff) / 65535f);
+            f.x = f.x * 2 - 1;
+            f.y = f.y * 2 - 1;
+
+            Vector3 n = new Vector3(f.x, f.y, 1.0f - Mathf.Abs(f.x) - Mathf.Abs(f.y));
+            float t = Mathf.Max(-n.z, 0);
+            n.x += n.x >= 0.0f ? -t : t;
+            n.y += n.y >= 0.0f ? -t : t;
+            return Vector3.Normalize(n);
         }
 
-        static Vector3 unitOrthogonal(this Vector3 input)
+        public unsafe static Vector4 UnpackFloatRGBA(float v)
         {
-            // Find a vector to cross() the input with.
-            if (!(input.x < input.z * epsilon)
-             || !(input.y < input.z * epsilon))
-            {
-                float invnm = 1 / Vector3.Magnitude(new Vector2(input.x,input.y));
-                return new Vector3(-input.y * invnm, input.x * invnm, 0);
-            }
-            else
-            {
-                float invnm = 1 / Vector3.Magnitude(new Vector2(input.y,input.z));
-                return new Vector3(0, -input.z * invnm, input.y * invnm);
-            }
-        }
-
-        // D is symmetric, S is an eigen value
-        static Vector3 EigenVector(Matrix4x4 D, float S)
-        {
-            // Compute a cofactor matrix of D - sI.
-            Vector4 c0 = D.GetColumn(0); c0[0] -= S;
-            Vector4 c1 = D.GetColumn(1); c1[1] -= S;
-            Vector4 c2 = D.GetColumn(2); c2[2] -= S;
-
-            // Use an upper triangle
-            Vector3 c0p = new Vector3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
-            Vector3 c1p = new Vector3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
-            Vector3 c2p = new Vector3(c1[0] * c2[1] - c1[1] * c2[0], c1[0] * c2[0] - c0[0] * c2[1], c0[0] * c1[1] - c1[0] * c1[0]);
-
-            // Get a column vector with a largest norm (non-zero).
-            float C01s = c1p[0] * c1p[0];
-            float C02s = c2p[0] * c2p[0];
-            float C12s = c2p[1] * c2p[1];
-            Vector3 norm = new Vector3(c0p[0] * c0p[0] + C01s + C02s,
-                                       C01s + c1p[1] * c1p[1] + C12s,
-                                       C02s + C12s + c2p[2] * c2p[2]);
-
-            // index of largest:
-            int index = 0;
-            if (norm[0] > norm[1] && norm[0] > norm[2])
-                index = 0;
-            else if (norm[1] > norm[0] && norm[1] > norm[2])
-                index = 1;
-            else
-                index = 2;
-
-            Vector3 V = Vector3.zero;
-
-            // special case
-            if (norm[index] < epsilon)
-            {
-                V[0] = 1; return V;
-            }
-            else if (index == 0)
-            {
-                V[0] = c0p[0]; V[1] = c1p[0]; V[2] = c2p[0];
-            }
-            else if (index == 1)
-            {
-                V[0] = c1p[0]; V[1] = c1p[1]; V[2] = c2p[1];
-            }
-            else
-            {
-                V = c2p;
-            }
-            return Vector3.Normalize(V);
-        }
-
-        static Vector3 EigenValues(Matrix4x4 D)
-        {
-            float one_third = 1 / 3.0f;
-            float one_sixth = 1 / 6.0f;
-            float three_sqrt = Mathf.Sqrt(3.0f);
-
-            Vector3 c0 = D.GetColumn(0);
-            Vector3 c1 = D.GetColumn(1);
-            Vector3 c2 = D.GetColumn(2);
-
-            float m = one_third * (c0[0] + c1[1] + c2[2]);
-
-            // K is D - I*diag(S)
-            float K00 = c0[0] - m;
-            float K11 = c1[1] - m;
-            float K22 = c2[2] - m;
-
-            float K01s = c1[0] * c1[0];
-            float K02s = c2[0] * c2[0];
-            float K12s = c2[1] * c2[1];
-
-            float q = 0.5f * (K00 * (K11 * K22 - K12s) - K22 * K01s - K11 * K02s) + c1[0] * c2[1] * c0[2];
-            float p = one_sixth * (K00 * K00 + K11 * K11 + K22 * K22 + 2 * (K01s + K02s + K12s));
-
-            float p_sqrt = Mathf.Sqrt(p);
-
-            float tmp = p * p * p - q * q;
-            float phi = one_third * Mathf.Atan2(Mathf.Sqrt(Mathf.Max(0, tmp)), q);
-            float phi_c = Mathf.Cos(phi);
-            float phi_s = Mathf.Sin(phi);
-            float sqrt_p_c_phi = p_sqrt * phi_c;
-            float sqrt_p_3_s_phi = p_sqrt * three_sqrt * phi_s;
-
-            float e0 = m + 2 * sqrt_p_c_phi;
-            float e1 = m - sqrt_p_c_phi - sqrt_p_3_s_phi;
-            float e2 = m - sqrt_p_c_phi + sqrt_p_3_s_phi;
-
-            float aux;
-            if (e0 > e1)
-            {
-                aux = e0;
-                e0 = e1;
-                e1 = aux;
-            }
-            if (e0 > e2)
-            {
-                aux = e0;
-                e0 = e2;
-                e2 = aux;
-            }
-            if (e1 > e2)
-            {
-                aux = e1;
-                e1 = e2;
-                e2 = aux;
-            }
-
-            return new Vector3(e2, e1, e0);
+            uint rgba = *(uint*)&v;
+            float r = ((rgba & 0xff000000) >> 24) / 255f;
+            float g = ((rgba & 0x00ff0000) >> 16) / 255f;
+            float b = ((rgba & 0x0000ff00) >> 8) / 255f;
+            float a = (rgba & 0x000000ff) / 255f;
+            return new Vector4(r, g, b, a);
         }
 
-        public static Vector3 GetPointCloudCentroid(List<Vector3> points)
+        public unsafe static float PackFloatRGBA(Vector4 enc)
         {
-            Vector3 centroid = Vector3.zero;
-            for (int i = 0; i < points.Count; ++i)
-                centroid += points[i];
-            return centroid / points.Count;
+            uint rgba = ((uint)(enc.x * 255f) << 24) +
+                        ((uint)(enc.y * 255f) << 16) +
+                        ((uint)(enc.z * 255f) << 8) +
+                        (uint)(enc.w * 255f);
+            return *(float*)&rgba;
         }
 
-        public static void GetPointCloudAnisotropy(List<Vector3> points, float max_anisotropy, float radius, in Vector3 hint_normal, ref Vector3 centroid, ref Quaternion orientation, ref Vector3 principal_radii)
+        public unsafe static Vector2 UnpackFloatRG(float v)
         {
-            int count = points.Count;
            if (count < 2 || radius <= 0 || max_anisotropy <= 0)
            {
                principal_radii = Vector3.one * radius;
                orientation = Quaternion.identity;
                return;
            }

            centroid = GetPointCloudCentroid(points);
-
-            // three columns of a 3x3 anisotropy matrix: 
-            Vector4 c0 = Vector4.zero,
-            c1 = Vector4.zero,
-            c2 = Vector4.zero;

            Matrix4x4 anisotropy = Matrix4x4.zero;
-
-            // multiply offset by offset transposed, and add to matrix:
-            for (int i = 0; i < count; i++)
            {
                Vector4 offset = points[i] - centroid;
                c0 += offset * offset[0];
                c1 += offset * offset[1];
                c2 += offset * offset[2];
            }
-
-            // calculate maximum absolute value:
-            float max0 = Mathf.Max(Mathf.Max(Mathf.Abs(c0.x), Mathf.Abs(c0.y)), Mathf.Abs(c0.z));
            float max1 = Mathf.Max(Mathf.Max(Mathf.Abs(c1.x), Mathf.Abs(c1.y)), Mathf.Abs(c1.z));
            float max2 = Mathf.Max(Mathf.Max(Mathf.Abs(c2.x), Mathf.Abs(c2.y)), Mathf.Abs(c2.z));
            float max = Mathf.Max(Mathf.Max(max0, max1), max2);
-
-            // normalize matrix:
-            if (max > epsilon)
-            {
-                c0 /= max;
-                c1 /= max;
-                c2 /= max;
-            }

            anisotropy.SetColumn(0, c0);
-            anisotropy.SetColumn(1, c1);
-            anisotropy.SetColumn(2, c2);
-
-            Matrix4x4 orientMat;
            EigenSolve(anisotropy, out principal_radii, out orientMat);
-
-            // flip orientation if it is not in the same side as the hint normal:
-            if (Vector3.Dot(orientMat.GetColumn(2), hint_normal) < 0)
            {
                orientMat.SetColumn(2, orientMat.GetColumn(2) * -1);
                orientMat.SetColumn(1, orientMat.GetColumn(1) * -1);
            }

            max = principal_radii[0];
            principal_radii = Vector3.Max(principal_radii, Vector3.one * max / max_anisotropy) / max * radius;
            orientation = orientMat.rotation;
+            uint rgba = *(uint*)&v;
+            float r = ((rgba & 0xffff0000) >> 16) / 65535f;
+            float g = (rgba & 0x0000ffff) / 65535f;
+            return new Vector2(r, g);
         }
-    }
-}
 
+        public unsafe static float PackFloatRG(Vector2 enc)
+        {
+            uint rgba = ((uint)(enc.x * 65535f) << 16) +
+                        (uint)(enc.y * 65535f);
+            return *(float*)&rgba;
+        }
    }
}

\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Oni.cs b/Assets/Obi/Scripts/Oni.cs
index 43c01674d..b65575d0e 100644
--- a/Assets/Obi/Scripts/Oni.cs
+++ b/Assets/Obi/Scripts/Oni.cs
@@ -4,33 +4,67 @@ using System.Collections;
 using System.Runtime.InteropServices;
 using Obi;
 
-/**
- * Interface for the Oni particle physics library.
- */
-public static class Oni
-{
 
-    public const int ConstraintTypeCount = 17;
+public static class  Oni
+{
+    public const int ConstraintTypeCount = 18;
+    public const int ColliderShapeTypeCount = 7;
+    public const int QueryTypeCount = 3;
 
     public enum ConstraintType
     {
         Tether = 0,
         Volume = 1,
         Chain = 2,
-        Bending = 3,
-        Distance = 4,
-        ShapeMatching = 5,
-        BendTwist = 6,
-        StretchShear = 7,
-        Pin = 8,
-        ParticleCollision = 9,
-        Density = 10,
-        Collision = 11,
-        Skin = 12,
-        Aerodynamics = 13,
-        Stitch = 14,
-        ParticleFriction = 15,
-        Friction = 16
+        Pinhole = 3,
+        Bending = 4,
+        Distance = 5,
+        ShapeMatching = 6,
+        BendTwist = 7,
+        StretchShear = 8,
+        Pin = 9,
+        ParticleCollision = 10,
+        Density = 11,
+        Collision = 12,
+        Skin = 13,
+        Aerodynamics = 14,
+        Stitch = 15,
+        ParticleFriction = 16,
+        Friction = 17,
+    };
+
+    [Flags]
+    public enum RenderingSystemType
+    {
+        None = 0,
+        PathSmoother = 1 << 0,
+        ExtrudedRope = 1 << 1,
+        ChainRope = 1 << 2,
+        LineRope = 1 << 3,
+        MeshRope = 1 << 4,
+        Cloth = 1 << 5,
+        SkinnedCloth = 1 << 6,
+        TearableCloth = 1 << 7,
+        Softbody = 1 << 8,
+        Fluid = 1 << 9,
+        Particles = 1 << 10,
+        InstancedParticles = 1 << 11,
+        FoamParticles = 1 << 12,
+
+        AllSmoothedRopes = PathSmoother | ExtrudedRope  | LineRope | MeshRope,
+        AllRopes = PathSmoother | ExtrudedRope | ChainRope | LineRope | MeshRope | Particles | InstancedParticles,
+        AllClothes = Cloth | SkinnedCloth | TearableCloth | Particles | InstancedParticles,
+        AllParticles = Fluid | Particles | InstancedParticles | FoamParticles
+    };
+
+    [Flags]
+    public enum SimplexType
+    {
+        None = 0,
+        Point = 1 << 0,
+        Edge = 1 << 1,
+        Triangle = 1 << 2,
+        All = ~0
     };
 
     public enum ShapeType
@@ -52,31 +86,8 @@ public static class Oni
         Maximum = 3
     }
 
-    public enum ProfileMask : uint
-    {
-        ThreadIdMask = 0xffff0000,
-        TypeMask = 0x000000ff,
-        StackLevelMask = 0x0000ff00
-    }
-
-    public struct ProfileInfo
-    {
-        public double start;
-        public double end;
-        public uint info;
-        public int pad;
-        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 64)]
-        public string name;
-    }
-
-    public struct GridCell
-    {
-        public Vector3 center;
-        public Vector3 size;
-        public int count;
-    }
-
     [Serializable]
+    [StructLayout(LayoutKind.Sequential)]
     public struct SolverParameters
     {
 
@@ -84,6 +95,7 @@ public static class Oni
         {
             None,
             Interpolate,
+            Extrapolate
         };
 
         public enum Mode
@@ -101,6 +113,13 @@ public static class Oni
         [Tooltip("Simulation gravity expressed in local space.")]
         public Vector3 gravity;
 
+        [Tooltip("Simulation wind expressed in local space.")]
+        public Vector3 ambientWind;
+
+        [Tooltip("Foam gravity scale.")]
+        [Range(-1, 3)]
+        public float foamGravityScale;
+
         [Tooltip("Percentage of velocity lost per second, between 0% (0) and 100% (1).")]
         [Range(0, 1)]
         public float damping;
@@ -112,15 +131,25 @@ public static class Oni
         [Tooltip("Mass-normalized kinetic energy threshold below which particle positions aren't updated.")]
         public float sleepThreshold;
 
+        [Tooltip("Maximum particle linear velocity.")]
+        public float maxVelocity;
+
+        [Tooltip("Maximum particle angular velocity.")]
+        public float maxAngularVelocity;
+
         [Tooltip("Maximum distance between elements (simplices/colliders) for a contact to be generated.")]
         public float collisionMargin;
 
         [Tooltip("Maximum depenetration velocity applied to particles that start a frame inside an object. Low values ensure no 'explosive' collision resolution. Should be > 0 unless looking for non-physical effects.")]
         public float maxDepenetration;
 
+        [Tooltip("Percentage of collider velocities used for continuous collision detection. Set to 0 for purely static collisions, set to 1 for pure continuous collisions.")]
+        [Range(0, 1)]
+        public float colliderCCD;
+
         [Tooltip("Percentage of particle velocities used for continuous collision detection. Set to 0 for purely static collisions, set to 1 for pure continuous collisions.")]
         [Range(0, 1)]
-        public float continuousCollisionDetection;
+        public float particleCCD;
 
         [Tooltip("Percentage of shock propagation applied to particle-particle collisions. Useful for particle stacking.")]
         [Range(0, 1)]
@@ -133,12 +162,16 @@ public static class Oni
         [Tooltip("Error threshold at which to stop convex optimization for surface collisions.")]
         public float surfaceCollisionTolerance;
 
+        [Tooltip("Scales user data diffusion speed between nearby particles, for each of the 4 user data channels.")]
+        public Vector4 diffusionMask;
 
         public SolverParameters(Interpolation interpolation, Vector4 gravity)
         {
             this.mode = Mode.Mode3D;
             this.gravity = gravity;
+            this.ambientWind = Vector3.zero;
             this.interpolation = interpolation;
+            foamGravityScale = 1;
             damping = 0;
             shockPropagation = 0;
             surfaceCollisionIterations = 8;
@@ -146,8 +179,12 @@ public static class Oni
             maxAnisotropy = 3;
             maxDepenetration = 10;
             sleepThreshold = 0.0005f;
+            maxVelocity = 50.0f;
+            maxAngularVelocity = 20.0f;
             collisionMargin = 0.02f;
-            continuousCollisionDetection = 1;
+            colliderCCD = 1;
+            particleCCD = 0;
+            diffusionMask = Vector4.one;
         }
 
     }
@@ -186,15 +223,20 @@ public static class Oni
 
     }
 
-    // In this particular case, size is forced to 144 bytes to ensure 16 byte memory alignment needed by Oni.
-    [StructLayout(LayoutKind.Sequential, Size = 144)]
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ContactPair
+    {
+        public int bodyA;    /** simplex index*/
+        public int bodyB;    /** simplex or rigidbody index*/
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
     public struct Contact
     {
         public Vector4 pointA;
         public Vector4 pointB; 		   /**< Speculative point of contact. */
         public Vector4 normal;         /**< Normal direction. */
         public Vector4 tangent;        /**< Tangent direction. */
-        public Vector4 bitangent;	   /**< Bitangent direction. */
 
         public float distance;    /** distance between both colliding entities at the beginning of the timestep.*/
 
@@ -207,447 +249,4 @@ public static class Oni
         public int bodyA;    /** simplex index*/
         public int bodyB;    /** simplex or rigidbody index*/
     }
-
-    public static GCHandle PinMemory(object data)
-    {
-        return GCHandle.Alloc(data, GCHandleType.Pinned);
-    }
-
-    public static void UnpinMemory(GCHandle handle)
-    {
-        if (handle.IsAllocated)
-            handle.Free();
-    }
-
-#if (UNITY_IOS && !UNITY_EDITOR)
-		const string LIBNAME = "__Internal";
-#elif ((UNITY_ANDROID || UNITY_STANDALONE_LINUX) && !UNITY_EDITOR)
-		const string LIBNAME = "Oni";
-#else
-    const string LIBNAME = "libOni";
-#endif
-
-// platform custom define (https://docs.unity3d.com/Manual/PlatformDependentCompilation.html)
-#if (OBI_ONI_SUPPORTED)
-
-    [DllImport(LIBNAME)]
-    public static extern void UpdateColliderGrid(float dt);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetColliders(IntPtr shapes, IntPtr bounds, IntPtr transforms, int count);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRigidbodies(IntPtr rigidbodies);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetCollisionMaterials(IntPtr materials);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetTriangleMeshData(IntPtr headers, IntPtr nodes, IntPtr triangles, IntPtr vertices);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetEdgeMeshData(IntPtr headers, IntPtr nodes, IntPtr edges, IntPtr vertices);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetDistanceFieldData(IntPtr headers, IntPtr nodes);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetHeightFieldData(IntPtr headers, IntPtr samples);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr CreateSolver(int capacity);
-
-    [DllImport(LIBNAME)]
-    public static extern void DestroySolver(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetCapacity(IntPtr solver, int capacity);
-
-    [DllImport(LIBNAME)]
-    public static extern void InitializeFrame(IntPtr solver, ref Vector4 translation, ref Vector4 scale, ref Quaternion rotation);
-
-    [DllImport(LIBNAME)]
-    public static extern void UpdateFrame(IntPtr solver, ref Vector4 translation, ref Vector4 scale, ref Quaternion rotation, float dt);
-
-    [DllImport(LIBNAME)]
-    public static extern void ApplyFrame(IntPtr solver, float linearVelocityScale, float angularVelocityScale, float linearInertiaScale, float angularInertiaScale, float dt);
-
-    [DllImport(LIBNAME)]
-    public static extern void RecalculateInertiaTensors(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern void ResetForces(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRigidbodyLinearDeltas(IntPtr solver, IntPtr linearDeltas);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRigidbodyAngularDeltas(IntPtr solver, IntPtr angularDeltas);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetBounds(IntPtr solver, ref Vector3 min, ref Vector3 max);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetParticleGridSize(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetParticleGrid(IntPtr solver, GridCell[] cells);
-
-    [DllImport(LIBNAME)]
-    public static extern int SpatialQuery(IntPtr solver, IntPtr shapes, IntPtr transforms, int count);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetQueryResults(IntPtr solver, IntPtr results, int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetSolverParameters(IntPtr solver, ref SolverParameters parameters);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetSolverParameters(IntPtr solver, ref SolverParameters parameters);
-
-    [DllImport(LIBNAME)]
-    public static extern int SetActiveParticles(IntPtr solver, int[] active, int num);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr CollisionDetection(IntPtr solver, float delta_time);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr Step(IntPtr solver, float step_time, float substep_time, int substeps);
-
-    [DllImport(LIBNAME)]
-    public static extern void ApplyPositionInterpolation(IntPtr solver, IntPtr draw_positions, IntPtr draw_orientations, float delta_seconds, float unsimulated_time);
-
-    [DllImport(LIBNAME)]
-    public static extern void UpdateSkeletalAnimation(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetConstraintCount(IntPtr solver, int type);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRenderableParticlePositions(IntPtr solver, IntPtr positions);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePhases(IntPtr solver, IntPtr phases);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleFilters(IntPtr solver, IntPtr filters);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleCollisionMaterials(IntPtr solver, IntPtr materialIndices);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePositions(IntPtr solver, IntPtr positions);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePreviousPositions(IntPtr solver, IntPtr prevPositions);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleOrientations(IntPtr solver, IntPtr orientations);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePreviousOrientations(IntPtr solver, IntPtr prevOrientations);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRenderableParticleOrientations(IntPtr solver, IntPtr orientations);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleInverseMasses(IntPtr solver, IntPtr invMasses);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleInverseRotationalMasses(IntPtr solver, IntPtr invRotMasses);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePrincipalRadii(IntPtr solver, IntPtr principalRadii);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleVelocities(IntPtr solver, IntPtr velocities);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleAngularVelocities(IntPtr solver, IntPtr angularVelocities);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleExternalForces(IntPtr solver, IntPtr forces);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleExternalTorques(IntPtr solver, IntPtr torques);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleWinds(IntPtr solver, IntPtr winds);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePositionDeltas(IntPtr solver, IntPtr deltas);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleOrientationDeltas(IntPtr solver, IntPtr deltas);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticlePositionConstraintCounts(IntPtr solver, IntPtr counts);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleOrientationConstraintCounts(IntPtr solver, IntPtr counts);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleNormals(IntPtr solver, IntPtr normals);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleInverseInertiaTensors(IntPtr solver, IntPtr tensors);
-
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleSmoothingRadii(IntPtr solver, IntPtr radii);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleBuoyancy(IntPtr solver, IntPtr buoyancy);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleRestDensities(IntPtr solver, IntPtr rest_densities);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleViscosities(IntPtr solver, IntPtr viscosities);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleSurfaceTension(IntPtr solver, IntPtr surface_tension);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleVorticityConfinement(IntPtr solver, IntPtr vort_confinement);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleAtmosphericDragPressure(IntPtr solver, IntPtr atmospheric_drag, IntPtr atmospheric_pressure);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleDiffusion(IntPtr solver, IntPtr diffusion);
-
-
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleVorticities(IntPtr solver, IntPtr vorticities);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleFluidData(IntPtr solver, IntPtr fluidData);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleUserData(IntPtr solver, IntPtr userData);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetParticleAnisotropies(IntPtr solver, IntPtr anisotropies);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetSimplices(IntPtr solver, int[] indices, int pointCount, int edgeCount, int triangleCount);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetDeformableTriangleCount(IntPtr solver);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetDeformableTriangles(IntPtr solver, int[] indices, int num, int destOffset);
-
-    [DllImport(LIBNAME)]
-    public static extern int RemoveDeformableTriangles(IntPtr solver, int num, int sourceOffset);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetConstraintGroupParameters(IntPtr solver, int type, ref ConstraintParameters parameters);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetConstraintGroupParameters(IntPtr solver, int type, ref ConstraintParameters parameters);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRestPositions(IntPtr solver, IntPtr restPositions);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetRestOrientations(IntPtr solver, IntPtr restOrientations);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr CreateBatch(int type);
-
-    [DllImport(LIBNAME)]
-    public static extern void DestroyBatch(IntPtr batch);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr AddBatch(IntPtr solver, IntPtr batch);
-
-    [DllImport(LIBNAME)]
-    public static extern void RemoveBatch(IntPtr solver, IntPtr batch);
-
-    [DllImport(LIBNAME)]
-    public static extern bool EnableBatch(IntPtr batch, [MarshalAs(UnmanagedType.I1)]bool enabled);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetBatchConstraintForces(IntPtr batch, float[] forces, int num, int destOffset);
-
-
-
-    [DllImport(LIBNAME)]
-    public static extern void SetBatchConstraintCount(IntPtr batch, int num);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetBatchConstraintCount(IntPtr batch);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetDistanceConstraints(IntPtr batch, IntPtr indices,
-                                                                   IntPtr restLengths,
-                                                                   IntPtr stiffnesses,
-                                                                   IntPtr lambdas,
-                                                                   int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetBendingConstraints(IntPtr batch, IntPtr indices,
-                                                                  IntPtr restBends,
-                                                                  IntPtr bendingStiffnesses,
-                                                                  IntPtr plasticity,
-                                                                  IntPtr lambdas,
-                                                                  int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetSkinConstraints(IntPtr batch,
-                                                 IntPtr indices,
-                                                 IntPtr points,
-                                                 IntPtr normals,
-                                                 IntPtr radiiBackstops,
-                                                 IntPtr stiffnesses,
-                                                 IntPtr lambdas,
-                                                 int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetAerodynamicConstraints(IntPtr batch,
-                                                        IntPtr particleIndices,
-                                                        IntPtr aerodynamicCoeffs,
-                                                        int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetVolumeConstraints(IntPtr batch,
-                                                   IntPtr triangleIndices,
-                                                   IntPtr firstTriangle,
-                                                   IntPtr numTriangles,
-                                                   IntPtr restVolumes,
-                                                   IntPtr pressureStiffnesses,
-                                                   IntPtr lambdas,
-                                                   int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetShapeMatchingConstraints(IntPtr batch,
-                                                          IntPtr shapeIndices,
-                                                          IntPtr firstIndex,
-                                                          IntPtr numIndices,
-                                                          IntPtr explicitGroup,
-                                                          IntPtr materialParameters,
-                                                          IntPtr restComs,
-                                                          IntPtr coms,
-                                                          IntPtr orientations,
-                                                          IntPtr linearTransforms,
-                                                          IntPtr plasticDeformations,
-                                                          int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void CalculateRestShapeMatching(IntPtr solver, IntPtr batch);
-
-
-    [DllImport(LIBNAME)]
-    public static extern void SetStretchShearConstraints(IntPtr batch,
-                                                         IntPtr particleIndices,
-                                                         IntPtr orientationIndices,
-                                                         IntPtr restLengths,
-                                                         IntPtr restOrientations,
-                                                         IntPtr stiffnesses,
-                                                         IntPtr lambdas,
-                                                         int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetBendTwistConstraints(IntPtr batch,
-                                                      IntPtr orientationIndices,
-                                                      IntPtr restDarboux,
-                                                      IntPtr stiffnesses,
-                                                      IntPtr plasticity,
-                                                      IntPtr lambdas,
-                                                      int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetTetherConstraints(IntPtr batch,
-                                                   IntPtr indices,
-                                                   IntPtr maxLenghtsScales,
-                                                   IntPtr stiffnesses,
-                                                   IntPtr lambdas,
-                                                   int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetPinConstraints(IntPtr batch,
-                                                IntPtr indices,
-                                                IntPtr pinOffsets,
-                                                IntPtr restDarboux,
-                                                IntPtr colliders,
-                                                IntPtr stiffnesses,
-                                                IntPtr lambdas,
-                                                int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetStitchConstraints(IntPtr batch,
-                                                   IntPtr indices,
-                                                   IntPtr stiffnesses,
-                                                   IntPtr lambdas,
-                                                   int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void SetChainConstraints(IntPtr batch,
-                                                  IntPtr indices,
-                                                  IntPtr lengths,
-                                                  IntPtr firstIndex,
-                                                  IntPtr numIndex,
-                                                  int num);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetCollisionContacts(IntPtr solver, Contact[] contacts, int n);
-
-    [DllImport(LIBNAME)]
-    public static extern void GetParticleCollisionContacts(IntPtr solver, Contact[] contacts, int n);
-
-    [DllImport(LIBNAME)]
-    public static extern int InterpolateDiffuseParticles(IntPtr solver, IntPtr properties, IntPtr diffusePositions, IntPtr diffuseProperties, IntPtr neighbourCount, int n);
-
-    [DllImport(LIBNAME)]
-    public static extern int MakePhase(int group, ObiUtils.ParticleFlags flags);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetGroupFromPhase(int phase);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetFlagsFromPhase(int phase);
-
-    [DllImport(LIBNAME)]
-    public static extern float BendingConstraintRest(float[] constraintCoordinates);
-
-    [DllImport(LIBNAME)]
-    public static extern void CompleteAll();
-
-    [DllImport(LIBNAME)]
-    public static extern void Complete(IntPtr task);
-
-    [DllImport(LIBNAME)]
-    public static extern IntPtr CreateEmpty();
-
-    [DllImport(LIBNAME)]
-    public static extern void Schedule(IntPtr task);
-
-    [DllImport(LIBNAME)]
-    public static extern void AddChild(IntPtr task, IntPtr child);
-
-    [DllImport(LIBNAME)]
-    public static extern int GetMaxSystemConcurrency();
-
-    [DllImport(LIBNAME)]
-    public static extern void ClearProfiler();
-
-    [DllImport(LIBNAME)]
-    public static extern void EnableProfiler([MarshalAs(UnmanagedType.I1)]bool cooked);
-
-    [DllImport(LIBNAME)]
-    public static extern void BeginSample(string name, byte type);
-
-    [DllImport(LIBNAME)]
-    public static extern void EndSample();
-
-    [DllImport(LIBNAME)]
-    public static extern int GetProfilingInfoCount();
-
-    [DllImport(LIBNAME)]
-    public static extern void GetProfilingInfo([Out] ProfileInfo[] info, int num);
-
-#endif
 }
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
index 1f87271a1..83d722604 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
@@ -7,7 +7,8 @@ namespace Obi
     [AddComponentMenu("Physics/Obi/Obi Bone", 882)]
     [ExecuteInEditMode]
     [DisallowMultipleComponent]
-    public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser
+    [DefaultExecutionOrder(100)] // make sure ObiBone's LateUpdate is updated after ObiSolver's.
+    public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser, IAerodynamicConstraintsUser
     {
         [Serializable]
         public class BonePropertyCurve
@@ -31,7 +32,7 @@ namespace Obi
         [Serializable]
         public class IgnoredBone
         {
-            public Transform bone; 
+            public Transform bone;
             public bool ignoreChildren;
         }
 
@@ -39,9 +40,9 @@ namespace Obi
 
         [SerializeField] protected bool m_SelfCollisions = false;
 
-        [SerializeField] protected BonePropertyCurve _radius = new BonePropertyCurve(0.1f,1);
-        [SerializeField] protected BonePropertyCurve _mass = new BonePropertyCurve(0.1f,1);
-        [SerializeField] protected BonePropertyCurve _rotationalMass = new BonePropertyCurve(0.1f,1);
+        [SerializeField] protected BonePropertyCurve _radius = new BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected BonePropertyCurve _mass = new BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected BonePropertyCurve _rotationalMass = new BonePropertyCurve(0.1f, 1);
 
         // skin constraints:
         [SerializeField] protected bool _skinConstraintsEnabled = true;
@@ -62,6 +63,11 @@ namespace Obi
         [SerializeField] protected BonePropertyCurve _plasticYield = new BonePropertyCurve(0, 1);
         [SerializeField] protected BonePropertyCurve _plasticCreep = new BonePropertyCurve(0, 1);
 
+        // aerodynamics
+        [SerializeField] protected bool _aerodynamicsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _drag = new BonePropertyCurve(0.05f, 1);
+        [SerializeField] protected BonePropertyCurve _lift = new BonePropertyCurve(0.02f, 1);
+
         [Tooltip("Filter used for collision detection.")]
         [SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
 
@@ -236,7 +242,34 @@ namespace Obi
         public BonePropertyCurve plasticCreep
         {
             get { return _plasticCreep; }
-            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } 
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        ///   Whether this actor's aerodynamic constraints are enabled.
+        /// </summary>
+        public bool aerodynamicsEnabled
+        {
+            get { return _aerodynamicsEnabled; }
+            set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
+        }
+
+        /// <summary>  
+        /// Aerodynamic drag value.
+        /// </summary>
+        public BonePropertyCurve drag
+        {
+            get { return _drag; }
+            set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic lift value.
+        /// </summary>
+        public BonePropertyCurve lift
+        {
+            get { return _lift; }
+            set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
         }
 
 
@@ -262,6 +295,7 @@ namespace Obi
 
         protected override void Awake()
         {
+            // TODO: guard against having another ObiBone above it in hierarchy.
             m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
             UpdateBlueprint();
             base.Awake();
@@ -297,18 +331,45 @@ namespace Obi
             }
         }
 
-        public override void LoadBlueprint(ObiSolver solver)
+        internal override void LoadBlueprint()
         {
-            base.LoadBlueprint(solver);
+            base.LoadBlueprint();
+
+            // synchronously read required data from GPU:
+            solver.renderablePositions.Readback(false);
+            solver.renderableOrientations.Readback(false);
+            solver.orientations.Readback(false);
+            solver.angularVelocities.Readback(false);
+
             SetupRuntimeConstraints();
             ResetToCurrentShape();
         }
 
-        public override void UnloadBlueprint(ObiSolver solver)
+        internal override void UnloadBlueprint()
         {
             ResetParticles();
             CopyParticleDataToTransforms();
-            base.UnloadBlueprint(solver);
+            base.UnloadBlueprint();
+        }
+
+        public override void RequestReadback()
+        {
+            base.RequestReadback();
+
+            solver.orientations.Readback();
+            solver.angularVelocities.Readback();
+            solver.renderablePositions.Readback();
+            solver.renderableOrientations.Readback();
+        }
+
+        public override void SimulationEnd(float simulatedTime, float substepTime)
+        {
+            base.SimulationEnd(simulatedTime, substepTime);
+
+            solver.orientations.WaitForReadback();
+            solver.angularVelocities.WaitForReadback();
+            solver.renderablePositions.WaitForReadback();
+            solver.renderableOrientations.WaitForReadback();
         }
 
         private void SetupRuntimeConstraints()
@@ -316,10 +377,21 @@ namespace Obi
             SetConstraintsDirty(Oni.ConstraintType.Skin);
             SetConstraintsDirty(Oni.ConstraintType.StretchShear);
             SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
             SetSelfCollisions(selfCollisions);
             SetSimplicesDirty();
             UpdateFilter();
-            UpdateCollisionMaterials();
+        }
+
+        public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+            var boneBprint = sharedBlueprint as ObiBoneBlueprint;
+            if (boneBprint != null && boneBprint.deformableEdges != null)
+            {
+                // Send deformable edge indices to the solver:
+                for (int i = 0; i < boneBprint.deformableEdges.Length; ++i)
+                    deformableEdges.Add(solverIndices[boneBprint.deformableEdges[i]]);
+            }
         }
 
         private void FixRoot()
@@ -337,10 +409,10 @@ namespace Obi
                 solver.angularVelocities[rootIndex] = Vector4.zero;
 
                 // take particle rest position in actor space (which is always zero), converts to solver space:
-                solver.renderablePositions[rootIndex] = solver.positions[rootIndex] = actor2Solver.MultiplyPoint3x4(Vector3.zero);
+                solver.startPositions[rootIndex] = solver.endPositions[rootIndex] = solver.positions[rootIndex] = actor2Solver.MultiplyPoint3x4(Vector3.zero);
 
                 // take particle rest orientation in actor space, and convert to solver space:
-                solver.renderableOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
+                solver.startOrientations[rootIndex] = solver.endOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
             }
         }
 
@@ -358,8 +430,8 @@ namespace Obi
         {
             for (int i = 0; i < particleCount; ++i)
             {
-                var normalizedCoord = boneBlueprint.normalizedLengths[i];
-                var radii = Vector3.one * radius.Evaluate(normalizedCoord);
+                var boneOverride = boneBlueprint.GetOverride(i, out float normalizedCoord);
+                var radii = Vector3.one * (boneOverride != null ? boneOverride.radius.Evaluate(normalizedCoord) : radius.Evaluate(normalizedCoord));
                 boneBlueprint.principalRadii[i] = radii;
 
                 if (isLoaded)
@@ -371,9 +443,9 @@ namespace Obi
         {
             for (int i = 0; i < particleCount; ++i)
             {
-                var normalizedCoord = boneBlueprint.normalizedLengths[i];
-                var invMass = ObiUtils.MassToInvMass(mass.Evaluate(normalizedCoord));
-                var invRotMass = ObiUtils.MassToInvMass(rotationalMass.Evaluate(normalizedCoord));
+                var boneOverride = boneBlueprint.GetOverride(i, out float normalizedCoord);
+                var invMass = ObiUtils.MassToInvMass(boneOverride != null ? boneOverride .mass.Evaluate(normalizedCoord) : mass.Evaluate(normalizedCoord));
+                var invRotMass = ObiUtils.MassToInvMass(boneOverride != null ? boneOverride.rotationalMass.Evaluate(normalizedCoord) : rotationalMass.Evaluate(normalizedCoord));
 
                 boneBlueprint.invMasses[i] = invMass;
                 boneBlueprint.invRotationalMasses[i] = invRotMass;
@@ -388,20 +460,24 @@ namespace Obi
 
         public Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex)
         {
-            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
-            return new Vector3(skinRadius.Evaluate(normalizedCoord),0,0);
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
+            return new Vector3(boneOverride != null ? boneOverride.skinRadius.Evaluate(normalizedCoord) : skinRadius.Evaluate(normalizedCoord), 0, 0);
         }
 
         public float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex)
         {
-            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
-            return skinCompliance.Evaluate(normalizedCoord);
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
+            return boneOverride != null ? boneOverride.skinCompliance.Evaluate(normalizedCoord) : skinCompliance.Evaluate(normalizedCoord);
         }
 
-
         public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
         {
-            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
+
+            if (boneOverride != null)
+            return new Vector3(boneOverride.bend1Compliance.Evaluate(normalizedCoord),
+                               boneOverride.bend2Compliance.Evaluate(normalizedCoord),
+                               boneOverride.torsionCompliance.Evaluate(normalizedCoord));
             return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
                                bend2Compliance.Evaluate(normalizedCoord),
                                torsionCompliance.Evaluate(normalizedCoord));
@@ -409,22 +485,51 @@ namespace Obi
 
         public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
         {
-            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
+
+            if (boneOverride != null)
+            return new Vector2(boneOverride.plasticYield.Evaluate(normalizedCoord),
+                               boneOverride.plasticCreep.Evaluate(normalizedCoord));
             return new Vector2(plasticYield.Evaluate(normalizedCoord),
                                plasticCreep.Evaluate(normalizedCoord));
+
         }
 
         public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
         {
-            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex * 2], out float normalizedCoord);
+
+            if (boneOverride != null)
+            return new Vector3(boneOverride.shear1Compliance.Evaluate(normalizedCoord),
+                               boneOverride.shear2Compliance.Evaluate(normalizedCoord),
+                               boneOverride.stretchCompliance.Evaluate(normalizedCoord));
             return new Vector3(shear1Compliance.Evaluate(normalizedCoord),
                                shear2Compliance.Evaluate(normalizedCoord),
                                stretchCompliance.Evaluate(normalizedCoord));
         }
 
-        public override void BeginStep(float stepTime)
+        public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
         {
-            base.BeginStep(stepTime);
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
+            return boneOverride != null ? boneOverride.drag.Evaluate(normalizedCoord) : drag.Evaluate(normalizedCoord);
+        }
+
+        public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            var boneOverride = boneBlueprint.GetOverride(batch.particleIndices[constraintIndex], out float normalizedCoord);
+            return boneOverride != null ? boneOverride.lift.Evaluate(normalizedCoord) : lift.Evaluate(normalizedCoord);
+        }
+
+        public void FixedUpdate()
+        {
+            // This resets all bones not affected by animation,
+            // needs to happen once per frame at the very start before Animators are updated.
+            ResetReferenceOrientations();
+        }
+
+        public override void SimulationStart(float timeToSimulate, float substepTime)
+        {
+            base.SimulationStart(timeToSimulate, substepTime);
 
             if (fixRoot)
                 FixRoot();
@@ -432,18 +537,10 @@ namespace Obi
             UpdateRestShape();
         }
 
-        public override void PrepareFrame()
-        {
-            ResetReferenceOrientations();
-            base.PrepareFrame();
-        }
-
-        public override void Interpolate()
+        public void LateUpdate()
         {
             if (Application.isPlaying && isActiveAndEnabled)
                 CopyParticleDataToTransforms();
-
-            base.Interpolate();
         }
 
         /// <summary>
@@ -463,11 +560,49 @@ namespace Obi
                 solver.velocities[solverIndex] = Vector4.zero;
                 solver.angularVelocities[solverIndex] = Vector4.zero;
 
-                solver.renderablePositions[solverIndex] = solver.positions[solverIndex] = world2Solver.MultiplyPoint3x4(trfm.position);
+                solver.startPositions[solverIndex] = solver.endPositions[solverIndex] = solver.positions[solverIndex] = world2Solver.MultiplyPoint3x4(trfm.position);
 
                 var boneDeltaAWS = trfm.rotation * Quaternion.Inverse(boneBlueprint.restOrientations[i]);
-                solver.renderableOrientations[solverIndex] = solver.orientations[solverIndex] = world2Solver.rotation * boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[i];
+                solver.startOrientations[solverIndex] = solver.endOrientations[solverIndex] = solver.orientations[solverIndex] = world2Solver.rotation * boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[i];
             }
+
+            // Update constraint data in the blueprint, since StartSimulation won't be called until next frame.
+            var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+
+            if (bc != null)
+                for (int j = 0; j < bc.batchCount; ++j)
+                {
+                    var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
+
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
+                    {
+                        int indexA = batch.particleIndices[i * 2];
+                        int indexB = batch.particleIndices[i * 2 + 1];
+
+                        // calculate bone rotation delta in world space:
+                        var boneDeltaAWS = boneBlueprint.transforms[indexA].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexA]);
+                        var boneDeltaBWS = boneBlueprint.transforms[indexB].rotation * Quaternion.Inverse(boneBlueprint.restOrientations[indexB]);
+
+                        // apply delta to rest particle orientation:
+                        var orientationA = boneDeltaAWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexA];
+                        var orientationB = boneDeltaBWS * boneBlueprint.root2WorldR * boneBlueprint.orientations[indexB];
+
+                        batch.restDarbouxVectors[i] = ObiUtils.RestDarboux(orientationA, orientationB);
+                    }
+                }
+
+            var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
+
+            if (sc != null)
+                for (int j = 0; j < sc.batchCount; ++j)
+                {
+                    var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
+                    {
+                        int index = batch.particleIndices[i];
+                        batch.skinPoints[i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
+                    }
+                }
         }
 
         private void ResetReferenceOrientations()
@@ -484,14 +619,20 @@ namespace Obi
             var sbc = solver.GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
 
             if (bendTwistConstraintsEnabled && bc != null && sbc != null)
-                for (int j = 0; j < bc.GetBatchCount(); ++j)
+            {
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of bc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.BendTwist].Count; ++j)
                 {
                     var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
                     var solverBatch = sbc.batches[j] as ObiBendTwistConstraintsBatch;
-                    int offset = solverBatchOffsets[(int)solverBatch.constraintType][j];
+                    int offset = solverBatchOffsets[(int)Oni.ConstraintType.BendTwist][j];
 
                     if (solverBatch.restDarbouxVectors.isCreated)
                     {
+                        if (solverBatch.restDarbouxVectors.computeBuffer == null)
+                            solverBatch.restDarbouxVectors.SafeAsComputeBuffer<Vector4>();
+
                         for (int i = 0; i < batch.activeConstraintCount; i++)
                         {
                             int indexA = batch.particleIndices[i * 2];
@@ -507,34 +648,45 @@ namespace Obi
 
                             solverBatch.restDarbouxVectors[offset + i] = ObiUtils.RestDarboux(orientationA, orientationB);
                         }
+
+                        solverBatch.restDarbouxVectors.Upload();
                     }
                 }
+            }
 
             var sc = GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
             var ssc = solver.GetConstraintsByType(Oni.ConstraintType.Skin) as ObiConstraints<ObiSkinConstraintsBatch>;
 
             if (skinConstraintsEnabled && sc != null && ssc != null)
-                for (int j = 0; j < sc.GetBatchCount(); ++j)
+            {
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of sc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Skin].Count; ++j)
                 {
                     var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
                     var solverBatch = ssc.batches[j] as ObiSkinConstraintsBatch;
-                    int offset = solverBatchOffsets[(int)solverBatch.constraintType][j];
+                    int offset = solverBatchOffsets[(int)Oni.ConstraintType.Skin][j];
 
                     if (solverBatch.skinPoints.isCreated)
                     {
+                        if (solverBatch.skinPoints.computeBuffer == null)
+                            solverBatch.skinPoints.SafeAsComputeBuffer<Vector4>();
+
                         for (int i = 0; i < batch.activeConstraintCount; i++)
                         {
                             int index = batch.particleIndices[i];
                             solverBatch.skinPoints[offset + i] = solver.transform.worldToLocalMatrix.MultiplyPoint3x4(boneBlueprint.transforms[index].position);
                         }
+
+                        solverBatch.skinPoints.Upload();
                     }
                 }
+            }
         }
 
         private void CopyParticleDataToTransforms()
         {
-
-            if (boneBlueprint != null)
+            if (isLoaded && boneBlueprint != null)
             {
                 // copy current particle transforms to bones:
                 for (int i = 1; i < particleCount; ++i)
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs
new file mode 100644
index 000000000..f4a20adcd
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs
@@ -0,0 +1,192 @@
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Bone Override", 882)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiBoneOverride : MonoBehaviour
+    {
+        [SerializeField] protected ObiBone.BonePropertyCurve _radius = new ObiBone.BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _mass = new ObiBone.BonePropertyCurve(0.1f, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _rotationalMass = new ObiBone.BonePropertyCurve(0.1f, 1);
+
+        // skin constraints:
+        [SerializeField] protected ObiBone.BonePropertyCurve _skinCompliance = new ObiBone.BonePropertyCurve(0.01f, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _skinRadius = new ObiBone.BonePropertyCurve(0.1f, 1);
+
+        // distance constraints:
+        [SerializeField] protected ObiBone.BonePropertyCurve _stretchCompliance = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _shear1Compliance = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _shear2Compliance = new ObiBone.BonePropertyCurve(0, 1);
+
+        // bend constraints:
+        [SerializeField] protected ObiBone.BonePropertyCurve _torsionCompliance = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _bend1Compliance = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _bend2Compliance = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _plasticYield = new ObiBone.BonePropertyCurve(0, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _plasticCreep = new ObiBone.BonePropertyCurve(0, 1);
+
+        // aerodynamics
+        [SerializeField] protected ObiBone.BonePropertyCurve _drag = new ObiBone.BonePropertyCurve(0.05f, 1);
+        [SerializeField] protected ObiBone.BonePropertyCurve _lift = new ObiBone.BonePropertyCurve(0.02f, 1);
+
+        /// <summary>  
+        /// Particle radius distribution over this bone hierarchy length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve radius
+        {
+            get { return _radius; }
+            set { _radius = value; bone.UpdateRadius(); }
+        }
+
+        /// <summary>  
+        /// Mass distribution over this bone hierarchy length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve mass
+        {
+            get { return _mass; }
+            set { _mass = value; bone.UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Rotational mass distribution over this bone hierarchy length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve rotationalMass
+        {
+            get { return _rotationalMass; }
+            set { _rotationalMass = value; bone.UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin constraints.
+        /// </summary>
+        public ObiBone.BonePropertyCurve skinCompliance
+        {
+            get { return _skinCompliance; }
+            set { _skinCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin radius
+        /// </summary>
+        public ObiBone.BonePropertyCurve skinRadius
+        {
+            get { return _skinRadius; }
+            set { _skinRadius = value; bone.SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch/shear constraints, along their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve shear1Compliance
+        {
+            get { return _shear1Compliance; }
+            set { _shear1Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve shear2Compliance
+        {
+            get { return _shear2Compliance; }
+            set { _shear2Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Torsional compliance of this actor's bend/twist constraints along their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve torsionCompliance
+        {
+            get { return _torsionCompliance; }
+            set { _torsionCompliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve bend1Compliance
+        {
+            get { return _bend1Compliance; }
+            set { _bend1Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
+        /// </summary>
+        public ObiBone.BonePropertyCurve bend2Compliance
+        {
+            get { return _bend2Compliance; }
+            set { _bend2Compliance = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Threshold for plastic behavior. 
+        /// </summary>
+        /// Once bending goes above this value, a percentage of the deformation (determined by <see cref="plasticCreep"/>) will be permanently absorbed into the rod's rest shape.
+        public ObiBone.BonePropertyCurve plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
+        /// </summary>
+        public ObiBone.BonePropertyCurve plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic drag value.
+        /// </summary>
+        public ObiBone.BonePropertyCurve drag
+        {
+            get { return _drag; }
+            set { _drag = value; bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic lift value.
+        /// </summary>
+        public ObiBone.BonePropertyCurve lift
+        {
+            get { return _lift; }
+            set { _lift = value; bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        private ObiBone bone;
+
+        public void Awake()
+        {
+            bone = GetComponentInParent<ObiBone>();
+        }
+
+        protected void OnValidate()
+        {
+            if (bone != null)
+            {
+                bone.UpdateRadius();
+                bone.UpdateMasses();
+                bone.SetConstraintsDirty(Oni.ConstraintType.Skin);
+                bone.SetConstraintsDirty(Oni.ConstraintType.StretchShear);
+                bone.SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+                bone.SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs.meta
similarity index 64%
rename from Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs.meta
rename to Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs.meta
index 41bbce652..31a7fae95 100644
--- a/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs.meta
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBoneOverride.cs.meta
@@ -1,11 +1,11 @@
 fileFormatVersion: 2
-guid: 434d88f9b3534406382ff56c0e74bd9a
+guid: eed7ac246d14742e5a77c218f4e491ec
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0
-  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  icon: {fileID: 2800000, guid: 0a18e0376cc184a9b96ebb3bf0175cc2, type: 3}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
index fec820e8c..5521ac86c 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
@@ -183,22 +183,35 @@ namespace Obi
             SetupRuntimeConstraints();
         }
 
-        public override void LoadBlueprint(ObiSolver solver)
+        internal override void LoadBlueprint()
         {
-            base.LoadBlueprint(solver);
+            base.LoadBlueprint();
             RebuildElementsFromConstraints();
             SetupRuntimeConstraints();
         }
 
+        public override void RequestReadback()
+        {
+            base.RequestReadback();
+            solver.orientations.Readback();
+        }
+
+        public override void SimulationEnd(float simulatedTime, float substepTime)
+        {
+            base.SimulationEnd(simulatedTime, substepTime);
+            solver.orientations.WaitForReadback();
+        }
+
         private void SetupRuntimeConstraints()
         {
             SetConstraintsDirty(Oni.ConstraintType.StretchShear);
-            //SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
             SetConstraintsDirty(Oni.ConstraintType.Chain);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
             SetSelfCollisions(selfCollisions);
+            SetMassScale(m_MassScale);
             RecalculateRestLength();
             SetSimplicesDirty();
-            UpdateCollisionMaterials();
         }
 
         public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
@@ -219,7 +232,7 @@ namespace Obi
         protected override void RebuildElementsFromConstraintsInternal()
         {
             var dc = GetConstraintsByType(Oni.ConstraintType.StretchShear) as ObiConstraints<ObiStretchShearConstraintsBatch>;
-            if (dc == null || dc.GetBatchCount() < 2)
+            if (dc == null || dc.batchCount < 2)
                 return;
 
             int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
index 50be7dc5a..60d42359a 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
@@ -178,20 +178,20 @@ namespace Obi
             SetupRuntimeConstraints();
         }
 
-        public override void LoadBlueprint(ObiSolver solver)
+        internal override void LoadBlueprint()
         {
             // create a copy of the blueprint for this cloth:
             if (Application.isPlaying)
                 m_RopeBlueprintInstance = this.blueprint as ObiRopeBlueprint;
 
-            base.LoadBlueprint(solver);
+            base.LoadBlueprint();
             RebuildElementsFromConstraints();
             SetupRuntimeConstraints();
         }
 
-        public override void UnloadBlueprint(ObiSolver solver)
+        internal override void UnloadBlueprint()
         {
-            base.UnloadBlueprint(solver);
+            base.UnloadBlueprint();
 
             // delete the blueprint instance:
             if (m_RopeBlueprintInstance != null)
@@ -202,26 +202,25 @@ namespace Obi
         {
             SetConstraintsDirty(Oni.ConstraintType.Distance);
             SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
             SetSelfCollisions(selfCollisions);
+            SetMassScale(m_MassScale);
             RecalculateRestLength();
             SetSimplicesDirty();
-            UpdateCollisionMaterials();
         }
 
-        public override void Substep(float substepTime)
+        // Tearing must be done at the end of each step instead of substep, to give a chance to solver constraints to be rebuilt.
+        public override void SimulationStart(float timeToSimulate, float substepTime)
         {
-            base.Substep(substepTime);
+            base.SimulationStart(timeToSimulate, substepTime);
 
-            if (isActiveAndEnabled)
+            if (isActiveAndEnabled && tearingEnabled)
                 ApplyTearing(substepTime);
         }
 
         protected void ApplyTearing(float substepTime)
         {
 
-            if (!tearingEnabled)
-                return;
-
             float sqrTime = substepTime * substepTime;
 
             tornElements.Clear();
@@ -230,24 +229,28 @@ namespace Obi
             var sc = this.solver.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
 
             if (dc != null && sc != null)
-            for (int j = 0; j < dc.GetBatchCount(); ++j)
             {
-                var batch = dc.GetBatch(j) as ObiDistanceConstraintsBatch;
-                var solverBatch = sc.batches[j] as ObiDistanceConstraintsBatch;
-
-                for (int i = 0; i < batch.activeConstraintCount; i++)
+                // iterate up to the amount of entries in solverBatchOffsets, insteaf of dc.batchCount. This ensures
+                // the batches we access have been added to the solver, as solver.UpdateConstraints() could have not been called yet on a newly added actor.
+                for (int j = 0; j < solverBatchOffsets[(int)Oni.ConstraintType.Distance].Count; ++j)
                 {
-                    int elementIndex = j + 2 * i;
+                    var batch = dc.GetBatch(j) as ObiDistanceConstraintsBatch;
+                    var solverBatch = sc.batches[j] as ObiDistanceConstraintsBatch;
 
-                    // divide lambda by squared delta time to get force in newtons:
-                    int offset = solverBatchOffsets[(int)Oni.ConstraintType.Distance][j];
-                    float force = solverBatch.lambdas[offset + i] / sqrTime;
-
-                    elements[elementIndex].constraintForce = force;
-
-                    if (-force > tearResistanceMultiplier)
+                    for (int i = 0; i < batch.activeConstraintCount; i++)
                     {
-                        tornElements.Add(elements[elementIndex]);
+                        int elementIndex = j + 2 * i;
+
+                        // divide lambda by squared delta time to get force in newtons:
+                        int offset = solverBatchOffsets[(int)Oni.ConstraintType.Distance][j];
+                        float force = solverBatch.lambdas[offset + i] / sqrTime;
+
+                        elements[elementIndex].constraintForce = force;
+
+                        if (-force > tearResistanceMultiplier)
+                        {
+                            tornElements.Add(elements[elementIndex]);
+                        }
                     }
                 }
             }
@@ -282,7 +285,8 @@ namespace Obi
             m_Solver.invMasses[splitIndex] *= 2;
 
             CopyParticle(solver.particleToActor[splitIndex].indexInActor, activeParticleCount);
-            ActivateParticle(activeParticleCount);
+            ActivateParticle();
+            SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
 
             return solverIndices[activeParticleCount - 1];
         }
@@ -309,8 +313,7 @@ namespace Obi
 
             element.particle1 = SplitParticle(element.particle1);
 
-            if (OnRopeTorn != null)
-                OnRopeTorn(this, new ObiRopeTornEventArgs(element, element.particle1));
+            OnRopeTorn?.Invoke(this, new ObiRopeTornEventArgs(element, element.particle1));
 
             return true;
         }
@@ -318,7 +321,7 @@ namespace Obi
         protected override void RebuildElementsFromConstraintsInternal()
         {
             var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
-            if (dc == null || dc.GetBatchCount() < 2)
+            if (dc == null || dc.batchCount < 2)
                 return;
 
             int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
@@ -356,13 +359,26 @@ namespace Obi
             // regenerate constraints from elements:
             var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
             var bc = GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
+            var ac = GetConstraintsByType(Oni.ConstraintType.Aerodynamics) as ObiConstraints<ObiAerodynamicConstraintsBatch>;
 
             dc.DeactivateAllConstraints();
             bc.DeactivateAllConstraints();
+            ac.DeactivateAllConstraints();
+
+            for (int i = 0; i < activeParticleCount; ++i)
+            {
+                // aerodynamic constraints:
+                var ab = ac.batches[0] as ObiAerodynamicConstraintsBatch;
+                int constraint = ab.activeConstraintCount;
+                ab.particleIndices[constraint] = i;
+                ab.aerodynamicCoeffs[constraint * 3] = 2 * solver.principalRadii[solverIndices[i]].x;
+                ab.ActivateConstraint(constraint);
+            }
 
             int elementsCount = elements.Count - (ropeBlueprint.path.Closed ? 1 : 0);
             for (int i = 0; i < elementsCount; ++i)
             {
+                // distance constraints
                 var db = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
                 int constraint = db.activeConstraintCount;
 
@@ -372,6 +388,7 @@ namespace Obi
                 db.stiffnesses[constraint] = new Vector2(_stretchCompliance, _maxCompression * db.restLengths[constraint]);
                 db.ActivateConstraint(constraint);
 
+                // bend constraints
                 if (i < elementsCount - 1)
                 {
                     var bb = bc.batches[i % 3] as ObiBendConstraintsBatch;
@@ -384,7 +401,7 @@ namespace Obi
                         int indexA = elements[i].particle1;
                         int indexB = elements[i + 1].particle2;
                         int indexC = elements[i].particle2;
-                        float restBend = ObiUtils.RestBendingConstraint(solver.restPositions[indexA], solver.restPositions[indexB], solver.restPositions[indexC]);
+                        float restBend = 0;//ObiUtils.RestBendingConstraint(solver.restPositions[indexA], solver.restPositions[indexB], solver.restPositions[indexC]);
 
                         bb.particleIndices[constraint * 3] = solver.particleToActor[indexA].indexInActor;
                         bb.particleIndices[constraint * 3 + 1] = solver.particleToActor[indexB].indexInActor;
@@ -430,16 +447,21 @@ namespace Obi
                 loopClosingBatch.ActivateConstraint(0);
             }
 
-            // edge simplices:
-            sharedBlueprint.edges = new int[elements.Count*2];
+            // edge simplices and deformable edges
+            var rb = sharedBlueprint as ObiRopeBlueprint;
+            rb.edges = new int[elements.Count * 2];
+            rb.deformableEdges = new int[elements.Count * 2];
             for (int i = 0; i < elements.Count; ++i)
             {
-                sharedBlueprint.edges[i * 2] =     solver.particleToActor[elements[i].particle1].indexInActor;
-                sharedBlueprint.edges[i * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
+                rb.deformableEdges[i * 2] = rb.edges[i * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
+                rb.deformableEdges[i * 2 + 1] = rb.edges[i * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
             }
 
             SetConstraintsDirty(Oni.ConstraintType.Distance);
             SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetConstraintsDirty(Oni.ConstraintType.Aerodynamics);
+
+            solver.dirtyDeformableEdges = true;
             SetSimplicesDirty();
         }
     }
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
index 1fae42696..0b2080748 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
@@ -4,7 +4,7 @@ using System.Collections.Generic;
 
 namespace Obi
 {
-    public abstract class ObiRopeBase : ObiActor
+    public abstract class ObiRopeBase : ObiActor, IAerodynamicConstraintsUser
     {
 
         [SerializeField] protected bool m_SelfCollisions = false;
@@ -12,11 +12,44 @@ namespace Obi
         [HideInInspector] public List<ObiStructuralElement> elements = new List<ObiStructuralElement>();    /**< Elements.*/
         public event ActorCallback OnElementsGenerated;
 
+        // aerodynamics
+        [SerializeField] protected bool _aerodynamicsEnabled = true;
+        [SerializeField] protected float _drag = 0.05f;
+        [SerializeField] protected float _lift = 0.02f;
+
+        /// <summary>  
+        ///   Whether this actor's aerodynamic constraints are enabled.
+        /// </summary>
+        public bool aerodynamicsEnabled
+        {
+            get { return _aerodynamicsEnabled; }
+            set { if (value != _aerodynamicsEnabled) { _aerodynamicsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); } }
+        }
+
+        /// <summary>  
+        /// Aerodynamic drag value.
+        /// </summary>
+        public float drag
+        {
+            get { return _drag; }
+            set { _drag = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
+        /// <summary>  
+        /// Aerodynamic lift value.
+        /// </summary>
+        public float lift
+        {
+            get { return _lift; }
+            set { _lift = value; SetConstraintsDirty(Oni.ConstraintType.Aerodynamics); }
+        }
+
         public float restLength
         {
             get { return restLength_; }
         }
 
+
         public ObiPath path
         {
             get {
@@ -25,6 +58,37 @@ namespace Obi
             }
         }
 
+        public float GetDrag(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            return drag;
+        }
+
+        public float GetLift(ObiAerodynamicConstraintsBatch batch, int constraintIndex)
+        {
+            return lift;
+        }
+
+        public override void ProvideDeformableEdges(ObiNativeIntList deformableEdges)
+        {
+            deformableEdgesOffset = deformableEdges.count / 2;
+
+            var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
+            if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+            {
+                // Send deformable edge indices to the solver:
+                for (int i = 0; i < ropeBlueprint.deformableEdges.Length; ++i)
+                    deformableEdges.Add(solverIndices[ropeBlueprint.deformableEdges[i]]);
+            }
+        }
+
+        public override int GetDeformableEdgeCount()
+        {
+            var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
+            if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+                return ropeBlueprint.deformableEdges.Length / 2;
+            return 0;
+        }
+
         /// <summary>  
         /// Calculates and returns current rope length, including stretching/compression.
         /// </summary>
@@ -105,5 +169,25 @@ namespace Obi
             return null;
         }
 
+        /// <summary>  
+        /// Returns index of the edge that contains a length-normalized coordinate. It will also return the length-normalized coordinate within the edge.
+        /// </summary>
+        public int GetEdgeAt(float mu, out float elementMu)
+        {
+            elementMu = -1;
+            var ropeBlueprint = sharedBlueprint as ObiRopeBlueprintBase;
+            if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+            {
+                float edgeMu = ropeBlueprint.deformableEdges.Length/2 * Mathf.Clamp(mu, 0, 0.99999f);
+
+                int index = (int)edgeMu;
+                elementMu = edgeMu - index;
+
+                if (index < ropeBlueprint.deformableEdges.Length/2)
+                    return index;
+            }
+            return -1;
+        }
+
     }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
index f360aa2bb..bf2456a9a 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
@@ -20,6 +20,7 @@ namespace Obi
 
         ObiStructuralElement m_CursorElement = null;
         private int m_SourceIndex = -1;
+        private float lengthChange = 0;
 
         public float cursorMu
         {
@@ -66,6 +67,7 @@ namespace Obi
             rope = GetComponent<ObiRope>();
 
             rope.OnElementsGenerated += Actor_OnElementsGenerated;
+            rope.OnSimulationStart += Rope_OnSimulate;
             if (rope.elements != null && rope.elements.Count > 0)
                 Actor_OnElementsGenerated(rope);
         }
@@ -73,6 +75,7 @@ namespace Obi
         private void OnDisable()
         {
             rope.OnElementsGenerated -= Actor_OnElementsGenerated;
+            rope.OnSimulationStart -= Rope_OnSimulate;
         }
 
         private void Actor_OnElementsGenerated(ObiActor actor)
@@ -81,64 +84,13 @@ namespace Obi
             UpdateSource();
         }
 
-        public void UpdateCursor()
+        private void Rope_OnSimulate(ObiActor actor, float simulatedTime, float substepTime)
         {
-            rope = GetComponent<ObiRope>();
-            m_CursorElement = null;
-            if (rope.isLoaded)
-            {
-                float elmMu;
-                m_CursorElement = rope.GetElementAt(cursorMu, out elmMu);
-            }
-        }
-
-        public void UpdateSource()
-        {
-            rope = GetComponent<ObiRope>();
-            m_SourceIndex = -1;
-            if (rope.isLoaded)
-            {
-                float elmMu;
-                var elm = rope.GetElementAt(sourceMu, out elmMu);
-                if (elm != null && rope.solver != null)
-                {
-                    m_SourceIndex = elmMu < 0.5f ? elm.particle1 : elm.particle2;
-                }
-            }
-        }
-
-        private int AddParticleAt(int index)
-        {
-            // Copy data from the particle where we will insert new particles, to the particles we will insert:
-            int targetIndex = rope.activeParticleCount;
-            rope.CopyParticle(rope.solver.particleToActor[m_SourceIndex].indexInActor, targetIndex);
-
-            // Move the new particle to the one at the place where we will insert it:
-            rope.TeleportParticle(targetIndex, rope.solver.positions[rope.solverIndices[index]]);
-
-            // Activate the particle:
-            rope.ActivateParticle(targetIndex);
-            return rope.solverIndices[targetIndex];
-        }
-
-        private void RemoveParticleAt(int index)
-        {
-            rope.DeactivateParticle(index);
-        }
-
-        public void ChangeLength(float newLength)
-        {
-            if (!rope.isLoaded)
+            if (!rope.isLoaded || Mathf.Abs(lengthChange) < ObiUtils.epsilon)
                 return;
 
             var solver = rope.solver;
 
-            // clamp new length to sane limits:
-            newLength = Mathf.Clamp(newLength, 0, (rope.sourceBlueprint.particleCount - 1) * rope.ropeBlueprint.interParticleDistance);
-
-            // calculate the change in rope length:
-            float lengthChange = newLength - rope.restLength;
-
             // remove:
             if (lengthChange < 0)
             {
@@ -148,6 +100,10 @@ namespace Obi
                 {
                     lengthChange -= m_CursorElement.restLength;
 
+                    // if we subtracted the length of the last element, break out of the loop.
+                    if (rope.elements.Count == 1)
+                        break;
+
                     int index = rope.elements.IndexOf(m_CursorElement);
 
                     if (index >= 0)
@@ -165,8 +121,8 @@ namespace Obi
 
                                 m_CursorElement = rope.elements[index];
                             }
-                            else
-                                m_CursorElement = rope.elements[Mathf.Max(0,index - 1)];
+                            else 
+                                m_CursorElement = rope.elements[Mathf.Max(0, index - 1)];
                         }
                         else // negative direction:
                         {
@@ -264,6 +220,69 @@ namespace Obi
 
             // rebuild constraints:
             rope.RebuildConstraintsFromElements();
+
+            lengthChange = 0;
+        }
+
+        public void UpdateCursor()
+        {
+            rope = GetComponent<ObiRope>();
+            m_CursorElement = null;
+            if (rope.isLoaded)
+            {
+                float elmMu;
+                m_CursorElement = rope.GetElementAt(cursorMu, out elmMu);
+            }
+        }
+
+        public void UpdateSource()
+        {
+            rope = GetComponent<ObiRope>();
+            m_SourceIndex = -1;
+            if (rope.isLoaded)
+            {
+                float elmMu;
+                var elm = rope.GetElementAt(sourceMu, out elmMu);
+                if (elm != null && rope.solver != null)
+                {
+                    m_SourceIndex = elmMu < 0.5f ? elm.particle1 : elm.particle2;
+                }
+            }
+        }
+
+        private int AddParticleAt(int index)
+        {
+            int targetIndex = rope.activeParticleCount;
+
+            // Copy data from the particle where we will insert new particles, to the particles we will insert:
+            rope.CopyParticle(rope.solver.particleToActor[m_SourceIndex].indexInActor, targetIndex);
+
+            // Move the new particle to the one at the place where we will insert it:
+            rope.TeleportParticle(targetIndex, rope.solver.positions[rope.solverIndices[index]]);
+
+            // Activate the particle:
+            rope.ActivateParticle();
+            rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
+
+            return rope.solverIndices[targetIndex];
+        }
+
+        private void RemoveParticleAt(int index)
+        {
+            rope.DeactivateParticle(index);
+            rope.SetRenderingDirty(Oni.RenderingSystemType.AllRopes);
+        }
+
+        public float ChangeLength(float lengthChange)
+        {
+            // clamp new length to sane limits:
+            //newLength = Mathf.Clamp(newLength, 0, (rope.sourceBlueprint.particleCount - 1) * rope.ropeBlueprint.interParticleDistance);
+
+            // accumulate length change, we'll reset it to zero after it has been applied.
+            this.lengthChange += lengthChange;
+
+            // return new length:
+            return this.lengthChange + rope.restLength;
         }
     }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
index 04a51e6d0..f2f71727e 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
@@ -20,6 +20,8 @@ namespace Obi
         [HideInInspector] public List<int> parentIndices = new List<int>();
         [HideInInspector] public List<float> normalizedLengths = new List<float>();
 
+        [HideInInspector] public int[] deformableEdges = null;    /**< Indices of deformable edges (2 per edge)*/
+
         [HideInInspector] [NonSerialized] public List<ObiBone.IgnoredBone> ignored;
         [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve mass;
         [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve rotationalMass;
@@ -38,6 +40,24 @@ namespace Obi
             return null;
         }
 
+        public ObiBoneOverride GetOverride(int particleIndex, out float normalizedLength)
+        {
+            int overrideIndex = particleIndex;
+            normalizedLength = normalizedLengths[overrideIndex];
+
+            while (overrideIndex >= 0)
+            {
+                if (transforms[overrideIndex].TryGetComponent(out ObiBoneOverride over))
+                {
+                    normalizedLength = 1 - (1 - normalizedLengths[particleIndex]) / Mathf.Max(ObiUtils.epsilon,1 - normalizedLengths[overrideIndex]);
+                    return over;
+                }
+
+                overrideIndex = parentIndices[overrideIndex];
+            }
+            return null;
+        }
+
         protected override IEnumerator Initialize()
         {
             ClearParticleGroups();
@@ -164,12 +184,21 @@ namespace Obi
                 filters[i] = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
                 colors[i] = Color.white;
 
+                var group = ScriptableObject.CreateInstance<ObiParticleGroup>();
+                group.SetSourceBlueprint(this);
+                group.name = transforms[i].name;
+                group.particleIndices.Add(i);
+                groups.Add(group);
+
                 if (i % 100 == 0)
                     yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
             }
 
             colorizer = new GraphColoring(m_ActiveParticleCount);
 
+            // Deformable edges:
+            CreateDeformableEdges();
+
             // Create edge simplices:
             CreateSimplices();
 
@@ -185,9 +214,23 @@ namespace Obi
             IEnumerator sc = CreateSkinConstraints(particlePositions);
             while (sc.MoveNext()) yield return sc.Current;
 
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+            while (ac.MoveNext()) yield return ac.Current;
+
             yield return new CoroutineJob.ProgressInfo("ObiBone: complete", 1);
         }
 
+        protected void CreateDeformableEdges()
+        {
+            deformableEdges = new int[(parentIndices.Count - 1) * 2];
+            for (int i = 0; i < parentIndices.Count - 1; ++i)
+            {
+                deformableEdges[i * 2] = i + 1;
+                deformableEdges[i * 2 + 1] = parentIndices[i + 1];
+            }
+        }
+
         protected void CreateSimplices()
         {
             edges = new int[(parentIndices.Count - 1) * 2];
@@ -198,9 +241,29 @@ namespace Obi
             }
         }
 
+        protected virtual IEnumerator CreateAerodynamicConstraints()
+        {
+            aerodynamicConstraintsData = new ObiAerodynamicConstraintsData();
+            var aeroBatch = new ObiAerodynamicConstraintsBatch();
+            aerodynamicConstraintsData.AddBatch(aeroBatch);
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                aeroBatch.AddConstraint(i, 2 * principalRadii[i].x, 1, 1);
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope generating aerodynamic constraints...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Set initial amount of active constraints:
+            for (int i = 0; i < aerodynamicConstraintsData.batches.Count; ++i)
+            {
+                aerodynamicConstraintsData.batches[i].activeConstraintCount = m_ActiveParticleCount;
+            }
+        }
+
         protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particlePositions)
         {
-
             colorizer.Clear();
 
             for (int i = 1; i < particlePositions.Count; ++i)
@@ -228,7 +291,7 @@ namespace Obi
                 int cIndex = constraintIndices[i];
 
                 // Add a new batch if needed:
-                if (color >= stretchShearConstraintsData.GetBatchCount())
+                if (color >= stretchShearConstraintsData.batchCount)
                     stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
 
                 int index1 = particleIndices[cIndex];
@@ -274,7 +337,7 @@ namespace Obi
                 int cIndex = constraintIndices[i];
 
                 // Add a new batch if needed:
-                if (color >= bendTwistConstraintsData.GetBatchCount())
+                if (color >= bendTwistConstraintsData.batchCount)
                     bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
 
                 int index1 = particleIndices[cIndex];
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
index 0e41b1ef2..e17ce9c15 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
@@ -127,6 +127,9 @@ namespace Obi
                     yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
             }
 
+            // Deformable edges:
+            CreateDeformableEdges(numSegments);
+
             // Create edge simplices:
             CreateSimplices(numSegments);
 
@@ -142,6 +145,12 @@ namespace Obi
             while (bc.MoveNext())
                 yield return bc.Current;
 
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+
+            while (ac.MoveNext())
+                yield return ac.Current;
+
             // Create chain constraints:
             IEnumerator cc = CreateChainConstraints();
 
@@ -150,7 +159,6 @@ namespace Obi
 
         }
 
-
         protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particleNormals)
         {
             stretchShearConstraintsData = new ObiStretchShearConstraintsData();
@@ -159,8 +167,7 @@ namespace Obi
             stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
 
             // rotation minimizing frame:
-            ObiPathFrame frame = new ObiPathFrame();
-            frame.Reset();
+            ObiPathFrame frame = ObiPathFrame.Identity;
 
             for (int i = 0; i < totalParticles - 1; i++)
             {
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
index 4448ae3f8..ce89d4028 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
@@ -10,7 +10,6 @@ namespace Obi
     [CreateAssetMenu(fileName = "rope blueprint", menuName = "Obi/Rope Blueprint", order = 140)]
     public class ObiRopeBlueprint : ObiRopeBlueprintBase
     {
-
         public int pooledParticles = 100;
 
         public const float DEFAULT_PARTICLE_MASS = 0.1f;
@@ -113,6 +112,9 @@ namespace Obi
                     yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)m_ActiveParticleCount);
             }
 
+            // Deformable edges:
+            CreateDeformableEdges(numSegments);
+
             // Create edge simplices:
             CreateSimplices(numSegments);
 
@@ -128,6 +130,12 @@ namespace Obi
             while (bc.MoveNext())
                 yield return bc.Current;
 
+            // Create aerodynamic constraints:
+            IEnumerator ac = CreateAerodynamicConstraints();
+
+            while (ac.MoveNext())
+                yield return ac.Current;
+
             // Recalculate rest length:
             m_RestLength = 0;
             foreach (float length in restLengths)
@@ -193,7 +201,7 @@ namespace Obi
                 var batch = bendConstraintsData.batches[i % 3] as ObiBendConstraintsBatch;
 
                 Vector3Int indices = new Vector3Int(i, i + 2, i + 1);
-                float restBend = ObiUtils.RestBendingConstraint(restPositions[indices[0]], restPositions[indices[1]], restPositions[indices[2]]);
+                float restBend = 0;//ObiUtils.RestBendingConstraint(restPositions[indices[0]], restPositions[indices[1]], restPositions[indices[2]]);
                 batch.AddConstraint(indices, restBend);
 
                 if (i < m_ActiveParticleCount - 2)
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
index 189a09441..36f2ac9d9 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
@@ -19,6 +19,7 @@ namespace Obi
         [HideInInspector] [SerializeField] protected int totalParticles;
         [HideInInspector] [SerializeField] protected float m_RestLength;
 
+        [HideInInspector] public int[] deformableEdges = null;    /**< Indices of deformable edges (2 per edge)*/
         [HideInInspector] public float[] restLengths;
 
         public float interParticleDistance
@@ -62,13 +63,44 @@ namespace Obi
             RemoveParticleGroupAt(index);
         }
 
+        protected virtual IEnumerator CreateAerodynamicConstraints()
+        {
+            aerodynamicConstraintsData = new ObiAerodynamicConstraintsData();
+            var aeroBatch = new ObiAerodynamicConstraintsBatch();
+            aerodynamicConstraintsData.AddBatch(aeroBatch);
+
+            for (int i = 0; i < totalParticles; i++)
+            {
+                aeroBatch.AddConstraint(i, 2 * principalRadii[i].x, 1, 1);
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope generating aerodynamic constraints...", i / (float)totalParticles);
+            }
+
+            // Set initial amount of active constraints:
+            for (int i = 0; i < aerodynamicConstraintsData.batches.Count; ++i)
+            {
+                aerodynamicConstraintsData.batches[i].activeConstraintCount = m_ActiveParticleCount;
+            }
+        }
+
+        protected void CreateDeformableEdges(int numSegments)
+        {
+            deformableEdges = new int[numSegments * 2];
+            for (int i = 0; i < numSegments; ++i)
+            {
+                deformableEdges[i * 2] = i % activeParticleCount;
+                deformableEdges[i * 2 + 1] = (i + 1) % activeParticleCount;
+            }
+        }
+
         protected void CreateSimplices(int numSegments)
         {
             edges = new int[numSegments * 2];
             for (int i = 0; i < numSegments; ++i)
             {
-                edges[i * 2] = i % totalParticles;
-                edges[i * 2 + 1] = (i + 1) % totalParticles;
+                edges[i * 2] = i % activeParticleCount;
+                edges[i * 2 + 1] = (i + 1) % activeParticleCount;
             }
         }
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
index c096d5554..be0c8eecb 100644
--- a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
@@ -1,6 +1,4 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
+using System.Collections.Generic;
 using UnityEngine;
 
 namespace Obi
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
index 2f07a22bd..1aba7db14 100644
--- a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
@@ -63,7 +63,6 @@ namespace Obi
             {
                 throw new InvalidOperationException("Cannot get position in path because it has zero control points.");
             }
-
         }
 
         /**
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
index 11f390881..38377d460 100644
--- a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
@@ -12,7 +12,9 @@ namespace Obi
             Z = 2
         }
 
-		public Vector3 position;
+        public static ObiPathFrame Identity => new ObiPathFrame(Vector3.zero, Vector3.forward, Vector3.up, Vector3.right, Color.white, 0);
+
+        public Vector3 position;
 
         public Vector3 tangent;
         public Vector3 normal;
@@ -28,7 +30,7 @@ namespace Obi
             this.binormal = binormal;
 			this.color = color;
             this.thickness = thickness;
-		}
+        }
 
         public void Reset()
         {
@@ -50,7 +52,7 @@ namespace Obi
             return new ObiPathFrame(c.position * f, c.tangent * f, c.normal * f, c.binormal * f,c.color * f, c.thickness * f);
 	    }
 
-        public static void WeightedSum(float w1, float w2, float w3, ref ObiPathFrame c1, ref ObiPathFrame c2, ref ObiPathFrame c3, ref ObiPathFrame sum)
+        public static void WeightedSum(float w1, float w2, float w3, in ObiPathFrame c1, in ObiPathFrame c2, in ObiPathFrame c3, ref ObiPathFrame sum)
         {
             sum.position.x = c1.position.x * w1 + c2.position.x * w2 + c3.position.x * w3;
             sum.position.y = c1.position.y * w1 + c2.position.y * w2 + c3.position.y * w3;
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
index 4ddee1215..1251981a6 100644
--- a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
@@ -1,21 +1,12 @@
 using UnityEngine;
-using Unity.Profiling;
 using System;
-using System.Collections;
-using System.Collections.Generic;
 
 namespace Obi
 {
     [ExecuteInEditMode]
     [RequireComponent(typeof(ObiRopeBase))]
-    public class ObiPathSmoother : MonoBehaviour
+    public class ObiPathSmoother : MonoBehaviour, ObiActorRenderer<ObiPathSmoother>
     {
-        static ProfilerMarker m_AllocateRawChunksPerfMarker = new ProfilerMarker("AllocateRawChunks");
-        static ProfilerMarker m_GenerateSmoothChunksPerfMarker = new ProfilerMarker("GenerateSmoothChunks");
-
-        private Matrix4x4 w2l;
-        private Quaternion w2lRotation;
-
         [Range(0, 1)]
         [Tooltip("Curvature threshold below which the path will be decimated. A value of 0 won't apply any decimation. As you increase the value, decimation will become more aggresive.")]
         public float decimation = 0;
@@ -27,353 +18,84 @@ namespace Obi
         [Tooltip("Twist in degrees applied to each sucessive path section.")]
         public float twist = 0;
 
-        public event ObiActor.ActorCallback OnCurveGenerated;
+        public ObiActor actor { get; private set; }
 
-        protected float smoothLength = 0;
-        protected int smoothSections = 0;
-
-        [HideInInspector] public ObiList<ObiList<ObiPathFrame>> rawChunks = new ObiList<ObiList<ObiPathFrame>>();
-        [HideInInspector] public ObiList<ObiList<ObiPathFrame>> smoothChunks = new ObiList<ObiList<ObiPathFrame>>();
-        private Stack<Vector2Int> stack = new Stack<Vector2Int>();
-        private BitArray decimateBitArray = new BitArray(0);
+        [HideInInspector] public int indexInSystem = 0;
 
         public float SmoothLength
         {
-            get { return smoothLength; }
+            get
+            {
+                if (actor.isLoaded)
+                {
+                    var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                    if (system != null)
+                        return system.GetSmoothLength(indexInSystem);
+                }
+                return 0;
+            }
         }
 
         public float SmoothSections
         {
-            get { return smoothSections; }
+            get {
+                if (actor.isLoaded)
+                {
+                    var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                    if (system != null)
+                        return system.GetSmoothFrameCount(indexInSystem);
+                }
+                return 0;
+            }
         }
 
-        private void OnEnable()
+        public void OnEnable()
         {
-            GetComponent<ObiRopeBase>().OnInterpolate += Actor_OnInterpolate;
+            actor = GetComponent<ObiActor>();
+            ((ObiActorRenderer<ObiPathSmoother>)this).EnableRenderer();
         }
 
         private void OnDisable()
         {
-            GetComponent<ObiRopeBase>().OnInterpolate -= Actor_OnInterpolate;
+            ((ObiActorRenderer<ObiPathSmoother>)this).DisableRenderer();
         }
 
-        void Actor_OnInterpolate(ObiActor actor)
+        private void OnValidate()
         {
-            GenerateSmoothChunks(((ObiRopeBase)actor), smoothing);
-
-            if (OnCurveGenerated != null)
-                OnCurveGenerated(actor);
-        }
-
-        private void AllocateChunk(int sections)
-        {
-            if (sections > 1)
-            {
-
-                if (rawChunks.Data[rawChunks.Count] == null)
-                {
-                    rawChunks.Data[rawChunks.Count] = new ObiList<ObiPathFrame>();
-                    smoothChunks.Data[smoothChunks.Count] = new ObiList<ObiPathFrame>();
-                }
-
-                rawChunks.Data[rawChunks.Count].SetCount(sections);
-
-                rawChunks.SetCount(rawChunks.Count + 1);
-                smoothChunks.SetCount(smoothChunks.Count + 1);
-            }
-        }
-
-        private float CalculateChunkLength(ObiList<ObiPathFrame> chunk)
-        {
-            float length = 0;
-            for (int i = 1; i < chunk.Count; ++i)
-                length += Vector3.Distance(chunk[i].position, chunk[i - 1].position);
-            return length;
-        }
-
-        /**
-         * Generates raw curve chunks from the rope description.
-         */
-        private void AllocateRawChunks(ObiRopeBase actor)
-        {
-            using (m_AllocateRawChunksPerfMarker.Auto())
-            {
-                rawChunks.Clear();
-
-                if (actor.path == null)
-                    return;
-
-                // Count particles for each chunk.
-                int particles = 0;
-                for (int i = 0; i < actor.elements.Count; ++i)
-                {
-                    particles++;
-                    // At discontinuities, start a new chunk.
-                    if (i < actor.elements.Count - 1 && actor.elements[i].particle2 != actor.elements[i + 1].particle1)
-                    {
-                        AllocateChunk(++particles);
-                        particles = 0;
-                    }
-                }
-                AllocateChunk(++particles);
-            }
-        }
-
-        private void PathFrameFromParticle(ObiRopeBase actor, ref ObiPathFrame frame, int particleIndex, bool interpolateOrientation = true)
-        {
-            // Update current frame values from particles:
-            frame.position = w2l.MultiplyPoint3x4(actor.GetParticlePosition(particleIndex));
-            frame.thickness = actor.GetParticleMaxRadius(particleIndex);
-            frame.color = actor.GetParticleColor(particleIndex);
-
-            // Use particle orientation if possible:
-            if (actor.usesOrientedParticles)
-            {
-                Quaternion current = actor.GetParticleOrientation(particleIndex);
-                Quaternion previous = actor.GetParticleOrientation(Mathf.Max(0, particleIndex - 1));
-                Quaternion average = w2lRotation * (interpolateOrientation ? Quaternion.SlerpUnclamped(current, previous, 0.5f) : current);
-                frame.normal = average * Vector3.up;
-                frame.binormal = average * Vector3.right;
-                frame.tangent = average * Vector3.forward;
-            }
-        }
-
-        /**
-         * Generates smooth curve chunks.
-         */
-        public void GenerateSmoothChunks(ObiRopeBase actor, uint smoothingLevels)
-        {
-            using (m_GenerateSmoothChunksPerfMarker.Auto())
-            {
-                smoothChunks.Clear();
-                smoothSections = 0;
-                smoothLength = 0;
-
-                if (!Application.isPlaying)
-                    actor.RebuildElementsFromConstraints();
-
-                AllocateRawChunks(actor);
-
-                w2l = actor.transform.worldToLocalMatrix;
-                w2lRotation = w2l.rotation;
-
-                // keep track of the first element of each chunk
-                int chunkStart = 0;
-
-                ObiPathFrame frame_0 = new ObiPathFrame(); // "next" frame
-                ObiPathFrame frame_1 = new ObiPathFrame(); // current frame
-                ObiPathFrame frame_2 = new ObiPathFrame(); // previous frame
-
-                // generate curve for each rope chunk:
-                for (int i = 0; i < rawChunks.Count; ++i)
-                {
-                    int elementCount = rawChunks[i].Count - 1;
-
-                    // Initialize frames:
-                    frame_0.Reset();
-                    frame_1.Reset();
-                    frame_2.Reset();
-
-                    PathFrameFromParticle(actor, ref frame_1, actor.elements[chunkStart].particle1, false);
-
-                    frame_2 = frame_1;
-
-                    for (int m = 1; m <= rawChunks[i].Count; ++m)
-                    {
-
-                        int index;
-                        if (m >= elementCount)
-                            // second particle of last element in the chunk.
-                            index = actor.elements[chunkStart + elementCount - 1].particle2;
-                        else
-                            //first particle of current element.
-                            index = actor.elements[chunkStart + m].particle1;
-
-                        // generate curve frame from particle:
-                        PathFrameFromParticle(actor, ref frame_0, index);
-
-                        if (actor.usesOrientedParticles)
-                        {
-                            // copy frame directly.
-                            frame_2 = frame_1;
-                        }
-                        else
-                        {
-                            // perform parallel transport, using forward / backward average to calculate tangent.
-                            frame_1.tangent = ((frame_1.position - frame_2.position) + (frame_0.position - frame_1.position)).normalized;
-                            frame_2.Transport(frame_1, twist);
-                        }
-
-                        // in case we wrapped around the rope, average first and last frames:
-                        if (chunkStart + m > actor.activeParticleCount)
-                        {
-                            frame_2 = rawChunks[0][0] = 0.5f * frame_2 + 0.5f * rawChunks[0][0];
-                        }
-
-                        frame_1 = frame_0;
-
-                        rawChunks[i][m - 1] = frame_2;
-                    }
-
-                    // increment chunkStart by the amount of elements in this chunk:
-                    chunkStart += elementCount;
-
-                    // adaptive curvature-based decimation:
-                    if (Decimate(rawChunks[i], smoothChunks[i], decimation))
-                    {
-                        // if any decimation took place, swap raw and smooth chunks:
-                        var aux = rawChunks[i];
-                        rawChunks[i] = smoothChunks[i];
-                        smoothChunks[i] = aux;
-                    }
-
-                    // get smooth curve points:
-                    Chaikin(rawChunks[i], smoothChunks[i], smoothingLevels);
-
-                    // count total curve sections and total curve length:
-                    smoothSections += smoothChunks[i].Count;
-                    smoothLength += CalculateChunkLength(smoothChunks[i]);
-                }
-            }
+            ((ObiActorRenderer<ObiPathSmoother>)this).SetRendererDirty(Oni.RenderingSystemType.AllSmoothedRopes);
         }
 
         public ObiPathFrame GetSectionAt(float mu)
         {
-            float edgeMu = smoothSections * Mathf.Clamp(mu,0,0.9999f);
-            int index = (int)edgeMu;
-            float sectionMu = edgeMu - index;
-
-            int counter = 0;
-            int chunkIndex = -1;
-            int indexInChunk = -1;
-            for (int i = 0; i < smoothChunks.Count; ++i)
+            if (actor.isLoaded)
             {
-                if (counter + smoothChunks[i].Count > index)
-                {
-                    chunkIndex = i;
-                    indexInChunk = index - counter;
-                    break;
-                }
-                counter += smoothChunks[i].Count;
+                var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+
+                if (system != null)
+                    return system.GetFrameAt(indexInSystem, mu);
             }
 
-            ObiList<ObiPathFrame> chunk = smoothChunks[chunkIndex];
-            ObiPathFrame s1 = chunk[indexInChunk];
-            ObiPathFrame s2 = chunk[Mathf.Min(indexInChunk + 1, chunk.Count - 1)];
-
-            return (1 - sectionMu) * s1 + sectionMu * s2;
+            return ObiPathFrame.Identity;
         }
 
-        /**
-         * Iterative version of the Ramer-Douglas-Peucker path decimation algorithm. 
-         */
-        private bool Decimate(ObiList<ObiPathFrame> input, ObiList<ObiPathFrame> output, float threshold)
+        RenderSystem<ObiPathSmoother> ObiRenderer<ObiPathSmoother>.CreateRenderSystem(ObiSolver solver)
         {
-            // no decimation, no work to do, just return:
-            if (threshold < 0.00001f || input.Count < 3)
-                return false;
-
-            float scaledThreshold = threshold * threshold * 0.01f;
-
-            stack.Push(new Vector2Int(0, input.Count - 1));
-
-            decimateBitArray.Length = Mathf.Max(decimateBitArray.Length, input.Count);
-            decimateBitArray.SetAll(true);
-
-            while (stack.Count > 0)
+            switch (solver.backendType)
             {
-                var range = stack.Pop();
 
-                float dmax = 0;
-                int index = range.x;
-                float mu;
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstPathSmootherRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
 
-                for (int i = index + 1; i < range.y; ++i)
-                {
-                    if (decimateBitArray[i])
-                    {
-                        float d = Vector3.SqrMagnitude(ObiUtils.ProjectPointLine(input[i].position, input[range.x].position, input[range.y].position, out mu) - input[i].position);
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputePathSmootherRenderSystem(solver);
+                    return null;
 
-                        if (d > dmax)
-                        {
-                            index = i;
-                            dmax = d;
-                        }
-                    }
-                }
-
-                if (dmax > scaledThreshold)
-                {
-                    stack.Push(new Vector2Int(range.x, index));
-                    stack.Push(new Vector2Int(index, range.y));
-                }
-                else
-                {
-                    for (int i = range.x + 1; i < range.y; ++i)
-                        decimateBitArray[i] = false;
-                }
             }
-
-            output.Clear();
-            for (int i = 0; i < input.Count; ++i)
-                if (decimateBitArray[i])
-                    output.Add(input[i]);
-
-            return true;
         }
-
-        /** 
-        * This method uses a variant of Chainkin's algorithm to produce a smooth curve from a set of control points. It is specially fast
-        * because it directly calculates subdivision level k, instead of recursively calculating levels 1..k.
-        */
-        private void Chaikin(ObiList<ObiPathFrame> input, ObiList<ObiPathFrame> output, uint k)
-        {
-            // no subdivision levels, no work to do. just copy the input to the output:
-            if (k == 0 || input.Count < 3)
-            {
-                output.SetCount(input.Count);
-                for (int i = 0; i < input.Count; ++i)
-                    output[i] = input[i];
-                return;
-            }
-
-            // calculate amount of new points generated by each inner control point:
-            int pCount = (int)Mathf.Pow(2, k);
-
-            // precalculate some quantities:
-            int n0 = input.Count - 1;
-            float twoRaisedToMinusKPlus1 = Mathf.Pow(2, -(k + 1));
-            float twoRaisedToMinusK = Mathf.Pow(2, -k);
-            float twoRaisedToMinus2K = Mathf.Pow(2, -2 * k);
-            float twoRaisedToMinus2KMinus1 = Mathf.Pow(2, -2 * k - 1);
-
-            // allocate ouput:
-            output.SetCount((n0 - 1) * pCount + 2);
-
-            // calculate initial curve points:
-            output[0] = (0.5f + twoRaisedToMinusKPlus1) * input[0] + (0.5f - twoRaisedToMinusKPlus1) * input[1];
-            output[pCount * n0 - pCount + 1] = (0.5f - twoRaisedToMinusKPlus1) * input[n0 - 1] + (0.5f + twoRaisedToMinusKPlus1) * input[n0];
-
-            // calculate internal points:
-            for (int j = 1; j <= pCount; ++j)
-            {
-                // precalculate coefficients:
-                float F = 0.5f - twoRaisedToMinusKPlus1 - (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2KMinus1);
-                float G = 0.5f + twoRaisedToMinusKPlus1 + (j - 1) * (twoRaisedToMinusK - j * twoRaisedToMinus2K);
-                float H = (j - 1) * j * twoRaisedToMinus2KMinus1;
-
-                for (int i = 1; i < n0; ++i)
-                    ObiPathFrame.WeightedSum(F, G, H,
-                                             ref input.Data[i - 1],
-                                             ref input.Data[i],
-                                             ref input.Data[i + 1],
-                                             ref output.Data[(i - 1) * pCount + j]);
-            }
-
-            // make first and last curve points coincide with original points:
-            output[0] = input[0];
-            output[output.Count - 1] = input[input.Count - 1];
-        }
-
     }
 }
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
index 3bc0efb08..bbfec3dfc 100644
--- a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
@@ -5,7 +5,7 @@ MonoImporter:
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0
-  icon: {instanceID: 0}
+  icon: {fileID: 2800000, guid: 8791eecf125744cbeadea65319c29d5a, type: 3}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs
new file mode 100644
index 000000000..eb6d1bf8e
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs
@@ -0,0 +1,216 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ChainRendererData
+    {
+        public int modifierOffset;
+        public float twistAnchor;
+        public float twist;
+        public uint usesOrientedParticles;
+
+        public Vector4 scale;
+
+        public ChainRendererData(int modifierOffset, float twistAnchor, float twist, Vector3 scale, bool usesOrientedParticles)
+        {
+            this.modifierOffset = modifierOffset;
+            this.twistAnchor = twistAnchor;
+            this.twist = twist;
+            this.usesOrientedParticles = (uint)(usesOrientedParticles ? 1 : 0);
+            this.scale = scale;
+        }
+    }
+
+    public abstract class ObiChainRopeRenderSystem : RenderSystem<ObiRopeChainRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.ChainRope; }
+
+        public RendererSet<ObiRopeChainRenderer> renderers { get; } = new RendererSet<ObiRopeChainRenderer>();
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupChainRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ChainRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected List<InstancedRenderBatch> batchList = new List<InstancedRenderBatch>();
+
+        protected ObiNativeList<ChainRendererData> rendererData;
+        protected ObiNativeList<ChunkData> chunkData;
+        protected ObiNativeList<ObiRopeChainRenderer.LinkModifier> modifiers;
+
+        protected ObiNativeList<Vector2Int> elements;
+        protected ObiNativeList<Matrix4x4> instanceTransforms;
+        protected ObiNativeList<Matrix4x4> invInstanceTransforms;
+        protected ObiNativeList<Vector4> instanceColors;
+
+        public ObiChainRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+        }
+
+        public virtual void Dispose()
+        {
+            CleanupBatches();
+            DestroyLists();
+        }
+
+        private void DestroyLists()
+        {
+            if (instanceTransforms != null)
+                instanceTransforms.Dispose();
+            if (invInstanceTransforms != null)
+                invInstanceTransforms.Dispose();
+            if (instanceColors != null)
+                instanceColors.Dispose();
+
+            if (elements != null)
+                elements.Dispose();
+            if (chunkData != null)
+                chunkData.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (modifiers != null)
+                modifiers.Dispose();
+        }
+
+        private void CreateListsIfNecessary()
+        {
+            DestroyLists();
+
+            instanceTransforms = new ObiNativeList<Matrix4x4>();
+            invInstanceTransforms = new ObiNativeList<Matrix4x4>();
+            instanceColors = new ObiNativeList<Vector4>();
+            elements = new ObiNativeList<Vector2Int>();
+            chunkData = new ObiNativeList<ChunkData>();
+            rendererData = new ObiNativeList<ChainRendererData>();
+            modifiers = new ObiNativeList<ObiRopeChainRenderer.LinkModifier>();
+        }
+
+        private void CleanupBatches()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void GenerateBatches()
+        {
+            instanceTransforms.Clear();
+            invInstanceTransforms.Clear();
+            instanceColors.Clear();
+            elements.Clear();
+            rendererData.Clear();
+            chunkData.Clear();
+            modifiers.Clear();
+
+            // generate batches:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                var renderer = renderers[i];
+                if (renderer.linkMesh != null && renderer.linkMaterial != null)
+                {
+                    renderer.renderParameters.layer = renderer.gameObject.layer;
+                    batchList.Add(new InstancedRenderBatch(i, renderer.linkMesh, renderer.linkMaterial, renderer.renderParameters));
+                }
+
+            }
+
+            // sort batches:
+            batchList.Sort();
+
+            // append elements:
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var renderer = renderers[batchList[i].firstRenderer];
+                var rope = renderer.actor as ObiRopeBase;
+
+                modifiers.AddRange(renderer.linkModifiers);
+
+                rendererData.Add(new ChainRendererData(modifiers.count, renderer.twistAnchor, renderer.linkTwist, renderer.linkScale, rope.usesOrientedParticles));
+
+                batchList[i].firstInstance = elements.count;
+                batchList[i].instanceCount = rope.elements.Count;
+
+                // iterate trough elements, finding discontinuities as we go:
+                for (int e = 0; e < rope.elements.Count; ++e)
+                {
+                    elements.Add(new Vector2Int(rope.elements[e].particle1, rope.elements[e].particle2));
+
+                    // At discontinuities, start a new chunk.
+                    if (e < rope.elements.Count - 1 && rope.elements[e].particle2 != rope.elements[e + 1].particle1)
+                    {
+                        chunkData.Add(new ChunkData(rendererData.count - 1, elements.count));
+                    }
+                }
+                chunkData.Add(new ChunkData(rendererData.count - 1, elements.count));
+            }
+
+            instanceTransforms.ResizeUninitialized(elements.count);
+            invInstanceTransforms.ResizeUninitialized(elements.count);
+            instanceColors.ResizeUninitialized(elements.count);
+        }
+
+        protected virtual void CloseBatches()
+        {
+            // Initialize each batch:
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Initialize();
+        }
+
+        public virtual void Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                CreateListsIfNecessary();
+
+                CleanupBatches();
+
+                GenerateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CloseBatches();
+            }
+        }
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+
+        public void BakeMesh(ObiRopeChainRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = renderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(renderers, renderer, chunkData, instanceTransforms,
+                                  renderer.actor.actorSolverToLocalMatrix, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..276835a70
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiChainRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9a4cb8b10f8b049c2ae0a97c50c9b33c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs
new file mode 100644
index 000000000..a34d3e0ab
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs
@@ -0,0 +1,279 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstExtrudedMeshData
+    {
+        public int sectionVertexCount;
+        public float thicknessScale;
+        public float uvAnchor;
+        public uint normalizeV;
+
+        public Vector2 uvScale;
+
+        public BurstExtrudedMeshData(ObiRopeExtrudedRenderer renderer)
+        {
+            sectionVertexCount = renderer.section.vertices.Count;
+            uvAnchor = renderer.uvAnchor;
+            thicknessScale = renderer.thicknessScale;
+            uvScale = renderer.uvScale;
+            normalizeV = (uint)(renderer.normalizeV ? 1 : 0);
+        }
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ProceduralRopeVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+        public Vector2 uv;
+    }
+
+    public abstract class ObiExtrudedRopeRenderSystem : RenderSystem<ObiRopeExtrudedRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.ExtrudedRope; }
+
+        public RendererSet<ObiRopeExtrudedRenderer> renderers { get; } = new RendererSet<ObiRopeExtrudedRenderer>();
+        protected List<ObiRopeExtrudedRenderer> sortedRenderers = new List<ObiRopeExtrudedRenderer>(); /**< temp list used to store renderers sorted by batch.*/
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupExtrudedRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ExtrudedRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor(0, 0);
+
+        protected List<ProceduralRenderBatch<ProceduralRopeVertex>> batchList = new List<ProceduralRenderBatch<ProceduralRopeVertex>>();
+
+        protected ObiNativeList<BurstExtrudedMeshData> rendererData; /**< for each renderer, data about smoother.*/
+        protected ObiNativeList<int> pathSmootherIndices; /**< renderer indices, sorted by batch */
+
+        protected Dictionary<ObiRopeSection, int> sectionToIndex = new Dictionary<ObiRopeSection, int>();
+        protected ObiNativeVector2List sectionData;
+        protected ObiNativeList<int> sectionOffsets;  /**< for each section, offset of its first entry in the sectionData array.*/
+        protected ObiNativeList<int> sectionIndices;  /**< for each renderer, index of the section used.*/
+
+        protected ObiNativeList<int> vertexOffsets;   /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> triangleOffsets; /**< for each renderer, triangle offset in its batch mesh data.*/
+
+        protected ObiNativeList<int> vertexCounts;    /**< for each renderer, vertex count.*/
+        protected ObiNativeList<int> triangleCounts;  /**< for each renderer, triangle count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+        public ObiExtrudedRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            rendererData = new ObiNativeList<BurstExtrudedMeshData>();
+            pathSmootherIndices = new ObiNativeList<int>();
+
+            sectionData = new ObiNativeVector2List();
+            sectionOffsets = new ObiNativeList<int>();
+            sectionIndices = new ObiNativeList<int>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            triangleOffsets = new ObiNativeList<int>();
+
+            vertexCounts = new ObiNativeList<int>();
+            triangleCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (rendererData != null)
+                rendererData.Dispose();
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+
+            if (sectionData != null)
+                sectionData.Dispose();
+            if (sectionOffsets != null)
+                sectionOffsets.Dispose();
+            if (sectionIndices != null)
+                sectionIndices.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (triangleOffsets != null)
+                triangleOffsets.Dispose();
+
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+            if (triangleCounts != null)
+                triangleCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            rendererData.Clear();
+            pathSmootherIndices.Clear();
+
+            sectionData.Clear();
+            sectionToIndex.Clear();
+            sectionOffsets.Clear();
+            sectionIndices.Clear();
+
+            vertexOffsets.Clear();
+            triangleOffsets.Clear();
+
+            vertexCounts.Clear();
+            triangleCounts.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].section != null && renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new ProceduralRenderBatch<ProceduralRopeVertex>(i, renderers[i].material, renderers[i].renderParameters));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+            triangleOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches:
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                int pathIndex = sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem;
+                pathSmootherIndices.Add(pathIndex);
+
+                // get or create extruded section:
+                if (!sectionToIndex.TryGetValue(sortedRenderers[i].section, out int sectionIndex))
+                {
+                    sectionIndex = sectionOffsets.count;
+                    sectionToIndex[sortedRenderers[i].section] = sectionIndex;
+                    sectionOffsets.Add(sectionData.count);
+                    sectionData.AddRange(sortedRenderers[i].section.vertices);
+                }
+
+                sectionIndices.Add(sectionIndex);
+
+                // calculate vertex and triangle counts for each renderer:
+                int chunkStart = pathSmootherSystem.chunkOffsets[pathIndex];
+                int chunkAmount = pathSmootherSystem.chunkOffsets[pathIndex + 1] - chunkStart;
+
+                for (int k = chunkStart; k < chunkStart + chunkAmount; ++k)
+                {
+                    int frameCount = pathSmootherSystem.smoothFrameCounts[k];
+                    batch.vertexCount += frameCount * sortedRenderers[i].section.vertices.Count;
+                    batch.triangleCount += (frameCount - 1) * (sortedRenderers[i].section.vertices.Count - 1) * 2;
+                }
+
+                vertexCounts.Add(batch.vertexCount);
+                triangleCounts.Add(batch.triangleCount);
+
+                rendererData.Add(new BurstExtrudedMeshData(sortedRenderers[i]));
+            }
+
+            // add last entry to section offsets:
+            sectionOffsets.Add(sectionData.count);
+
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+                int triCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    triangleOffsets[r] = triCount;
+
+                    vtxCount += vertexCounts[r];
+                    triCount += triangleCounts[r];
+                }
+            }
+        }
+
+        public virtual void Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+            }
+        }
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+
+        public void BakeMesh(ObiRopeExtrudedRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = sortedRenderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(vertexOffsets[index], vertexCounts[index], triangleOffsets[index], triangleCounts[index],
+                                   renderer.actor.actorSolverToLocalMatrix, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..3b5bd971b
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiExtrudedRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e19ecda6559144921868e71085db8408
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs
new file mode 100644
index 000000000..dbb068e67
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs
@@ -0,0 +1,230 @@
+
+using System.Runtime.InteropServices;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstLineMeshData
+    {
+        public Vector2 uvScale;
+        public float thicknessScale;
+        public float uvAnchor;
+        public uint normalizeV;
+
+        public BurstLineMeshData(ObiRopeLineRenderer renderer)
+        {
+            uvAnchor = renderer.uvAnchor;
+            thicknessScale = renderer.thicknessScale;
+            uvScale = renderer.uvScale;
+            normalizeV = (uint)(renderer.normalizeV ? 1 : 0);
+        }
+    }
+
+    public abstract class ObiLineRopeRenderSystem : RenderSystem<ObiRopeLineRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.LineRope; }
+
+        public RendererSet<ObiRopeLineRenderer> renderers { get; } = new RendererSet<ObiRopeLineRenderer>();
+        protected List<ObiRopeLineRenderer> sortedRenderers = new List<ObiRopeLineRenderer>();
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2),
+        };
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupExtrudedRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("ExtrudedRopeRendering");
+
+        protected ObiSolver m_Solver;
+        protected SubMeshDescriptor subMeshDescriptor = new SubMeshDescriptor(0, 0);
+
+        protected List<ProceduralRenderBatch<ProceduralRopeVertex>> batchList = new List<ProceduralRenderBatch<ProceduralRopeVertex>>();
+
+        protected ObiNativeList<int> pathSmootherIndices;
+        protected ObiNativeList<BurstLineMeshData> rendererData; /**< for each renderer, data about smoother.*/
+
+        protected ObiNativeList<int> vertexOffsets;   /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> triangleOffsets; /**< for each renderer, triangle offset in its batch mesh data.*/
+
+        protected ObiNativeList<int> vertexCounts;    /**< for each renderer, vertex count.*/
+        protected ObiNativeList<int> triangleCounts;  /**< for each renderer, triangle count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        public ObiLineRopeRenderSystem(ObiSolver solver)
+        {
+#if (UNITY_2019_1_OR_NEWER)
+            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { RenderFromCamera(cam); });
+            RenderPipelineManager.beginCameraRendering += renderCallback;
+#endif
+            Camera.onPreCull += RenderFromCamera;
+
+            m_Solver = solver;
+
+            pathSmootherIndices = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<BurstLineMeshData>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            triangleOffsets = new ObiNativeList<int>();
+
+            vertexCounts = new ObiNativeList<int>();
+            triangleCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= RenderFromCamera;
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+            if (rendererData != null)
+                rendererData.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (triangleOffsets != null)
+                triangleOffsets.Dispose();
+
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+            if (triangleCounts != null)
+                triangleCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            pathSmootherIndices.Clear();
+            rendererData.Clear();
+
+            vertexOffsets.Clear();
+            vertexCounts.Clear();
+
+            triangleCounts.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    renderers[i].renderParams.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new ProceduralRenderBatch<ProceduralRopeVertex>(i, renderers[i].material, renderers[i].renderParams));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+            triangleOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches:
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                int pathIndex = sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem;
+                pathSmootherIndices.Add(pathIndex);
+
+                // calculate vertex and triangle counts for each renderer:
+                int chunkStart = pathSmootherSystem.chunkOffsets[pathIndex];
+                int chunkAmount = pathSmootherSystem.chunkOffsets[pathIndex + 1] - chunkStart;
+
+                for (int k = chunkStart; k < chunkStart + chunkAmount; ++k)
+                {
+                    int frameCount = pathSmootherSystem.smoothFrameCounts[k];
+                    batch.vertexCount += frameCount * 2; // in a triangle strip, there's 2 vertices per frame.
+                    batch.triangleCount += (frameCount - 1) * 2; // and 2 triangles per frame (except for the last one)
+                }
+
+                vertexCounts.Add(batch.vertexCount);
+                triangleCounts.Add(batch.triangleCount);
+
+                rendererData.Add(new BurstLineMeshData(sortedRenderers[i]));
+            }
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+                int triCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    triangleOffsets[r] = triCount;
+
+                    vtxCount += vertexCounts[r];
+                    triCount += triangleCounts[r];
+                }
+            }
+        }
+
+        public virtual void Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+            }
+        }
+
+        public abstract void RenderFromCamera(Camera camera);
+
+        public abstract void Render();
+
+        public void Step()
+        {
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..1a6ddf1bf
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiLineRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: feb78fd6bed7a49979dee4205d74deaa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs
new file mode 100644
index 000000000..1f0e8ff9a
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs
@@ -0,0 +1,296 @@
+
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+using Unity.Profiling;
+using UnityEngine.Rendering;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstMeshData
+    {
+        public uint axis;
+        public float volumeScaling;
+        public uint stretchWithRope;
+        public uint spanEntireLength;
+
+        public uint instances;
+        public float instanceSpacing;
+        public float offset;
+        public float meshSizeAlongAxis;
+
+        public Vector4 scale;
+
+        public BurstMeshData(ObiRopeMeshRenderer renderer)
+        {
+            axis = (uint)renderer.axis;
+            volumeScaling = renderer.volumeScaling;
+            stretchWithRope = (uint)(renderer.stretchWithRope ? 1 : 0);
+            spanEntireLength = (uint)(renderer.spanEntireLength ? 1 : 0);
+            instances = renderer.instances;
+            instanceSpacing = renderer.instanceSpacing;
+            offset = renderer.offset;
+            meshSizeAlongAxis = renderer.sourceMesh != null ? renderer.sourceMesh.bounds.size[(int)renderer.axis] : 0;
+            scale = renderer.scale;
+        }
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct RopeMeshVertex
+    {
+        public Vector3 pos;
+        public Vector3 normal;
+        public Vector4 tangent;
+        public Vector4 color;
+    }
+
+    public abstract class ObiMeshRopeRenderSystem : RenderSystem<ObiRopeMeshRenderer>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.MeshRope; }
+
+        public RendererSet<ObiRopeMeshRenderer> renderers { get; } = new RendererSet<ObiRopeMeshRenderer>();
+        protected List<ObiRopeMeshRenderer> sortedRenderers = new List<ObiRopeMeshRenderer>(); /**< temp list used to store renderers sorted by batch.*/
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupMeshRopeRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("MeshRopeRendering");
+
+        // specify vertex count and layout
+        protected VertexAttributeDescriptor[] layout =
+        {
+            new VertexAttributeDescriptor(VertexAttribute.Position, VertexAttributeFormat.Float32, 3,0),
+            new VertexAttributeDescriptor(VertexAttribute.Normal, VertexAttributeFormat.Float32, 3,0),
+            new VertexAttributeDescriptor(VertexAttribute.Tangent, VertexAttributeFormat.Float32, 4,0),
+            new VertexAttributeDescriptor(VertexAttribute.Color, VertexAttributeFormat.Float32, 4,0),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord0, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord1, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord2, VertexAttributeFormat.Float32, 2,1),
+            new VertexAttributeDescriptor(VertexAttribute.TexCoord3, VertexAttributeFormat.Float32, 2,1),
+        };
+
+        protected ObiSolver m_Solver;
+        protected List<DynamicRenderBatch<ObiRopeMeshRenderer>> batchList = new List<DynamicRenderBatch<ObiRopeMeshRenderer>>();
+
+
+        protected MeshDataBatch meshData;
+        protected ObiNativeList<int> meshIndices; // for each renderer, its mesh index.
+
+        protected ObiNativeList<int> pathSmootherIndices;       /**< for each renderer, index of its path smoother in the path smoother system.*/
+        protected ObiNativeList<BurstMeshData> rendererData;
+
+        protected ObiNativeList<int> sortedIndices;  /**< axis-sorted vertex indices. */
+        protected ObiNativeList<int> sortedOffsets;  /**< for each renderer, offset in the sortedIndices array.*/
+
+        protected ObiNativeList<int> vertexOffsets;  /**< for each renderer, vertex offset in its batch mesh data.*/
+        protected ObiNativeList<int> vertexCounts;   /**< for each renderer, vertex count.*/
+
+        protected ObiPathSmootherRenderSystem pathSmootherSystem;
+
+        public ObiMeshRopeRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            meshData = new MeshDataBatch();
+            meshIndices = new ObiNativeList<int>();
+
+            pathSmootherIndices = new ObiNativeList<int>();
+            rendererData = new ObiNativeList<BurstMeshData>();
+
+            sortedIndices = new ObiNativeList<int>();
+            sortedOffsets = new ObiNativeList<int>();
+
+            vertexOffsets = new ObiNativeList<int>();
+            vertexCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            meshData.Dispose();
+
+            if (pathSmootherIndices != null)
+                pathSmootherIndices.Dispose();
+            if (meshIndices != null)
+                meshIndices.Dispose();
+
+            if (sortedIndices != null)
+                sortedIndices.Dispose();
+            if (sortedOffsets != null)
+                sortedOffsets.Dispose();
+
+            if (vertexOffsets != null)
+                vertexOffsets.Dispose();
+            if (vertexCounts != null)
+                vertexCounts.Dispose();
+
+            if (rendererData != null)
+                rendererData.Dispose();
+        }
+
+        private void Clear()
+        {
+            meshData.Clear();
+            meshIndices.Clear();
+
+            pathSmootherIndices.Clear();
+            rendererData.Clear();
+
+            vertexOffsets.Clear();
+            vertexCounts.Clear();
+
+            sortedIndices.Clear();
+            sortedOffsets.Clear();
+
+            for (int i = 0; i < batchList.Count; ++i)
+                batchList[i].Dispose();
+            batchList.Clear();
+
+            meshData.InitializeStaticData();
+            meshData.InitializeTempData();
+        }
+
+        private void CreateBatches()
+        {
+            // generate batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                if (renderers[i].sourceMesh != null && renderers[i].TryGetComponent(out ObiPathSmoother smoother) && smoother.enabled)
+                {
+                    int vertexCount = renderers[i].vertexCount * (int)renderers[i].meshInstances;
+                    renderers[i].renderParameters.layer = renderers[i].gameObject.layer;
+                    batchList.Add(new DynamicRenderBatch<ObiRopeMeshRenderer>(i, vertexCount, renderers[i].materials, renderers[i].renderParameters));
+                    sortedRenderers.Add(renderers[i]);
+                }
+            }
+
+            vertexOffsets.ResizeUninitialized(sortedRenderers.Count);
+
+            // sort batches: 
+            batchList.Sort();
+
+            // reorder renderers based on sorted batches:
+            sortedRenderers.Clear();
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                // store amount of vertices in this batch, prior to merging:
+                vertexCounts.Add(batch.vertexCount);
+
+                // write renderers in the order dictated by the sorted batch:
+                sortedRenderers.Add(renderers[batch.firstRenderer]);
+                batch.firstRenderer = i;
+
+                pathSmootherIndices.Add(sortedRenderers[i].GetComponent<ObiPathSmoother>().indexInSystem);
+
+                rendererData.Add(new BurstMeshData(sortedRenderers[i]));
+            }
+        }
+
+        protected virtual void PopulateBatches()
+        {
+            List<Vector3> verts = new List<Vector3>();
+
+            // store per-mesh data 
+            for (int i = 0; i < sortedRenderers.Count; ++i)
+            {
+                // sort vertices along curve axis:
+                sortedRenderers[i].GetVertices(verts);
+                float[] keys = new float[sortedRenderers[i].vertexCount];
+                var orderedVertices = new int[sortedRenderers[i].vertexCount];
+
+                for (int j = 0; j < keys.Length; ++j)
+                {
+                    keys[j] = verts[j][(int)sortedRenderers[i].axis];
+                    orderedVertices[j] = j;
+                }
+
+                Array.Sort(keys, orderedVertices);
+
+                sortedOffsets.Add(sortedIndices.count);
+                sortedIndices.AddRange(orderedVertices);
+
+                // add mesh index
+                meshIndices.Add(meshData.AddMesh(sortedRenderers[i]));
+            }
+        }
+
+        private void CalculateMeshOffsets()
+        {
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+
+                int vtxCount = 0;
+
+                // Calculate vertex and triangle offsets for each renderer in the batch:
+                for (int j = 0; j < batch.rendererCount; ++j)
+                {
+                    int r = batch.firstRenderer + j;
+
+                    vertexOffsets[r] = vtxCount;
+                    vtxCount += vertexCounts[r];
+                }
+            }
+        }
+
+        protected virtual void CloseBatches()
+        {
+            meshData.DisposeOfStaticData();
+            meshData.DisposeOfTempData();
+        }
+
+        public void  Setup()
+        {
+            pathSmootherSystem = m_Solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            if (pathSmootherSystem == null)
+                return;
+
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                CreateBatches();
+
+                PopulateBatches();
+
+                ObiUtils.MergeBatches(batchList);
+
+                CalculateMeshOffsets();
+
+                CloseBatches();
+            }
+        }
+
+        public void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+        }
+
+        public void BakeMesh(ObiRopeMeshRenderer renderer, ref Mesh mesh, bool transformToActorLocalSpace = false)
+        {
+            int index = sortedRenderers.IndexOf(renderer);
+
+            for (int i = 0; i < batchList.Count; ++i)
+            {
+                var batch = batchList[i];
+                if (index >= batch.firstRenderer && index < batch.firstRenderer + batch.rendererCount)
+                {
+                    batch.BakeMesh(sortedRenderers, renderer, ref mesh, transformToActorLocalSpace);
+                    return;
+                }
+            }
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta
new file mode 100644
index 000000000..f739eb97a
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiMeshRopeRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ad311e324f23a480d867e8e9b7f89cfe
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs
new file mode 100644
index 000000000..e6ad64565
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs
@@ -0,0 +1,325 @@
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct BurstPathSmootherData
+    {
+        public uint smoothing;
+        public float decimation;
+        public float twist;
+        public float restLength;
+        public float smoothLength;
+        public uint usesOrientedParticles;
+
+        public BurstPathSmootherData(ObiRopeBase rope, ObiPathSmoother smoother)
+        {
+            smoothing = smoother.smoothing;
+            decimation = smoother.decimation;
+            twist = smoother.twist;
+            usesOrientedParticles = (uint)(rope.usesOrientedParticles ? 1 : 0);
+            restLength = rope.restLength;
+            smoothLength = 0;
+        }
+    }
+
+    public abstract class ObiPathSmootherRenderSystem : RenderSystem<ObiPathSmoother>
+    {
+        public Oni.RenderingSystemType typeEnum { get => Oni.RenderingSystemType.AllSmoothedRopes; }
+
+        public RendererSet<ObiPathSmoother> renderers { get; } = new RendererSet<ObiPathSmoother>();
+
+        static protected ProfilerMarker m_SetupRenderMarker = new ProfilerMarker("SetupSmoothPathRendering");
+        static protected ProfilerMarker m_RenderMarker = new ProfilerMarker("SmoothPathRendering");
+
+        protected ObiSolver m_Solver;
+
+        public ObiNativeList<int> particleIndices;
+        public ObiNativeList<int> chunkOffsets; /**< for each actor, index of the first chunk */
+
+        public ObiNativeList<BurstPathSmootherData> pathData; /**< for each chunk, smoother params/data.*/
+
+        public ObiNativeList<ObiPathFrame> rawFrames;
+        public ObiNativeList<int> rawFrameOffsets;      /**< index of the first frame for each chunk.*/
+        public ObiNativeList<int> decimatedFrameCounts; /**< amount of frames in each chunk, after decimation.*/
+
+        public ObiNativeList<ObiPathFrame> smoothFrames;
+        public ObiNativeList<int> smoothFrameOffsets;  /**< index of the first frame for each chunk.*/
+        public ObiNativeList<int> smoothFrameCounts;  /**< amount of smooth frames for each chunk.*/
+
+        // path smoothing must be done before all other rope render systems, which are on a higher tier.
+        public uint tier
+        {
+            get { return 0; }
+        }
+
+        public ObiPathSmootherRenderSystem(ObiSolver solver)
+        {
+            m_Solver = solver;
+
+            pathData = new ObiNativeList<BurstPathSmootherData>();
+            particleIndices = new ObiNativeList<int>();
+            chunkOffsets = new ObiNativeList<int>();
+
+            rawFrames = new ObiNativeList<ObiPathFrame>();
+            rawFrameOffsets = new ObiNativeList<int>();
+
+            decimatedFrameCounts = new ObiNativeList<int>();
+
+            smoothFrames = new ObiNativeList<ObiPathFrame>();
+            smoothFrameOffsets = new ObiNativeList<int>();
+            smoothFrameCounts = new ObiNativeList<int>();
+        }
+
+        public void Dispose()
+        {
+            if (particleIndices != null)
+                particleIndices.Dispose();
+            if (chunkOffsets != null)
+                chunkOffsets.Dispose();
+
+            if (pathData != null)
+                pathData.Dispose();
+
+            if (rawFrames != null)
+                rawFrames.Dispose();
+            if (rawFrameOffsets != null)
+                rawFrameOffsets.Dispose();
+            if (decimatedFrameCounts != null)
+                decimatedFrameCounts.Dispose();
+
+            if (smoothFrames != null)
+                smoothFrames.Dispose();
+            if (smoothFrameOffsets != null)
+                smoothFrameOffsets.Dispose();
+            if (smoothFrameCounts != null)
+                smoothFrameCounts.Dispose();
+        }
+
+        private void Clear()
+        {
+            pathData.Clear();
+            particleIndices.Clear();
+            chunkOffsets.Clear();
+
+            rawFrames.Clear();
+            rawFrameOffsets.Clear();
+            decimatedFrameCounts.Clear();
+
+            smoothFrames.Clear();
+            smoothFrameOffsets.Clear();
+            smoothFrameCounts.Clear();
+        }
+
+        private int GetChaikinCount(int initialPoints, uint recursionLevel)
+        {
+            if (recursionLevel <= 0 || initialPoints < 3)
+                return initialPoints;
+
+            // calculate amount of new points generated by each inner control point:
+            int pCount = (int)Mathf.Pow(2, recursionLevel);
+            return (initialPoints - 2) * pCount + 2;
+        }
+
+        public virtual void  Setup()
+        {
+            using (m_SetupRenderMarker.Auto())
+            {
+                Clear();
+
+                int actorCount = 0;
+                int chunkCount = 0;
+                int rawFrameCount = 0;
+
+                for (int i = 0; i < renderers.Count; ++i)
+                {
+                    var renderer = renderers[i];
+
+                    var rope = renderer.actor as ObiRopeBase;
+                    var data = new BurstPathSmootherData(rope, renderer);
+
+                    chunkOffsets.Add(chunkCount);
+
+                    // iterate trough elements, finding discontinuities as we go:
+                    for (int e = 0; e < rope.elements.Count; ++e)
+                    {
+                        rawFrameCount++;
+                        particleIndices.Add(rope.elements[e].particle1);
+
+                        // At discontinuities, start a new chunk.
+                        if (e < rope.elements.Count - 1 && rope.elements[e].particle2 != rope.elements[e + 1].particle1)
+                        {
+                            rawFrameOffsets.Add(++rawFrameCount);
+                            particleIndices.Add(rope.elements[e].particle2);
+                            pathData.Add(data);
+                            chunkCount++;
+                        }
+                    }
+
+                    chunkCount++;
+                    rawFrameOffsets.Add(++rawFrameCount);
+                    particleIndices.Add(rope.elements[rope.elements.Count - 1].particle2);
+                    pathData.Add(data);
+
+                    // store the index in this system, so that other render systems
+                    // in higher tiers can easily access smooth path data:
+                    renderer.indexInSystem = actorCount++;
+                }
+
+                // Add last entry (total amount of chunks):
+                chunkOffsets.Add(chunkCount);
+
+                // resize storage:
+                rawFrames.ResizeUninitialized(rawFrameCount);
+                decimatedFrameCounts.ResizeUninitialized(rawFrameOffsets.count);
+                smoothFrameOffsets.ResizeUninitialized(rawFrameOffsets.count);
+                smoothFrameCounts.ResizeUninitialized(rawFrameOffsets.count);
+
+                // calculate smooth chunk counts:
+                int smoothFrameCount = 0;
+                for (int i = 0; i < rawFrameOffsets.count; ++i)
+                {
+                    int frameCount = rawFrameOffsets[i] - (i > 0 ? rawFrameOffsets[i - 1] : 0);
+
+                    int smoothCount = GetChaikinCount(frameCount, pathData[i].smoothing);
+
+                    smoothFrameOffsets[i] = smoothFrameCount;
+                    smoothFrameCounts[i] = smoothCount;
+                    smoothFrameCount += smoothCount;
+                }
+
+                smoothFrames.ResizeUninitialized(smoothFrameCount);
+            }
+        }
+
+        public int GetChunkCount(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return 0;
+
+            return chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+        }
+
+
+        public int GetSmoothFrameCount(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            int frameCount = 0;
+
+            if (rendererIndex >= chunkOffsets.count)
+                return frameCount;
+
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                frameCount += smoothFrameCounts[i];
+
+            return frameCount;
+        }
+
+        public int GetSmoothFrameCount(int rendererIndex, int chunkIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return 0;
+
+            int chunkCount = chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+            int chunk = chunkOffsets[rendererIndex] + Mathf.Clamp(chunkIndex, 0, chunkCount);
+
+            return smoothFrameCounts[chunk];
+        }
+
+        public float GetSmoothLength(int rendererIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            float smoothLength = 0;
+
+            if (rendererIndex >= chunkOffsets.count)
+                return smoothLength;
+
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                smoothLength += pathData[i].smoothLength;
+
+            return smoothLength;
+        }
+
+        public ObiPathFrame GetFrameAt(int rendererIndex, int chunkIndex, int frameIndex)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return ObiPathFrame.Identity;
+
+            int chunkCount = chunkOffsets[rendererIndex + 1] - chunkOffsets[rendererIndex];
+            int chunk = chunkOffsets[rendererIndex] + Mathf.Clamp(chunkIndex, 0, chunkCount);
+
+            return smoothFrames[smoothFrameOffsets[chunk] + Mathf.Clamp(frameIndex, 0, smoothFrameCounts[chunk])];
+        }
+
+        public ObiPathFrame GetFrameAt(int rendererIndex, float mu)
+        {
+            rendererIndex = Mathf.Clamp(rendererIndex, 0, renderers.Count);
+
+            if (rendererIndex >= chunkOffsets.count)
+                return ObiPathFrame.Identity;
+
+            float length = 0;
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+                length += pathData[i].smoothLength;
+
+            length *= mu;
+
+            // iterate trough all chunks:
+            float lerp = 0;
+            int frame = 0;
+            for (int i = chunkOffsets[rendererIndex]; i < chunkOffsets[rendererIndex + 1]; ++i)
+            {
+                int firstFrame = smoothFrameOffsets[i];
+                int frameCount = smoothFrameCounts[i];
+
+                // iterate trough all frames in this chunk, accumulating distance:
+                for (int j = firstFrame + 1; j < firstFrame + frameCount; ++j)
+                {
+                    float frameDistance = Vector3.Distance(smoothFrames[j - 1].position,
+                                                           smoothFrames[j].position);
+
+                    lerp = length / frameDistance;
+                    length -= frameDistance;
+                    frame = j;
+
+                    if (length <= 0)
+                        return (1 - lerp) * smoothFrames[j - 1] + lerp * smoothFrames[j];
+                }
+            }
+
+            // if no chunks/no frames, return default frame.
+            return (1 - lerp) * smoothFrames[frame - 1] + lerp * smoothFrames[frame];
+        }
+
+        public void Step()
+        {
+        }
+
+        public virtual void Render()
+        {
+            // Update rest lengths, in case they've changed due to cursors:
+            for (int i = 0; i < renderers.Count; ++i)
+            {
+                var rope = renderers[i].actor as ObiRopeBase;
+
+                for (int j = chunkOffsets[i]; j < chunkOffsets[i + 1]; ++j)
+                {
+                    var data = pathData[j];
+                    data.restLength = rope.restLength;
+                    pathData[j] = data;
+                }
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta
new file mode 100644
index 000000000..3fb94beb0
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiPathSmootherRenderSystem.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fab1fee6e450d4e28a7a2770af3c94d9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
index 7bbb1a5ae..361d445ce 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
@@ -7,163 +7,71 @@ namespace Obi
 {
     [AddComponentMenu("Physics/Obi/Obi Rope Chain Renderer", 885)]
     [ExecuteInEditMode]
-    public class ObiRopeChainRenderer : MonoBehaviour
+    public class ObiRopeChainRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeChainRenderer>
     {
-        static ProfilerMarker m_UpdateChainRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateChainRopeRenderer");
+        [Serializable]
+        public struct LinkModifier
+        {
+            public Vector3 translation;
+            public Vector3 scale;
+            public Vector3 rotation;
 
-        [HideInInspector] [SerializeField] public List<GameObject> linkInstances = new List<GameObject>();
-
-        [SerializeProperty("RandomizeLinks")]
-        [SerializeField] private bool randomizeLinks = false;
+            public void Clear()
+            {
+                translation = Vector3.zero;
+                scale = Vector3.one;
+                rotation = Vector3.zero;
+            }
+        }
 
+        public Mesh linkMesh;
+        public Material linkMaterial;
         public Vector3 linkScale = Vector3.one;     /**< Scale of chain links.*/
-        public List<GameObject> linkPrefabs = new List<GameObject>();
 
         [Range(0, 1)]
         public float twistAnchor = 0;               /**< Normalized position of twisting origin along rope.*/
+        public float linkTwist = 0;              /**< Amount of twist applied to each section, in degrees.*/
 
-        public float sectionTwist = 0;              /**< Amount of twist applied to each section, in degrees.*/
+        public List<LinkModifier> linkModifiers = new List<LinkModifier>();
 
-        ObiPathFrame frame = new ObiPathFrame();
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        public ObiActor actor { get; private set; }
 
         void Awake()
         {
-            ClearChainLinkInstances();
+            actor = GetComponent<ObiActor>();
         }
 
-        public bool RandomizeLinks
+        public void OnEnable()
         {
-            get { return randomizeLinks; }
-            set
-            {
-                if (value != randomizeLinks)
-                {
-                    randomizeLinks = value;
-                    CreateChainLinkInstances(GetComponent<ObiRopeBase>());
-                }
-            }
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).EnableRenderer();
         }
 
-        void OnEnable()
+        public void OnDisable()
         {
-            GetComponent<ObiRopeBase>().OnInterpolate += UpdateRenderer;
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).DisableRenderer();
         }
 
-        void OnDisable()
+        public void OnValidate()
         {
-            GetComponent<ObiRopeBase>().OnInterpolate -= UpdateRenderer;
-            ClearChainLinkInstances();
+            ((ObiActorRenderer<ObiRopeChainRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.ChainRope);
         }
 
-        /**
-         * Destroys all chain link instances. Used when the chain must be re-created from scratch, and when the actor is disabled/destroyed.
-         */
-        public void ClearChainLinkInstances()
+        RenderSystem<ObiRopeChainRenderer> ObiRenderer<ObiRopeChainRenderer>.CreateRenderSystem(ObiSolver solver)
         {
-
-            if (linkInstances == null)
-                return;
-
-            for (int i = 0; i < linkInstances.Count; ++i)
-            {
-                if (linkInstances[i] != null)
-                    GameObject.DestroyImmediate(linkInstances[i]);
-            }
-            linkInstances.Clear();
-        }
-
-        public void CreateChainLinkInstances(ObiRopeBase rope)
-        {
-
-            ClearChainLinkInstances();
-
-            if (linkPrefabs.Count > 0)
+            switch (solver.backendType)
             {
 
-                for (int i = 0; i < rope.particleCount; ++i)
-                {
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstChainRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
 
-                    int index = randomizeLinks ? UnityEngine.Random.Range(0, linkPrefabs.Count) : i % linkPrefabs.Count;
-
-                    GameObject linkInstance = null;
-
-                    if (linkPrefabs[index] != null)
-                    {
-                        linkInstance = GameObject.Instantiate(linkPrefabs[index]);
-                        linkInstance.transform.SetParent(rope.transform, false);
-                        linkInstance.hideFlags = HideFlags.HideAndDontSave;
-                        linkInstance.SetActive(false);
-                    }
-
-                    linkInstances.Add(linkInstance);
-                }
-            }
-        }
-
-        public void UpdateRenderer(ObiActor actor)
-        {
-            using (m_UpdateChainRopeRendererChunksPerfMarker.Auto())
-            {
-                var rope = actor as ObiRopeBase;
-
-                // In case there are no link prefabs to instantiate:
-                if (linkPrefabs.Count == 0)
-                    return;
-
-                // Regenerate instances if needed:
-                if (linkInstances == null || linkInstances.Count < rope.particleCount)
-                {
-                    CreateChainLinkInstances(rope);
-                }
-
-                var blueprint = rope.sourceBlueprint;
-                int elementCount = rope.elements.Count;
-
-                float twist = -sectionTwist * elementCount * twistAnchor;
-
-                //we will define and transport a reference frame along the curve using parallel transport method:
-                frame.Reset();
-                frame.SetTwist(twist);
-
-                int lastParticle = -1;
-
-                for (int i = 0; i < elementCount; ++i)
-                {
-                    ObiStructuralElement elm = rope.elements[i];
-
-                    Vector3 pos = rope.GetParticlePosition(elm.particle1);
-                    Vector3 nextPos = rope.GetParticlePosition(elm.particle2);
-                    Vector3 linkVector = nextPos - pos;
-                    Vector3 tangent = linkVector.normalized;
-
-                    if (rope.sourceBlueprint.usesOrientedParticles)
-                    {
-                        frame.Transport(nextPos, tangent, rope.GetParticleOrientation(elm.particle1) * Vector3.up, twist);
-                        twist += sectionTwist;
-                    }
-                    else
-                    {
-                        frame.Transport(nextPos, tangent, sectionTwist);
-                    }
-
-                    if (linkInstances[i] != null)
-                    {
-                        linkInstances[i].SetActive(true);
-                        Transform linkTransform = linkInstances[i].transform;
-                        linkTransform.position = pos + linkVector * 0.5f;
-                        linkTransform.localScale = rope.GetParticleMaxRadius(elm.particle1) * 2 * linkScale;
-                        linkTransform.rotation = Quaternion.LookRotation(tangent, frame.normal);
-                    }
-
-                    lastParticle = elm.particle2;
-
-                }
-
-                for (int i = elementCount; i < linkInstances.Count; ++i)
-                {
-                    if (linkInstances[i] != null)
-                        linkInstances[i].SetActive(false);
-                }
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeChainRopeRenderSystem(solver);
+                    return null;
             }
         }
     }
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
index 02b526b6a..bac5b6877 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
@@ -7,23 +7,14 @@ namespace Obi
 {
     [AddComponentMenu("Physics/Obi/Obi Rope Extruded Renderer", 883)]
     [ExecuteInEditMode]
-    [RequireComponent(typeof(MeshRenderer))]
-    [RequireComponent(typeof(MeshFilter))]
     [RequireComponent(typeof(ObiPathSmoother))]
-    public class ObiRopeExtrudedRenderer : MonoBehaviour
+    public class ObiRopeExtrudedRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeExtrudedRenderer>
     {
-        static ProfilerMarker m_UpdateExtrudedRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateExtrudedRopeRenderer");
+        public ObiPathSmoother smoother { get; private set; } // Each renderer should have its own smoother. The renderer then has a method to get position and orientation at a point.
 
-        private List<Vector3> vertices = new List<Vector3>();
-        private List<Vector3> normals = new List<Vector3>();
-        private List<Vector4> tangents = new List<Vector4>();
-        private List<Vector2> uvs = new List<Vector2>();
-        private List<Color> vertColors = new List<Color>();
-        private List<int> tris = new List<int>();
+        public Material material;
 
-        ObiPathSmoother smoother; // Each renderer should have its own smoother. The renderer then has a method to get position and orientation at a point.
-
-        [HideInInspector] [NonSerialized] public Mesh extrudedMesh;
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
 
         [Range(0, 1)]
         public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
@@ -36,140 +27,47 @@ namespace Obi
 
         public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
 
-        void OnEnable()
+        public ObiActor actor { get; private set; }
+
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
+        public void OnEnable()
         {
             smoother = GetComponent<ObiPathSmoother>();
-            smoother.OnCurveGenerated += UpdateRenderer; 
-            CreateMeshIfNeeded();
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).EnableRenderer();
+
         }
 
-        void OnDisable()
+        public void OnDisable()
         {
-            smoother.OnCurveGenerated -= UpdateRenderer;
-            GameObject.DestroyImmediate(extrudedMesh);
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).DisableRenderer();
         }
 
-        private void CreateMeshIfNeeded()
+        public void OnValidate()
         {
-            if (extrudedMesh == null)
+            ((ObiActorRenderer<ObiRopeExtrudedRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.AllSmoothedRopes);
+        }
+
+        RenderSystem<ObiRopeExtrudedRenderer> ObiRenderer<ObiRopeExtrudedRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
             {
-                extrudedMesh = new Mesh();
-                extrudedMesh.name = "extrudedMesh";
-                extrudedMesh.MarkDynamic(); 
-                GetComponent<MeshFilter>().mesh = extrudedMesh;
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstExtrudedRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
+
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeExtrudedRopeRenderSystem(solver);
+                    return null;
             }
         }
 
-        public void UpdateRenderer(ObiActor actor)
-        {
-            using (m_UpdateExtrudedRopeRendererChunksPerfMarker.Auto())
-            {
-                if (section == null)
-                    return;
-
-                var rope = actor as ObiRopeBase;
-
-                CreateMeshIfNeeded();
-                ClearMeshData();
-
-                int sectionIndex = 0;
-                int sectionSegments = section.Segments;
-                int verticesPerSection = sectionSegments + 1;           // the last vertex in each section must be duplicated, due to uv wraparound.
-                float vCoord = -uvScale.y * rope.restLength * uvAnchor; // v texture coordinate.
-                float actualToRestLengthRatio = smoother.SmoothLength / rope.restLength;
-
-                Vector3 vertex = Vector3.zero, normal = Vector3.zero;
-                Vector4 texTangent = Vector4.zero;
-                Vector2 uv = Vector2.zero;
-
-                for (int c = 0; c < smoother.smoothChunks.Count; ++c)
-                {
-                    ObiList<ObiPathFrame> curve = smoother.smoothChunks[c];
-
-                    for (int i = 0; i < curve.Count; ++i)
-                    {
-                        // Calculate previous and next curve indices:
-                        int prevIndex = Mathf.Max(i - 1, 0);
-
-                        // advance v texcoord:
-                        vCoord += uvScale.y * (Vector3.Distance(curve.Data[i].position, curve.Data[prevIndex].position) /
-                                                   (normalizeV ? smoother.SmoothLength : actualToRestLengthRatio));
-
-                        // calculate section thickness and scale the basis vectors by it:
-                        float sectionThickness = curve.Data[i].thickness * thicknessScale;
-
-                        // Loop around each segment:
-                        int nextSectionIndex = sectionIndex + 1;
-                        for (int j = 0; j <= sectionSegments; ++j)
-                        {
-                            // make just one copy of the section vertex:
-                            Vector2 sectionVertex = section.vertices[j];
-
-                            // calculate normal using section vertex, curve normal and binormal:
-                            normal.x = (sectionVertex.x * curve.Data[i].normal.x + sectionVertex.y * curve.Data[i].binormal.x) * sectionThickness;
-                            normal.y = (sectionVertex.x * curve.Data[i].normal.y + sectionVertex.y * curve.Data[i].binormal.y) * sectionThickness;
-                            normal.z = (sectionVertex.x * curve.Data[i].normal.z + sectionVertex.y * curve.Data[i].binormal.z) * sectionThickness;
-
-                            // offset curve position by normal:
-                            vertex.x = curve.Data[i].position.x + normal.x;
-                            vertex.y = curve.Data[i].position.y + normal.y;
-                            vertex.z = curve.Data[i].position.z + normal.z;
-
-                            // cross(normal, curve tangent)
-                            texTangent.x = normal.y * curve.Data[i].tangent.z - normal.z * curve.Data[i].tangent.y;
-                            texTangent.y = normal.z * curve.Data[i].tangent.x - normal.x * curve.Data[i].tangent.z;
-                            texTangent.z = normal.x * curve.Data[i].tangent.y - normal.y * curve.Data[i].tangent.x;
-                            texTangent.w = -1;
-
-                            uv.x = (j / (float)sectionSegments) * uvScale.x;
-                            uv.y = vCoord;
-
-                            vertices.Add(vertex);
-                            normals.Add(normal);
-                            tangents.Add(texTangent);
-                            vertColors.Add(curve.Data[i].color);
-                            uvs.Add(uv);
-
-                            if (j < sectionSegments && i < curve.Count - 1)
-                            {
-                                tris.Add(sectionIndex * verticesPerSection + j);
-                                tris.Add(nextSectionIndex * verticesPerSection + j);
-                                tris.Add(sectionIndex * verticesPerSection + (j + 1));
-
-                                tris.Add(sectionIndex * verticesPerSection + (j + 1));
-                                tris.Add(nextSectionIndex * verticesPerSection + j);
-                                tris.Add(nextSectionIndex * verticesPerSection + (j + 1));
-                            }
-                        }
-                        sectionIndex++;
-                    }
-
-                }
-
-                CommitMeshData();
-            }
-        }
-
-        private void ClearMeshData()
-        {
-            extrudedMesh.Clear();
-            vertices.Clear();
-            normals.Clear();
-            tangents.Clear();
-            uvs.Clear();
-            vertColors.Clear();
-            tris.Clear();
-        }
-
-        private void CommitMeshData()
-        {
-            extrudedMesh.SetVertices(vertices);
-            extrudedMesh.SetNormals(normals);
-            extrudedMesh.SetTangents(tangents);
-            extrudedMesh.SetColors(vertColors);
-            extrudedMesh.SetUVs(0, uvs);
-            extrudedMesh.SetTriangles(tris, 0, true);
-        }
     }
 }
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
index e340a7b9d..83a537ee9 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
@@ -8,28 +8,14 @@ namespace Obi
 {
     [AddComponentMenu("Physics/Obi/Obi Rope Line Renderer", 884)]
     [ExecuteInEditMode]
-    [RequireComponent(typeof(MeshRenderer))]
-    [RequireComponent(typeof(MeshFilter))]
-    [RequireComponent(typeof(ObiPathSmoother))]
-    public class ObiRopeLineRenderer : MonoBehaviour
+    [RequireComponent(typeof(ObiPathSmoother))] 
+    public class ObiRopeLineRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeLineRenderer>
     {
-        static ProfilerMarker m_UpdateLineRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateLineRopeRenderer");
+        public ObiActor actor { get; private set; }
 
-        private List<Vector3> vertices = new List<Vector3>();
-        private List<Vector3> normals = new List<Vector3>();
-        private List<Vector4> tangents = new List<Vector4>();
-        private List<Vector2> uvs = new List<Vector2>();
-        private List<Color> vertColors = new List<Color>();
-        private List<int> tris = new List<int>();
+        public Material material;
 
-        ObiRopeBase rope;
-        ObiPathSmoother smoother;
-
-#if (UNITY_2019_1_OR_NEWER)
-        System.Action<ScriptableRenderContext, Camera> renderCallback;
-#endif
-
-        [HideInInspector] [NonSerialized] public Mesh lineMesh;
+        public RenderBatchParams renderParams = new RenderBatchParams(true);
 
         [Range(0, 1)]
         public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
@@ -40,159 +26,42 @@ namespace Obi
 
         public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
 
+        public void Awake()
+        {
+            actor = GetComponent<ObiActor>();
+        }
+
         void OnEnable()
         {
-
-            CreateMeshIfNeeded();
-
-#if (UNITY_2019_1_OR_NEWER)
-            renderCallback = new System.Action<ScriptableRenderContext, Camera>((cntxt, cam) => { UpdateRenderer(cam); });
-            RenderPipelineManager.beginCameraRendering += renderCallback;
-#endif
-            Camera.onPreCull += UpdateRenderer;
-
-            rope = GetComponent<ObiRopeBase>();
-            smoother = GetComponent<ObiPathSmoother>();
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).EnableRenderer();
         }
 
         void OnDisable()
         {
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).DisableRenderer();
+        }
 
-#if (UNITY_2019_1_OR_NEWER)
-            RenderPipelineManager.beginCameraRendering -= renderCallback;
+        public void OnValidate()
+        {
+            ((ObiActorRenderer<ObiRopeLineRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.LineRope);
+        }
+
+        RenderSystem<ObiRopeLineRenderer> ObiRenderer<ObiRopeLineRenderer>.CreateRenderSystem(ObiSolver solver)
+        {
+            switch (solver.backendType)
+            {
+
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstLineRopeRenderSystem(solver);
 #endif
-            Camera.onPreCull -= UpdateRenderer;
+                case ObiSolver.BackendType.Compute:
+                default:
 
-            GameObject.DestroyImmediate(lineMesh);
-        }
-
-        private void CreateMeshIfNeeded()
-        {
-            if (lineMesh == null)
-            {
-                lineMesh = new Mesh();
-                lineMesh.name = "extrudedMesh";
-                lineMesh.MarkDynamic();
-                GetComponent<MeshFilter>().mesh = lineMesh;
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeLineRopeRenderSystem(solver);
+                    return null;
             }
         }
-
-        public void UpdateRenderer(Camera camera)
-        {
-            using (m_UpdateLineRopeRendererChunksPerfMarker.Auto())
-            {
-
-                if (camera == null || !rope.gameObject.activeInHierarchy)
-                    return;
-
-                CreateMeshIfNeeded();
-                ClearMeshData();
-
-                float actualToRestLengthRatio = smoother.SmoothLength / rope.restLength;
-
-                float vCoord = -uvScale.y * rope.restLength * uvAnchor; // v texture coordinate.
-                int sectionIndex = 0;
-
-                Vector3 localSpaceCamera = rope.transform.InverseTransformPoint(camera.transform.position);
-                Vector3 vertex = Vector3.zero, normal = Vector3.zero;
-                Vector4 bitangent = Vector4.zero;
-                Vector2 uv = Vector2.zero;
-
-                for (int c = 0; c < smoother.smoothChunks.Count; ++c)
-                {
-
-                    ObiList<ObiPathFrame> curve = smoother.smoothChunks[c];
-
-                    for (int i = 0; i < curve.Count; ++i)
-                    {
-
-                        // Calculate previous and next curve indices:
-                        int prevIndex = Mathf.Max(i - 1, 0);
-
-                        // advance v texcoord:
-                        vCoord += uvScale.y * (Vector3.Distance(curve.Data[i].position, curve.Data[prevIndex].position) /
-                                               (normalizeV ? smoother.SmoothLength : actualToRestLengthRatio));
-
-                        // calculate section thickness (either constant, or particle radius based):
-                        float sectionThickness = curve.Data[i].thickness * thicknessScale;
-
-
-                        normal.x = curve.Data[i].position.x - localSpaceCamera.x;
-                        normal.y = curve.Data[i].position.y - localSpaceCamera.y;
-                        normal.z = curve.Data[i].position.z - localSpaceCamera.z;
-                        normal.Normalize();
-
-                        bitangent.x = -(normal.y * curve.Data[i].tangent.z - normal.z * curve.Data[i].tangent.y);
-                        bitangent.y = -(normal.z * curve.Data[i].tangent.x - normal.x * curve.Data[i].tangent.z);
-                        bitangent.z = -(normal.x * curve.Data[i].tangent.y - normal.y * curve.Data[i].tangent.x);
-                        bitangent.w = 0;
-                        bitangent.Normalize();
-
-                        vertex.x = curve.Data[i].position.x - bitangent.x * sectionThickness;
-                        vertex.y = curve.Data[i].position.y - bitangent.y * sectionThickness;
-                        vertex.z = curve.Data[i].position.z - bitangent.z * sectionThickness;
-                        vertices.Add(vertex);
-
-                        vertex.x = curve.Data[i].position.x + bitangent.x * sectionThickness;
-                        vertex.y = curve.Data[i].position.y + bitangent.y * sectionThickness;
-                        vertex.z = curve.Data[i].position.z + bitangent.z * sectionThickness;
-                        vertices.Add(vertex);
-
-                        normals.Add(-normal);
-                        normals.Add(-normal);
-
-                        bitangent.w = 1;
-                        tangents.Add(bitangent);
-                        tangents.Add(bitangent);
-
-                        vertColors.Add(curve.Data[i].color);
-                        vertColors.Add(curve.Data[i].color);
-
-                        uv.x = 0; uv.y = vCoord;
-                        uvs.Add(uv);
-                        uv.x = 1;
-                        uvs.Add(uv);
-
-                        if (i < curve.Count - 1)
-                        {
-                            tris.Add(sectionIndex * 2);
-                            tris.Add((sectionIndex + 1) * 2);
-                            tris.Add(sectionIndex * 2 + 1);
-
-                            tris.Add(sectionIndex * 2 + 1);
-                            tris.Add((sectionIndex + 1) * 2);
-                            tris.Add((sectionIndex + 1) * 2 + 1);
-                        }
-
-                        sectionIndex++;
-                    }
-
-                }
-
-                CommitMeshData();
-            }
-        }
-
-        private void ClearMeshData()
-        {
-            lineMesh.Clear();
-            vertices.Clear();
-            normals.Clear();
-            tangents.Clear();
-            uvs.Clear();
-            vertColors.Clear();
-            tris.Clear();
-        }
-
-        private void CommitMeshData()
-        {
-            lineMesh.SetVertices(vertices);
-            lineMesh.SetNormals(normals);
-            lineMesh.SetTangents(tangents);
-            lineMesh.SetColors(vertColors);
-            lineMesh.SetUVs(0, uvs);
-            lineMesh.SetTriangles(tris, 0, true);
-        }
     }
 }
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
index 32837e564..c18e3de74 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
@@ -1,259 +1,85 @@
-using System;
 using System.Collections.Generic;
 using UnityEngine;
-using Unity.Profiling;
 
 namespace Obi
 {
     [AddComponentMenu("Physics/Obi/Obi Rope Mesh Renderer", 886)]
     [ExecuteInEditMode]
-    [RequireComponent(typeof(MeshRenderer))]
-    [RequireComponent(typeof(MeshFilter))]
     [RequireComponent(typeof(ObiPathSmoother))]
-    public class ObiRopeMeshRenderer : MonoBehaviour
+    public class ObiRopeMeshRenderer : MonoBehaviour, ObiActorRenderer<ObiRopeMeshRenderer>, IMeshDataProvider
     {
-        static ProfilerMarker m_UpdateMeshRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateMeshRopeRenderer");
+        public Renderer sourceRenderer { get; protected set; }
+        public ObiActor actor { get; private set; }
+        public uint meshInstances { get {return instances;} }
 
-        [SerializeProperty("SourceMesh")]
-        [SerializeField] private Mesh mesh;
+        [field: SerializeField]
+        public Mesh sourceMesh { get; set; }
 
-        [SerializeProperty("SweepAxis")]
-        [SerializeField] private ObiPathFrame.Axis axis;
+        [field: SerializeField]
+        public Material[] materials { get; set; }
+
+        public virtual int vertexCount { get { return sourceMesh ? sourceMesh.vertexCount : 0; } }
+        public virtual int triangleCount { get { return sourceMesh ? sourceMesh.triangles.Length / 3 : 0; } }
+
+        public RenderBatchParams renderParameters = new RenderBatchParams(true);
+
+        public ObiPathFrame.Axis axis;
 
         public float volumeScaling = 0;
         public bool stretchWithRope = true;
         public bool spanEntireLength = true;
 
-        [SerializeProperty("Instances")]
-        [SerializeField] private int instances = 1;
-
-        [SerializeProperty("InstanceSpacing")]
-        [SerializeField] private float instanceSpacing = 1;
+        public uint instances = 1;
+        public float instanceSpacing = 0;
 
         public float offset = 0;
         public Vector3 scale = Vector3.one;
 
-        [HideInInspector] [SerializeField] private float meshSizeAlongAxis = 1;
-
-        private Vector3[] inputVertices;
-        private Vector3[] inputNormals;
-        private Vector4[] inputTangents;
-
-        private Vector3[] vertices;
-        private Vector3[] normals;
-        private Vector4[] tangents;
-
-        private int[] orderedVertices = new int[0];
-
-        private ObiPathSmoother smoother;
-
-        public Mesh SourceMesh
+        public void Awake()
         {
-            set { mesh = value; PreprocessInputMesh(); }
-            get { return mesh; }
+            actor = GetComponent<ObiActor>();
+            sourceRenderer = GetComponent<MeshRenderer>();
         }
 
-        public ObiPathFrame.Axis SweepAxis
+        public void OnEnable()
         {
-            set { axis = value; PreprocessInputMesh(); }
-            get { return axis; }
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).EnableRenderer();
         }
 
-        public int Instances
+        public void OnDisable()
         {
-            set { instances = value; PreprocessInputMesh(); }
-            get { return instances; }
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).DisableRenderer();
         }
 
-        public float InstanceSpacing
+        public void OnValidate()
         {
-            set { instanceSpacing = value; PreprocessInputMesh(); }
-            get { return instanceSpacing; }
+            ((ObiActorRenderer<ObiRopeMeshRenderer>)this).SetRendererDirty(Oni.RenderingSystemType.MeshRope);
         }
 
-        [HideInInspector] [NonSerialized] public Mesh deformedMesh;
-
-        void OnEnable()
+        RenderSystem<ObiRopeMeshRenderer> ObiRenderer<ObiRopeMeshRenderer>.CreateRenderSystem(ObiSolver solver)
         {
-            smoother = GetComponent<ObiPathSmoother>();
-            smoother.OnCurveGenerated += UpdateRenderer;
-            PreprocessInputMesh();
-        }
-
-        void OnDisable()
-        {
-            smoother.OnCurveGenerated -= UpdateRenderer;
-            GameObject.DestroyImmediate(deformedMesh);
-        }
-
-        private void PreprocessInputMesh()
-        {
-
-            if (deformedMesh == null)
-            {
-                deformedMesh = new Mesh();
-                deformedMesh.name = "deformedMesh";
-                deformedMesh.MarkDynamic();
-                GetComponent<MeshFilter>().mesh = deformedMesh;
-            }
-
-            deformedMesh.Clear();
-
-            if (mesh == null)
-            {
-                orderedVertices = new int[0];
-                return;
-            }
-
-            // Clamp instance count to a positive value.
-            instances = Mathf.Max(0, instances);
-
-            // combine all mesh instances into a single mesh:
-            Mesh combinedMesh = new Mesh();
-            CombineInstance[] meshInstances = new CombineInstance[instances];
-            Vector3 pos = Vector3.zero;
-
-            // initial offset for the combined mesh is half the size of its bounding box in the swept axis:
-            pos[(int)axis] = mesh.bounds.extents[(int)axis];
-
-            for (int i = 0; i < instances; ++i)
-            {
-                meshInstances[i].mesh = mesh;
-                meshInstances[i].transform = Matrix4x4.TRS(pos, Quaternion.identity, Vector3.one);
-                pos[(int)axis] = mesh.bounds.extents[(int)axis] + (i + 1) * mesh.bounds.size[(int)axis] * instanceSpacing;
-            }
-            combinedMesh.CombineMeshes(meshInstances, true, true);
-
-            // get combined mesh data:
-            inputVertices = combinedMesh.vertices;
-            inputNormals = combinedMesh.normals;
-            inputTangents = combinedMesh.tangents;
-
-            // sort vertices along curve axis:
-            float[] keys = new float[inputVertices.Length];
-            orderedVertices = new int[inputVertices.Length];
-
-            for (int i = 0; i < keys.Length; ++i)
-            {
-                keys[i] = inputVertices[i][(int)axis];
-                orderedVertices[i] = i;
-            }
-
-            Array.Sort(keys, orderedVertices);
-
-            // Copy the combined mesh data to deform it:
-            deformedMesh.vertices = combinedMesh.vertices;
-            deformedMesh.normals = combinedMesh.normals;
-            deformedMesh.tangents = combinedMesh.tangents;
-            deformedMesh.uv = combinedMesh.uv;
-            deformedMesh.uv2 = combinedMesh.uv2;
-            deformedMesh.uv3 = combinedMesh.uv3;
-            deformedMesh.uv4 = combinedMesh.uv4;
-            deformedMesh.colors = combinedMesh.colors;
-            deformedMesh.triangles = combinedMesh.triangles;
-
-            vertices = deformedMesh.vertices;
-            normals = deformedMesh.normals;
-            tangents = deformedMesh.tangents;
-
-            // Calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
-            meshSizeAlongAxis = combinedMesh.bounds.size[(int)axis];
-
-            // destroy combined mesh:
-            GameObject.DestroyImmediate(combinedMesh);
-
-        }
-
-        public void UpdateRenderer(ObiActor actor)
-        {
-            using (m_UpdateMeshRopeRendererChunksPerfMarker.Auto())
+            switch (solver.backendType)
             {
 
-                if (mesh == null)
-                    return;
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+                case ObiSolver.BackendType.Burst: return new BurstMeshRopeRenderSystem(solver);
+#endif
+                case ObiSolver.BackendType.Compute:
+                default:
 
-                if (smoother.smoothChunks.Count == 0)
-                    return;
-
-                ObiList<ObiPathFrame> curve = smoother.smoothChunks[0];
-
-                if (curve.Count < 2)
-                    return;
-
-                var rope = actor as ObiRopeBase;
-
-                float actualToRestLengthRatio = stretchWithRope ? smoother.SmoothLength / rope.restLength : 1;
-
-                // squashing factor, makes mesh thinner when stretched and thicker when compresssed.
-                float squashing = Mathf.Clamp(1 + volumeScaling * (1 / Mathf.Max(actualToRestLengthRatio, 0.01f) - 1), 0.01f, 2);
-
-                // Calculate scale along swept axis so that the mesh spans the entire lenght of the rope if required.
-                Vector3 actualScale = scale;
-                if (spanEntireLength)
-                    actualScale[(int)axis] = rope.restLength / meshSizeAlongAxis;
-
-                float previousVertexValue = 0;
-                float meshLength = 0;
-                int index = 0;
-                int nextIndex = 1;
-                int prevIndex = 0;
-                float sectionMagnitude = Vector3.Distance(curve[index].position, curve[nextIndex].position);
-
-                // basis matrix for deforming the mesh:
-                Matrix4x4 basis = curve[0].ToMatrix(axis);
-
-                for (int i = 0; i < orderedVertices.Length; ++i)
-                {
-
-                    int vIndex = orderedVertices[i];
-                    float vertexValue = inputVertices[vIndex][(int)axis] * actualScale[(int)axis] + offset;
-
-                    // Calculate how much we've advanced in the sort axis since the last vertex:
-                    meshLength += (vertexValue - previousVertexValue) * actualToRestLengthRatio;
-                    previousVertexValue = vertexValue;
-
-                    // If we have advanced to the next section of the curve:
-                    while (meshLength > sectionMagnitude && sectionMagnitude > Mathf.Epsilon)
-                    {
-
-                        meshLength -= sectionMagnitude;
-                        index = Mathf.Min(index + 1, curve.Count - 1);
-
-                        // Calculate previous and next curve indices:
-                        nextIndex = Mathf.Min(index + 1, curve.Count - 1);
-                        prevIndex = Mathf.Max(index - 1, 0);
-
-                        // Calculate current tangent as the vector between previous and next curve points:
-                        sectionMagnitude = Vector3.Distance(curve[index].position, curve[nextIndex].position);
-
-                        // Update basis matrix:
-                        basis = curve[index].ToMatrix(axis);
-
-                    }
-
-                    float sectionThickness = curve[index].thickness;
-
-                    // calculate deformed vertex position:
-                    Vector3 offsetFromCurve = Vector3.Scale(inputVertices[vIndex], actualScale * sectionThickness * squashing);
-                    offsetFromCurve[(int)axis] = meshLength;
-
-                    vertices[vIndex] = curve[index].position + basis.MultiplyVector(offsetFromCurve);
-                    normals[vIndex] = basis.MultiplyVector(inputNormals[vIndex]);
-                    tangents[vIndex] = basis * inputTangents[vIndex]; // avoids expensive implicit conversion from Vector4 to Vector3.
-                    tangents[vIndex].w = inputTangents[vIndex].w;
-                }
-
-                CommitMeshData();
+                    if (SystemInfo.supportsComputeShaders)
+                        return new ComputeMeshRopeRenderSystem(solver);
+                    return null;
             }
         }
 
-        private void CommitMeshData()
-        {
-            deformedMesh.vertices = vertices;
-            deformedMesh.normals = normals;
-            deformedMesh.tangents = tangents;
-            deformedMesh.RecalculateBounds();
-        }
+        public virtual void GetVertices(List<Vector3> vertices) { sourceMesh.GetVertices(vertices); }
+        public virtual void GetNormals(List<Vector3> normals) { sourceMesh.GetNormals(normals); }
+        public virtual void GetTangents(List<Vector4> tangents) { sourceMesh.GetTangents(tangents); }
+        public virtual void GetColors(List<Color> colors) { sourceMesh.GetColors(colors); }
+        public virtual void GetUVs(int channel, List<Vector2> uvs) { sourceMesh.GetUVs(channel, uvs); }
+
+        public virtual void GetTriangles(List<int> triangles) { triangles.Clear(); triangles.AddRange(sourceMesh.triangles); }
     }
 }
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs
new file mode 100644
index 000000000..827462c95
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs
@@ -0,0 +1,337 @@
+using System;
using UnityEngine;

namespace Obi
{
    [AddComponentMenu("Physics/Obi/Obi Pinhole", 820)]
    [RequireComponent(typeof(ObiRopeBase))]
    [ExecuteInEditMode]
    public class ObiPinhole : MonoBehaviour
    {

        [SerializeField] [HideInInspector] private ObiRopeBase m_Rope;
        [SerializeField] [HideInInspector] private Transform m_Target;

        [Range(0, 1)]
        [SerializeField] [HideInInspector] private float m_Position = 0;
+
+        [SerializeField] [HideInInspector] private bool m_LimitRange = false;
        [MinMax(0, 1)]
        [SerializeField] [HideInInspector] private Vector2 m_Range = new Vector2(0, 1);

        [Range(0, 1)]
        [SerializeField] [HideInInspector] private float m_Friction = 0;
        [SerializeField] [HideInInspector] private float m_MotorSpeed = 0;
        [SerializeField] [HideInInspector] private float m_MotorForce = 0;
+        [SerializeField] [HideInInspector] private float m_Compliance = 0;
        [SerializeField] [HideInInspector] private bool m_ClampAtEnds = true;
+
+        [SerializeField] [HideInInspector] private ObiPinholeConstraintsBatch.PinholeEdge currentEdge;
+        [SerializeField] [HideInInspector] public ObiPinholeConstraintsBatch.PinholeEdge firstEdge;
+        [SerializeField] [HideInInspector] public ObiPinholeConstraintsBatch.PinholeEdge lastEdge;
+
+        // private variables are serialized during script reloading, to keep their value. Must mark them explicitly as non-serialized.
+        [NonSerialized] private ObiPinholeConstraintsBatch pinBatch;
        [NonSerialized] private ObiColliderBase attachedCollider;
        [NonSerialized] private int attachedColliderHandleIndex;
+
+        [NonSerialized] private Vector3 m_PositionOffset;
+        [NonSerialized] private bool m_ParametersDirty = true;
+        [NonSerialized] private bool m_PositionDirty = false;
+        [NonSerialized] private bool m_RangeDirty = false;
+
+        /// <summary>  
        /// The rope this attachment is added to.
        /// </summary> 
        public ObiActor rope
        {
            get { return m_Rope; }
        }
+
+        public float edgeCoordinate
+        {
+            get { return currentEdge.coordinate; }
+        }
+
+        public int edgeIndex
+        {
+            get { return currentEdge.edgeIndex; }
+        }
+
+        /// <summary>  
        /// The target transform that the pinhole should be attached to.
        /// </summary> 
        public Transform target
        {
            get { return m_Target; }
            set
            {
                if (value != m_Target)
                {
                    m_Target = value;
                    Bind();
                }
            }
        }
+
+        /// <summary>  
        /// Normalized coordinate of the point along the rope where the pinhole is positioned.
        /// </summary> 
+        public float position
+        {
+            get { return m_Position; }
+            set
+            {
+                if (!Mathf.Approximately(value, m_Position))
                {
                    m_Position = value;
                    CalculateMu();
                }
+            }
+        }
+
+        public bool limitRange
+        {
+            get { return m_LimitRange; }
+            set
+            {
                if (m_LimitRange != value)
+                {
+                    m_LimitRange = value;
+                    CalculateRange();
+                }
            }
+        }
+
+        /// <summary>  
        /// Normalized coordinate of the point along the rope where the pinhole is positioned.
        /// </summary> 
+        public Vector2 range
+        {
+            get { return m_Range; }
+            set
+            {
                m_Range = value;
                CalculateRange();
            }
+        }
+
+        /// <summary>  
        /// Whether this pinhole is currently bound or not.
        /// </summary> 
        public bool isBound
        {
            get { return m_Target != null && currentEdge.edgeIndex >= 0; }
        }
+
+        /// <summary>  
        /// Constraint compliance.
        /// </summary>
        /// High compliance values will increase the pinhole's elasticity.
        public float compliance
        {
            get { return m_Compliance; }
            set
            {
                if (!Mathf.Approximately(value, m_Compliance))
                {
                    m_Compliance = value;
                    m_ParametersDirty = true;
                }
            }
        }
+
+        public float friction
        {
            get { return m_Friction; }
            set
            {
                if (!Mathf.Approximately(value, m_Friction))
                {
                    m_Friction = value;
                    m_ParametersDirty = true;
+                }
            }
        }
+
+        public float motorSpeed
        {
            get { return m_MotorSpeed; }
            set
            {
                if (!Mathf.Approximately(value, m_MotorSpeed))
                {
                    m_MotorSpeed = value;
                    m_ParametersDirty = true;
                }
            }
        }
+
+        public float motorForce
        {
            get { return m_MotorForce; }
            set
            {
                if (!Mathf.Approximately(value, m_MotorForce))
                {
                    m_MotorForce = value;
                    m_ParametersDirty = true;
                }
            }
        }
+
+        public bool clampAtEnds
        {
            get { return m_ClampAtEnds; }
            set
            {
                if (m_ClampAtEnds != value)
                {
                    m_ClampAtEnds = value;
                    m_ParametersDirty = true;
                }
            }
        }
+
+        /// <summary>  
        /// Force threshold above which the pinhole should break.
        /// </summary>
        [Delayed] public float breakThreshold = float.PositiveInfinity;

        public float relativeVelocity { get; private set; }

        private void OnEnable()
        {
            m_Rope = GetComponent<ObiRopeBase>();
            m_Rope.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
            m_Rope.OnSimulationStart += Actor_OnSimulationStart;
            m_Rope.OnRequestReadback += Actor_OnRequestReadback;

            if (m_Rope.solver != null)
                Actor_OnBlueprintLoaded(m_Rope, m_Rope.sourceBlueprint);

            EnablePinhole();
        }
+
+        private void OnDisable()
        {
            DisablePinhole();

            m_Rope.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
            m_Rope.OnSimulationStart -= Actor_OnSimulationStart;
            m_Rope.OnRequestReadback -= Actor_OnRequestReadback;
        }

        private void OnValidate()
        {
            m_Rope = GetComponent<ObiRopeBase>();
+            m_ParametersDirty = true;
            m_PositionDirty = true;
            m_RangeDirty = true;
        }

        private void Actor_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
        {
            Bind();
        }

        private void Actor_OnSimulationStart(ObiActor act, float stepTime, float substepTime)
        {
+            // Attachments must be updated at the start of the step, before performing any simulation.
+            UpdatePinhole();
+
+            // if there's any broken constraint, flag pinhole constraints as dirty for remerging at the start of the next step.
+            BreakPinhole(substepTime);
        }
+
+        private void Actor_OnRequestReadback(ObiActor actor)
+        {
+            if (enabled && m_Rope.isLoaded && isBound)
            {
+                var solver = m_Rope.solver;
+
+                var actorConstraints = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+
+                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
+                {
+                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
+                    if (pinBatchIndex >= 0 && pinBatchIndex < rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole].Count)
+                    {
+                        var solverBatch = solverConstraints.batches[pinBatchIndex];
+
+                        solverBatch.particleIndices.Readback();
+                        solverBatch.edgeMus.Readback();
+                        solverBatch.relativeVelocities.Readback();
+                    }
+                }
+            }
+        }
+
+        private void ClampMuToRange()
+        {
+            if (m_LimitRange)
+            {
+                float maxCoord = lastEdge.GetRopeCoordinate(m_Rope);
+                float minCoord = firstEdge.GetRopeCoordinate(m_Rope);
+
+                if (m_Position > maxCoord)
+                {
+                    m_Position = maxCoord;
+                    currentEdge.edgeIndex = m_Rope.GetEdgeAt(m_Position, out currentEdge.coordinate);
+                    m_PositionDirty = true;
+                }
+                else if (m_Position < minCoord)
+                {
+                    m_Position = minCoord;
+                    currentEdge.edgeIndex = m_Rope.GetEdgeAt(m_Position, out currentEdge.coordinate);
+                    m_PositionDirty = true;
+                }
+            }
+        }
+
+        public void CalculateMu()
+        {
+            currentEdge.edgeIndex = m_Rope.GetEdgeAt(m_Position, out currentEdge.coordinate);
+            ClampMuToRange();
+
+            m_PositionDirty = true;
+        }

        public void CalculateRange()
+        {
+            if (m_LimitRange)
+            {
+                firstEdge.edgeIndex = m_Rope.GetEdgeAt(m_Range.x, out firstEdge.coordinate);
+                lastEdge.edgeIndex = m_Rope.GetEdgeAt(m_Range.y, out lastEdge.coordinate);
+            }
+            else
+            {
+                firstEdge.edgeIndex = m_Rope.GetEdgeAt(0, out firstEdge.coordinate);
+                lastEdge.edgeIndex = m_Rope.GetEdgeAt(1, out lastEdge.coordinate);
+                firstEdge.coordinate = -float.MaxValue;
+                lastEdge.coordinate = float.MaxValue;
+            }
+
+            ClampMuToRange();
+
+            m_RangeDirty = true;
+        }

        public void Bind()
        {
+            // Disable pinhole.
+            DisablePinhole();

            if (m_Target != null && m_Rope.isLoaded)
            {
                Matrix4x4 bindMatrix = m_Target.worldToLocalMatrix * m_Rope.solver.transform.localToWorldMatrix;
+
+                var ropeBlueprint = m_Rope.sharedBlueprint as ObiRopeBlueprintBase;
+                if (ropeBlueprint != null && ropeBlueprint.deformableEdges != null)
+                {
+                    currentEdge.edgeIndex = m_Rope.GetEdgeAt(m_Position, out currentEdge.coordinate);
+
+                    if (currentEdge.edgeIndex >= 0)
+                    {
+                        CalculateRange();
+                        m_RangeDirty = false;
+                        m_PositionDirty = false;
+
+                        int p1 = ropeBlueprint.deformableEdges[currentEdge.edgeIndex * 2];
+                        int p2 = ropeBlueprint.deformableEdges[currentEdge.edgeIndex * 2+1];
+                        Vector4 pos = Vector4.Lerp(m_Rope.solver.positions[m_Rope.solverIndices[p1]], m_Rope.solver.positions[m_Rope.solverIndices[p2]], currentEdge.coordinate);
+                        m_PositionOffset = bindMatrix.MultiplyPoint3x4(pos);
+                    }
                }
            }
            else
            {
                currentEdge.edgeIndex = -1;
            }

            // Re-enable pinhole.
            EnablePinhole();
        }

        private void EnablePinhole()
        {

            if (enabled && m_Rope.isLoaded && isBound)
            {
                var pins = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiPinholeConstraintsData;
+                attachedCollider = m_Target.GetComponent<ObiColliderBase>();
+
+                if (pins != null && attachedCollider != null && pinBatch == null)
+                {
+                    // create a new data batch with all our pin constraints:
+                    pinBatch = new ObiPinholeConstraintsBatch(pins);
+                    pinBatch.AddConstraint(currentEdge,
+                                           firstEdge,
+                                           lastEdge,
+                                           m_Rope,
+                                           attachedCollider,
+                                           m_PositionOffset,
+                                           m_Compliance,
+                                           m_Friction,
+                                           m_MotorSpeed,
+                                           m_MotorForce,
+                                           m_ClampAtEnds);
+
+                    pinBatch.activeConstraintCount++;
+
+                    // add the batch to the actor:
+                    pins.AddBatch(pinBatch);
+
+                    // store the attached collider's handle:
+                    attachedColliderHandleIndex = -1;
+                    if (attachedCollider.Handle != null)
+                        attachedColliderHandleIndex = attachedCollider.Handle.index;
+
+                    m_Rope.SetConstraintsDirty(Oni.ConstraintType.Pinhole);
+                }
            }

        }

        private void DisablePinhole()
        {
            if (isBound)
            {
                if (pinBatch != null)
+                {
+                    var pins = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+                    if (pins != null)
+                    {
+                        pins.RemoveBatch(pinBatch);
+                        if (rope.isLoaded)
+                            m_Rope.SetConstraintsDirty(Oni.ConstraintType.Pinhole);
+                    }
+
+                    attachedCollider = null;
+                    pinBatch = null;
+                    attachedColliderHandleIndex = -1;
+                }
            }
        }

        private void UpdatePinhole()
        {
            if (enabled && m_Rope.isLoaded && isBound)
            {
+                UpdateEdgeCoordinate();
+                UpdateParameters();
+
+                // in case the handle has been updated/invalidated (for instance, when disabling the target) rebuild constraints:
+                if (attachedCollider != null &&
+                    attachedCollider.Handle != null &&
+                    attachedCollider.Handle.index != attachedColliderHandleIndex)
+                {
+                    attachedColliderHandleIndex = attachedCollider.Handle.index;
+                    m_Rope.SetConstraintsDirty(Oni.ConstraintType.Pinhole);
+                }
            }
            else if (!isBound && attachedColliderHandleIndex >= 0)
+            {
+                attachedColliderHandleIndex = -1;
+                m_Rope.SetConstraintsDirty(Oni.ConstraintType.Pinhole);
+            }
        }
+
+        private void UpdateParameters()
+        {
+            if (enabled && m_Rope.isLoaded && isBound && m_ParametersDirty)
            {
+                var solver = m_Rope.solver;
+
+                var actorConstraints = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+
+                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
+                {
+                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
+                    if (pinBatchIndex >= 0 && pinBatchIndex < rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole].Count)
+                    {
+                        int offset = rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole][pinBatchIndex];
+                        var solverBatch = solverConstraints.batches[pinBatchIndex];
+
+                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
+                        {
+                            solverBatch.parameters[(offset + i) * 5] = m_Compliance;
+                            solverBatch.parameters[(offset + i) * 5+1] = m_Friction;
+                            solverBatch.parameters[(offset + i) * 5+2] = m_MotorSpeed;
+                            solverBatch.parameters[(offset + i) * 5+3] = m_MotorForce;
+                            solverBatch.parameters[(offset + i) * 5+4] = m_ClampAtEnds ? 1 : 0;
+                        }
+                        solverBatch.parameters.Upload();
+
+                        m_ParametersDirty = false;
+                    }
+                }
+            }
+        }

        private void UpdateEdgeCoordinate()
+        {
+            if (enabled && m_Rope.isLoaded && isBound)
            {
+                var solver = m_Rope.solver;
+
+                var actorConstraints = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
+
+                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
+                {
+                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
+                    if (pinBatchIndex >= 0 && pinBatchIndex < rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole].Count)
+                    {
+                        int offset = rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole][pinBatchIndex];
+                        var solverBatch = solverConstraints.batches[pinBatchIndex];
+
+                        solverBatch.particleIndices.WaitForReadback();
+                        solverBatch.edgeMus.WaitForReadback();
+                        solverBatch.relativeVelocities.WaitForReadback();
+
+                        if (m_RangeDirty)
+                        {
+                            // update edge index and coordinate, then upload them.
+                            for (int i = 0; i < pinBatch.activeConstraintCount; i++)
+                            {
+                                solverBatch.edgeRanges[(offset + i) * 2] = m_Rope.deformableEdgesOffset + firstEdge.edgeIndex;
+                                solverBatch.edgeRanges[(offset + i) * 2 + 1] = m_Rope.deformableEdgesOffset + lastEdge.edgeIndex;
+                                solverBatch.edgeRangeMus[(offset + i) * 2] = firstEdge.coordinate;
+                                solverBatch.edgeRangeMus[(offset + i) * 2 + 1] = lastEdge.coordinate;
+                            }
+                            solverBatch.edgeRanges.Upload();
+                            solverBatch.edgeRangeMus.Upload();
+
+                            m_RangeDirty = false;
+                        }
+
+                        if (m_PositionDirty)
+                        {
+                            // update edge index and coordinate, then upload them.
+                            for (int i = 0; i < pinBatch.activeConstraintCount; i++)
+                            {
+                                solverBatch.particleIndices[offset + i] = m_Rope.deformableEdgesOffset + currentEdge.edgeIndex;
+                                solverBatch.edgeMus[offset + i] = currentEdge.coordinate;
+                            }
+                            solverBatch.particleIndices.Upload();
+                            solverBatch.edgeMus.Upload();
+
+                            m_PositionDirty = false;
+                        }
+                        else
+                        {
+                            // read edge index and coordinate:
+                            for (int i = 0; i < pinBatch.activeConstraintCount; i++)
+                            {
+                                currentEdge.coordinate = solverBatch.edgeMus[offset + i];
+                                currentEdge.edgeIndex = solverBatch.particleIndices[offset + i] - m_Rope.deformableEdgesOffset;
+                                m_Position = currentEdge.GetRopeCoordinate(m_Rope);
+                            }
+                        }
+
+                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
+                        {
+                            relativeVelocity = solverBatch.relativeVelocities[offset + i];
+                        }
+                    }
+                }
+            }
+        }

        private void BreakPinhole(float substepTime)
        {
            if (enabled && m_Rope.isLoaded && isBound)
            {
                var solver = m_Rope.solver;

                var actorConstraints = m_Rope.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;
                var solverConstraints = solver.GetConstraintsByType(Oni.ConstraintType.Pinhole) as ObiConstraints<ObiPinholeConstraintsBatch>;

                bool dirty = false;
                if (actorConstraints != null && pinBatch != null && actorConstraints.batchCount <= solverConstraints.batchCount)
                {
                    int pinBatchIndex = actorConstraints.batches.IndexOf(pinBatch);
                    if (pinBatchIndex >= 0 && pinBatchIndex < rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole].Count)
                    {
                        int offset = rope.solverBatchOffsets[(int)Oni.ConstraintType.Pinhole][pinBatchIndex];
                        var solverBatch = solverConstraints.batches[pinBatchIndex];

                        float sqrTime = substepTime * substepTime;
                        for (int i = 0; i < pinBatch.activeConstraintCount; i++)
                        {
+                            // In case the handle has been created/destroyed.
+                            if (pinBatch.pinBodies[i] != attachedCollider.Handle)
                            {
                                pinBatch.pinBodies[i] = attachedCollider.Handle;
                                dirty = true;
                            }
+
+                            // in case the constraint has been broken:
+                            if (-solverBatch.lambdas[offset + i] / sqrTime > breakThreshold)
                            {
                                pinBatch.DeactivateConstraint(i);
                                dirty = true;
                            }
                        }
                    }
                }
+
+                // constraints are recreated at the start of a step.
+                if (dirty)
                    m_Rope.SetConstraintsDirty(Oni.ConstraintType.Pinhole);
            }
        }
    }
}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs.meta
similarity index 64%
rename from Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs.meta
rename to Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs.meta
index 32645ed8d..bec258d4c 100644
--- a/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs.meta
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiPinhole.cs.meta
@@ -1,11 +1,11 @@
 fileFormatVersion: 2
-guid: 8f33b658b41e945e0bae1d3f0af0830e
+guid: 2aadf7c5471054b0db8c70bd317bc272
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0
-  icon: {fileID: 2800000, guid: 092f06332c018434b8c8ea86164ef4fd, type: 3}
+  icon: {fileID: 2800000, guid: 214df93f7c2ed4c1094bb6105c050575, type: 3}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
index 63fc3b315..7a108393c 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
@@ -8,13 +8,14 @@ namespace Obi
         [Range(0,1)]
         public float m;
 
-		public void LateUpdate()
+        public void LateUpdate()
 		{
-            if (smoother != null)
+            if (smoother != null && smoother.actor.isLoaded)
             {
+                var trfm = smoother.actor.solver.transform;
                 ObiPathFrame section = smoother.GetSectionAt(m);
-                transform.position = smoother.transform.TransformPoint(section.position);
-                transform.rotation = smoother.transform.rotation * (Quaternion.LookRotation(section.tangent, section.binormal));
+                transform.position = trfm.TransformPoint(section.position);
+                transform.rotation = trfm.rotation * Quaternion.LookRotation(section.tangent, section.binormal);
             }
 		}
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
index 045b3d99d..9697db2e0 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
@@ -8,7 +8,6 @@ namespace Obi
     /**
      * This component plugs a prefab instance at each cut in the rope. Optionally, it will also place a couple instances at the start/end of an open rope.
      */
-    [RequireComponent(typeof(ObiRope))]
     [RequireComponent(typeof(ObiPathSmoother))]
     public class ObiRopePrefabPlugger : MonoBehaviour
     {
@@ -25,12 +24,12 @@ namespace Obi
         {
             instances = new List<GameObject>();
             smoother = GetComponent<ObiPathSmoother>();
-            smoother.OnCurveGenerated += UpdatePlugs;
+            GetComponent<ObiActor>().OnInterpolate += UpdatePlugs;
         }
 
         void OnDisable()
         {
-            smoother.OnCurveGenerated -= UpdatePlugs;
+            GetComponent<ObiActor>().OnInterpolate -= UpdatePlugs;
             ClearPrefabInstances();
         }
 
@@ -54,43 +53,46 @@ namespace Obi
         }
 
         // Update is called once per frame
-        void UpdatePlugs(ObiActor actor)
+        void UpdatePlugs(ObiActor actor, float simulatedTime, float substepTime)
         {
-            var rope = actor as ObiRopeBase;
+            if (!actor.isLoaded)
+                return;
 
             // cache the rope's transform matrix/quaternion:
-            Matrix4x4 l2w = rope.transform.localToWorldMatrix;
+            Matrix4x4 l2w = smoother.actor.solver.transform.localToWorldMatrix;
             Quaternion l2wRot = l2w.rotation;
 
             int instanceIndex = 0;
 
-            // place prefabs at the start/end of each curve:
-            for (int c = 0; c < smoother.smoothChunks.Count; ++c)
-            {
-                ObiList<ObiPathFrame> curve = smoother.smoothChunks[c];
+            var system = actor.solver.GetRenderSystem<ObiPathSmoother>() as ObiPathSmootherRenderSystem;
+            int chunkCount = system.GetChunkCount(smoother.indexInSystem);
 
+            // place prefabs at the start/end of each curve:
+            for (int c = 0; c < chunkCount; ++c)
+            {
                 if ((plugTears && c > 0) ||
                     (plugStart && c == 0))
                 {
                     var instance = GetOrCreatePrefabInstance(instanceIndex++);
                     instance.SetActive(true);
 
-                    ObiPathFrame frame = curve[0];
+                    ObiPathFrame frame = system.GetFrameAt(smoother.indexInSystem, c, 0);
                     instance.transform.position = l2w.MultiplyPoint3x4(frame.position);
                     instance.transform.rotation = l2wRot * (Quaternion.LookRotation(-frame.tangent, frame.binormal));
                     instance.transform.localScale = instanceScale;
                 }
 
-                if ((plugTears && c < smoother.smoothChunks.Count - 1) ||
-                    (plugEnd && c == smoother.smoothChunks.Count - 1))
-                {
 
+                if ((plugTears && c < chunkCount - 1) ||
+                    (plugEnd && c == chunkCount - 1))
+                {
                     var instance = GetOrCreatePrefabInstance(instanceIndex++);
                     instance.SetActive(true);
 
-                    ObiPathFrame frame = curve[curve.Count - 1];
+                    int frameCount = system.GetSmoothFrameCount(smoother.indexInSystem, c);
+                    ObiPathFrame frame = system.GetFrameAt(smoother.indexInSystem, c, frameCount-1);
                     instance.transform.position = l2w.MultiplyPoint3x4(frame.position);
-                    instance.transform.rotation = l2wRot * (Quaternion.LookRotation(frame.tangent, frame.binormal));
+                    instance.transform.rotation = l2wRot * Quaternion.LookRotation(frame.tangent, frame.binormal);
                     instance.transform.localScale = instanceScale;
                 }
 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
index be1c694b7..58dfb54f4 100644
--- a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
@@ -13,14 +13,19 @@ namespace Obi
 		public float inThreshold = 0.4f;
 
 		[Header("Roll out/in speeds")]
-		public float outSpeed = 0.05f;
-		public float inSpeed = 0.15f;
+		public float outSpeed = 4;
+		public float inSpeed = 2;
 
-		public void Awake()
+        public float maxLength = 10;
+
+        private float restLength;
+
+        public void Awake()
 		{
 			cursor = GetComponent<ObiRopeCursor>();
 			rope = GetComponent<ObiRope>();
-		}
+            restLength = rope.restLength;
+        }
 
 		public void OnValidate()
 		{
@@ -33,21 +38,25 @@ namespace Obi
 		{
 			// get current and rest lengths:
 			float length = rope.CalculateLength();
-			float restLength = rope.restLength;
 
 			// calculate difference between current length and rest length:
 			float diff = Mathf.Max(0, length - restLength);
 
+            float lengthChange = 0;
+
 			// if the rope has been stretched beyond the reel out threshold, increase its rest length:
 			if (diff > outThreshold)
-				restLength += diff * outSpeed;
+                lengthChange = outSpeed * Time.deltaTime;
 
 			// if the rope is not stretched past the reel in threshold, decrease its rest length:
 			if (diff < inThreshold)
-				restLength -= diff * inSpeed;
+                lengthChange = -inSpeed * Time.deltaTime;
 
-			// set the new rest length:
-			cursor.ChangeLength(restLength);
+            // make sure not to exceed maxLength:
+            lengthChange -= Mathf.Max(0, restLength + lengthChange - maxLength);
+
+            // set the new rest length:
+            restLength = cursor.ChangeLength(lengthChange);
 		}
 	}
 }
diff --git a/Assets/ResRaw/Maps/Map1/Map1.unity b/Assets/ResRaw/Maps/Map1/Map1.unity
index 1172a4563..da3266d6f 100644
--- a/Assets/ResRaw/Maps/Map1/Map1.unity
+++ b/Assets/ResRaw/Maps/Map1/Map1.unity
@@ -26,7 +26,7 @@ RenderSettings:
   m_AmbientIntensity: 0.8050667
   m_AmbientMode: 0
   m_SubtractiveShadowColor: {r: 0.8679245, g: 0.8679245, b: 0.8679245, a: 1}
-  m_SkyboxMaterial: {fileID: 1670076013}
+  m_SkyboxMaterial: {fileID: 1849940596}
   m_HaloStrength: 0.5
   m_FlareStrength: 1
   m_FlareFadeSpeed: 3
@@ -1387,54 +1387,6 @@ Transform:
   m_Children: []
   m_Father: {fileID: 0}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!21 &1670076013
-Material:
-  serializedVersion: 8
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_Name: Enviro/Skybox
-  m_Shader: {fileID: 4800000, guid: 34fee0a1b19b20b45aea7483b5f757da, type: 3}
-  m_Parent: {fileID: 0}
-  m_ModifiedSerializedProperties: 0
-  m_ValidKeywords: []
-  m_InvalidKeywords: []
-  m_LightmapFlags: 4
-  m_EnableInstancingVariants: 0
-  m_DoubleSidedGI: 0
-  m_CustomRenderQueue: -1
-  stringTagMap: {}
-  disabledShaderPasses: []
-  m_LockedProperties: 
-  m_SavedProperties:
-    serializedVersion: 3
-    m_TexEnvs:
-    - _GalaxyTex:
-        m_Texture: {fileID: 8900000, guid: 5734983fc81450b4187c3cfa5985edef, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - _MoonGlowTex:
-        m_Texture: {fileID: 2800000, guid: 6838e0810da4e49488b5d9a6ee76eb07, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - _MoonTex:
-        m_Texture: {fileID: 2800000, guid: c6fd9f694390e0245b6dca5812065950, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - _StarsTex:
-        m_Texture: {fileID: 8900000, guid: b5a7175da0f133b4d951c19c9c2cebfc, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - _SunTex:
-        m_Texture: {fileID: 2800000, guid: c95bed5306e94f24ba5802d841607ac7, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    m_Ints: []
-    m_Floats: []
-    m_Colors: []
-  m_BuildTextureStacks: []
-  m_AllowLocking: 1
 --- !u!1 &1804549341
 GameObject:
   m_ObjectHideFlags: 0
@@ -1493,6 +1445,54 @@ MonoBehaviour:
   _MaximumSpeed: 100
   _WarnOnSpeedClamp: 0
   _DebugSubsteps: 0
+--- !u!21 &1849940596
+Material:
+  serializedVersion: 8
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: Enviro/Skybox
+  m_Shader: {fileID: 4800000, guid: 34fee0a1b19b20b45aea7483b5f757da, type: 3}
+  m_Parent: {fileID: 0}
+  m_ModifiedSerializedProperties: 0
+  m_ValidKeywords: []
+  m_InvalidKeywords: []
+  m_LightmapFlags: 4
+  m_EnableInstancingVariants: 0
+  m_DoubleSidedGI: 0
+  m_CustomRenderQueue: -1
+  stringTagMap: {}
+  disabledShaderPasses: []
+  m_LockedProperties: 
+  m_SavedProperties:
+    serializedVersion: 3
+    m_TexEnvs:
+    - _GalaxyTex:
+        m_Texture: {fileID: 8900000, guid: 5734983fc81450b4187c3cfa5985edef, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _MoonGlowTex:
+        m_Texture: {fileID: 2800000, guid: 6838e0810da4e49488b5d9a6ee76eb07, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _MoonTex:
+        m_Texture: {fileID: 2800000, guid: c6fd9f694390e0245b6dca5812065950, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _StarsTex:
+        m_Texture: {fileID: 8900000, guid: b5a7175da0f133b4d951c19c9c2cebfc, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _SunTex:
+        m_Texture: {fileID: 2800000, guid: c95bed5306e94f24ba5802d841607ac7, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    m_Ints: []
+    m_Floats: []
+    m_Colors: []
+  m_BuildTextureStacks: []
+  m_AllowLocking: 1
 --- !u!1 &2079119365
 GameObject:
   m_ObjectHideFlags: 0
@@ -4574,7 +4574,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!4 &2540253416147352206
 Transform:
   m_ObjectHideFlags: 0
@@ -8618,7 +8618,7 @@ MonoBehaviour:
   Node: {fileID: 3673832994973231279}
   GearNode: {fileID: 6022323663597824692}
   Water: {fileID: 0}
-  obiFixedUpdater: {fileID: 8626483452638139103}
+  obiFixedUpdater: {fileID: 0}
   LineRenderer: {fileID: 0}
   FPS: 0
   updateInterval: 0.2
diff --git a/Assets/ResRaw/Prefabs/FFishingLine_0.prefab b/Assets/ResRaw/Prefabs/FFishingLine_0.prefab
index a411c03d2..c6ff185ee 100644
--- a/Assets/ResRaw/Prefabs/FFishingLine_0.prefab
+++ b/Assets/ResRaw/Prefabs/FFishingLine_0.prefab
@@ -15,9 +15,10 @@ GameObject:
   - component: {fileID: 114621963875104312}
   - component: {fileID: 114110690660507634}
   - component: {fileID: 114681723296609205}
-  - component: {fileID: 114410952205869838}
-  - component: {fileID: 114477279609362843}
   - component: {fileID: 1568341944772933809}
+  - component: {fileID: 9169873309208679051}
+  - component: {fileID: 2113988824053780929}
+  - component: {fileID: 5810314073911741743}
   m_Layer: 0
   m_Name: Fishing line
   m_TagString: Untagged
@@ -73,7 +74,7 @@ MeshRenderer:
   m_RenderingLayerMask: 4294967295
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: be37d9883c3013242a3dd276fcd9100e, type: 2}
+  - {fileID: 2100000, guid: 4cc7d840058664f0f9a679178b33b5e4, type: 2}
   m_StaticBatchInfo:
     firstSubMesh: 0
     subMeshCount: 0
@@ -108,38 +109,118 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 61104f33a3f344db9b7e0d0cda41a9fb, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  solverIndices: 6a0000006b0000006c0000006d0000006e0000006f000000700000007100000072000000730000007400000075000000760000007700000078000000790000007a0000007b0000007c0000007d0000007e0000007f000000800000008100000082000000830000008400000085000000860000008700000088000000890000008a0000008b0000008c0000008d0000008e0000008f000000900000009100000092000000930000009400000095000000960000009700000098000000990000009a0000009b0000009c0000009d0000009e0000009f000000a0000000a1000000a2000000a3000000a4000000a5000000a6000000a7000000a8000000a9000000aa000000ab000000ac000000ad000000ae000000af000000b0000000b1000000b2000000b3000000b4000000b5000000b6000000b7000000b8000000b9000000ba000000bb000000bc000000bd000000be000000bf000000c0000000c1000000c2000000c3000000c4000000c5000000c6000000c7000000c8000000c9000000ca000000cb000000cc000000cd000000ce000000cf000000d0000000d1000000d2000000d3000000
+  solverIndices: 7a0000007b0000007c0000007d0000007e0000007f000000800000008100000082000000830000008400000085000000860000008700000088000000890000008a0000008b0000008c0000008d0000008e0000008f000000900000009100000092000000930000009400000095000000960000009700000098000000990000009a0000009b0000009c0000009d0000009e0000009f000000a0000000a1000000a2000000a3000000a4000000a5000000a6000000a7000000a8000000a9000000aa000000ab000000ac000000ad000000ae000000af000000b0000000b1000000b2000000b3000000b4000000b5000000b6000000b7000000b8000000b9000000ba000000bb000000bc000000bd000000be000000bf000000c0000000c1000000c2000000c3000000c4000000c5000000c6000000c7000000c8000000c9000000ca000000cb000000cc000000cd000000ce000000cf000000d0000000d1000000d2000000d3000000d4000000d5000000d6000000d7000000d8000000d9000000da000000db000000dc000000dd000000de000000df000000e0000000e1000000e2000000e3000000e4000000e5000000e6000000e7000000e8000000e9000000ea000000eb000000ec000000ed000000ee000000ef000000f0000000f1000000f2000000f3000000
   m_CollisionMaterial: {fileID: 0}
   m_SurfaceCollisions: 0
   m_SelfCollisions: 0
-  restLength_: 0.1
+  restLength_: 0.5
   elements:
-  - particle1: 106
-    particle2: 107
-    restLength: 0.019992497
+  - particle1: 122
+    particle2: 123
+    restLength: 0.023315994
     constraintForce: 0
     tearResistance: 1
-  - particle1: 107
-    particle2: 108
-    restLength: 0.020001434
+  - particle1: 123
+    particle2: 124
+    restLength: 0.024294114
     constraintForce: 0
     tearResistance: 1
-  - particle1: 108
-    particle2: 109
-    restLength: 0.02001214
+  - particle1: 124
+    particle2: 125
+    restLength: 0.023810003
     constraintForce: 0
     tearResistance: 1
-  - particle1: 109
-    particle2: 110
-    restLength: 0.020001423
+  - particle1: 125
+    particle2: 126
+    restLength: 0.023626618
     constraintForce: 0
     tearResistance: 1
-  - particle1: 110
-    particle2: 111
-    restLength: 0.019992508
+  - particle1: 126
+    particle2: 127
+    restLength: 0.023711063
     constraintForce: 0
     tearResistance: 1
-  m_RopeBlueprint: {fileID: 11400000, guid: 2ade1c037e0bf214783dcb44ae3b7be7, type: 2}
+  - particle1: 127
+    particle2: 128
+    restLength: 0.02386292
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 128
+    particle2: 129
+    restLength: 0.02397117
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 129
+    particle2: 130
+    restLength: 0.023792267
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 130
+    particle2: 131
+    restLength: 0.023820415
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 131
+    particle2: 132
+    restLength: 0.023885667
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 132
+    particle2: 133
+    restLength: 0.02381955
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 133
+    particle2: 134
+    restLength: 0.023885608
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 134
+    particle2: 135
+    restLength: 0.02382049
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 135
+    particle2: 136
+    restLength: 0.023792297
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 136
+    particle2: 137
+    restLength: 0.02397114
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 137
+    particle2: 138
+    restLength: 0.023862898
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 138
+    particle2: 139
+    restLength: 0.023711085
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 139
+    particle2: 140
+    restLength: 0.023626596
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 140
+    particle2: 141
+    restLength: 0.023810029
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 141
+    particle2: 142
+    restLength: 0.024294108
+    constraintForce: 0
+    tearResistance: 1
+  - particle1: 142
+    particle2: 143
+    restLength: 0.023315966
+    constraintForce: 0
+    tearResistance: 1
+  m_RopeBlueprint: {fileID: 11400000, guid: 33cde1f36a74a9b4dbbd946e03633122, type: 2}
   tearingEnabled: 0
   tearResistanceMultiplier: 1000
   tearRate: 1
@@ -181,7 +262,7 @@ MonoBehaviour:
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   m_Actor: {fileID: 114755058551407608}
   m_Target: {fileID: 4784786160455831}
-  m_ParticleGroup: {fileID: -5395693579433732326, guid: 2ade1c037e0bf214783dcb44ae3b7be7, type: 2}
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   m_AttachmentType: 0
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@@ -200,44 +281,11 @@ MonoBehaviour:
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   m_Target: {fileID: 4227174481383194}
-  m_ParticleGroup: {fileID: -2515171973132415257, guid: 2ade1c037e0bf214783dcb44ae3b7be7, type: 2}
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   m_AttachmentType: 0
   m_ConstrainOrientation: 0
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diff --git a/Assets/Scenes/StartUp.unity b/Assets/Scenes/StartUp.unity
index e45eb007f..2bc9ac12d 100644
--- a/Assets/Scenes/StartUp.unity
+++ b/Assets/Scenes/StartUp.unity
@@ -1569,63 +1569,6 @@ MonoBehaviour:
   videoPlayer: {fileID: 1810378423}
   startCanvas: {fileID: 386239068}
   playVideo: 0
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 AudioListener:
   m_ObjectHideFlags: 0
@@ -1894,6 +1837,5 @@ SceneRoots:
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   - {fileID: 174907469}
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-  - {fileID: 1688884899048394910}
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diff --git a/Assets/Scripts/Demo/SceneSettings.cs b/Assets/Scripts/Demo/SceneSettings.cs
index 6e43dcf28..d6fdb1b53 100644
--- a/Assets/Scripts/Demo/SceneSettings.cs
+++ b/Assets/Scripts/Demo/SceneSettings.cs
@@ -18,7 +18,7 @@ public class SceneSettings : MonoBehaviour
 
     public KWS_Ocean Water;
     
-    public ObiUpdater obiFixedUpdater;
+    // public ObiUpdater obiFixedUpdater;
 
     public LineRenderer LineRenderer;
 
diff --git a/Assets/Scripts/Fishing/BobberController.cs b/Assets/Scripts/Fishing/BobberController.cs
new file mode 100644
index 000000000..49a973f2e
--- /dev/null
+++ b/Assets/Scripts/Fishing/BobberController.cs
@@ -0,0 +1,19 @@
+using UnityEngine;
+
+namespace NBF
+{
+    public class BobberController : MonoBehaviour
+    {
+        [SerializeField] private Rigidbody _rbody;
+
+        [SerializeField] private ConfigurableJoint joint;
+
+        public Rigidbody rbody => _rbody;
+
+        public void SetJoint(Rigidbody rb)
+        {
+            joint = joint == null ? GetComponent<ConfigurableJoint>() : joint;
+            joint.connectedBody = rb;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/BobberController.cs.meta b/Assets/Scripts/Fishing/BobberController.cs.meta
new file mode 100644
index 000000000..88cfdfa73
--- /dev/null
+++ b/Assets/Scripts/Fishing/BobberController.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 8e9411b5edc6466a8014c59e3821bbaa
+timeCreated: 1768918059
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/LureController.cs b/Assets/Scripts/Fishing/LureController.cs
new file mode 100644
index 000000000..fe9685504
--- /dev/null
+++ b/Assets/Scripts/Fishing/LureController.cs
@@ -0,0 +1,33 @@
+using UnityEngine;
+
+namespace NBF
+{
+    public class LureController : MonoBehaviour
+    {
+        [SerializeField] private Rigidbody rBody;
+        [SerializeField] private ConfigurableJoint joint;
+        public Rigidbody RBody => rBody;
+
+        public ConfigurableJoint Joint => joint;
+
+        public void SetJoint(Rigidbody rb)
+        {
+            joint.connectedBody = rb;
+        }
+
+        public void EnableCollision(bool enable)
+        {
+            if (rBody == null)
+            {
+                rBody = GetComponent<Rigidbody>();
+            }
+
+            rBody.detectCollisions = enable;
+        }
+
+        public void SetKinematic(bool value)
+        {
+            rBody.isKinematic = value;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/LureController.cs.meta b/Assets/Scripts/Fishing/LureController.cs.meta
new file mode 100644
index 000000000..49262ba3f
--- /dev/null
+++ b/Assets/Scripts/Fishing/LureController.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: ed5bbbc032ec4ca1bb56991d9141e311
+timeCreated: 1768918224
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Player/PlayerChest.cs b/Assets/Scripts/Fishing/Player/PlayerChest.cs
index 1bee577c5..52614bbde 100644
--- a/Assets/Scripts/Fishing/Player/PlayerChest.cs
+++ b/Assets/Scripts/Fishing/Player/PlayerChest.cs
@@ -15,7 +15,7 @@ namespace NBF
         private void FixArmAngle()
         {
             var angle = FPlayerData.Instance.EyeAngle;
-
+            
             if (angle > MaxFixEyeAngle) angle = MaxFixEyeAngle;
             else if (angle < MinFixEyeAngle) angle = MinFixEyeAngle;
             var val = transform.localEulerAngles;
diff --git a/Assets/Scripts/Fishing/Rope/RodLine.cs b/Assets/Scripts/Fishing/Rope/RodLine.cs
index ea3e8a5b0..7a5a46352 100644
--- a/Assets/Scripts/Fishing/Rope/RodLine.cs
+++ b/Assets/Scripts/Fishing/Rope/RodLine.cs
@@ -43,14 +43,13 @@ public class RodLine : MonoBehaviour
             return;
         }
 
-        for (int i = 0; i < points.Length; i++)
+        for (var i = 0; i < points.Length; i++)
         {
-            Transform transform = points[i];
-            if ((bool)transform)
+            var point = points[i];
+            if (point)
             {
-                lineRenderer.SetPosition(i, transform.position);
+                lineRenderer.SetPosition(i, point.position);
             }
         }
     }
-
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/Rope.cs b/Assets/Scripts/Fishing/Rope/Rope.cs
index c209882d8..9e7dead75 100644
--- a/Assets/Scripts/Fishing/Rope/Rope.cs
+++ b/Assets/Scripts/Fishing/Rope/Rope.cs
@@ -5,6 +5,7 @@ using UnityEngine;
 public class Rope : MonoBehaviour
 {
     private FRod _rod;
+    public bool isFloatRope;
     [SerializeField] private ObiRope rope;
 
     [SerializeField] private ObiRopeCursor cursor;
@@ -16,9 +17,21 @@ public class Rope : MonoBehaviour
     private void Awake()
     {
         rope = GetComponent<ObiRope>();
+    }
+
+    public void Init(FRod rod)
+    {
+        _rod = rod;
         if (_rod)
         {
-            LineLength_OnValueChanged(_rod.lineLength);
+            if (isFloatRope)
+            {
+                LineLength_OnValueChanged(_rod.floatLength);
+            }
+            else
+            {
+                LineLength_OnValueChanged(_rod.lineLength - _rod.floatLength);
+            }
         }
     }
 
diff --git a/Assets/Scripts/Fishing/Tackle/FBobber.cs b/Assets/Scripts/Fishing/Tackle/FBobber.cs
index fd8236f15..9aad4e2dc 100644
--- a/Assets/Scripts/Fishing/Tackle/FBobber.cs
+++ b/Assets/Scripts/Fishing/Tackle/FBobber.cs
@@ -2,15 +2,13 @@
 
 namespace NBF
 {
-    public class FBobber :  FGearBase
+    public class FBobber : FGearBase
     {
         protected override void OnInit()
         {
-            transform.position = Rod.lineHandler.LineConnector_1.transform.position;
-            // Bobber.gameObject.GetComponent<ConfigurableJoint>().connectedBody =
-            //     lineHandler.LineConnector_1.GetComponent<Rigidbody>();
-            
-            SetParent(Rod.lineHandler.LineConnector_1.transform);
+            // transform.position = Rod.lineHandler.LineConnector_1.transform.position;
+            SetParent(Rod.Line.Bobber.transform);
+            transform.localPosition = Vector3.zero;
         }
     }
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Tackle/FHook.cs b/Assets/Scripts/Fishing/Tackle/FHook.cs
index 79c130b27..777d046c3 100644
--- a/Assets/Scripts/Fishing/Tackle/FHook.cs
+++ b/Assets/Scripts/Fishing/Tackle/FHook.cs
@@ -14,9 +14,13 @@ namespace NBF
         protected override void OnInit()
         {
             
-            transform.position = Rod.lineHandler.LineConnector_2.transform.position;
-            transform.rotation = Rod.lineHandler.LineConnector_2.transform.rotation; // 确保旋转也同步
-            SetParent(Rod.lineHandler.LineConnector_2.transform);
+            // transform.position = Rod.lineHandler.LineConnector_2.transform.position;
+            // transform.rotation = Rod.lineHandler.LineConnector_2.transform.rotation; // 确保旋转也同步
+            // SetParent(Rod.lineHandler.LineConnector_2.transform);
+            
+            
+            SetParent(Rod.Line.Lure.transform);
+            transform.localPosition = Vector3.zero;
             
             // var target = lineHandler.LineConnector_2.GetComponent<Rigidbody>();
             // var joint = Hook.gameObject.GetComponent<ConfigurableJoint>();
diff --git a/Assets/Scripts/Fishing/Tackle/FLine.cs b/Assets/Scripts/Fishing/Tackle/FLine.cs
index fb7cc23ba..45d43f166 100644
--- a/Assets/Scripts/Fishing/Tackle/FLine.cs
+++ b/Assets/Scripts/Fishing/Tackle/FLine.cs
@@ -1,4 +1,8 @@
-using Obi;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using Obi;
 using UnityEngine;
 
 namespace NBF
@@ -11,39 +15,110 @@ namespace NBF
         [SerializeField] private RodLine rodLine;
         [SerializeField] private Rope fishingRope;
         [SerializeField] private Rope bobberRope;
-        public Transform LureRoot;
-        public Transform BobberRoot;
+        public LureController Lure;
+        public BobberController Bobber;
 
-        public float LineLength = 0.5f;
+        // public float LineLength = 0.5f;
 
         private float _groundSetting = 0.5f;
 
         private float _LineOnSpool = 100f;
 
         private float _LineThickness = 0.0007f;
+        // public event Action OnLinePulled;
 
         protected override void OnInit()
         {
-            var rodTip = Rod.Asset.lineConnector;
-            startParticleAttachment.target = rodTip;
-            Solver = transform.parent.GetComponent<ObiSolver>();
-            rodLine.gameObject.SetActive(false);
-            var rodType = (ItemSubType)Rod.ItemInfo.Config.Type;
-            if (rodType == ItemSubType.RodSpine || rodType == ItemSubType.RodBolo)
+            var tipRb = Rod.Asset.LineConnectorRigidbody;
+            startParticleAttachment.target = tipRb.transform;
+            // transform.position = Rod.transform.position;
+            if (isLureConnect)
             {
-                rodLine.gameObject.SetActive(true);
+                Lure.SetJoint(tipRb);
+                Lure.EnableCollision(false);
+                // isFloatingMethodUsed.Value = false;
             }
-            else if (rodType == ItemSubType.RodTele)
+            else
             {
-                bobberRope.gameObject.SetActive(true);
-                BobberRoot.gameObject.SetActive(true);
-                var bobberConfigurableJoint = BobberRoot.GetComponent<ConfigurableJoint>();
-                bobberConfigurableJoint.connectedBody = Rod.Asset.LineConnectorRigidbody;;
+                Bobber.SetJoint(tipRb);
+                Lure.SetJoint(Bobber.rbody);
+                Lure.gameObject.SetActive(true);
+                Lure.EnableCollision(false);
+                Lure.SetKinematic(false);
+                // isFloatingMethodUsed.Value = true;
+                // GetComponentInChildren<Buoyancy>().targetSurface =
+                //     MonoBehaviourSingleton<GameWater>.Instance.WaterSurface;
             }
 
-            LureRoot.gameObject.SetActive(true);
-            fishingRope.gameObject.SetActive(true);
-            // SceneSettings.Instance.obiFixedUpdater.solvers.Add(Solver);
+            // onLureInit.Raise(lure.gameObject);
+            GetComponentsInChildren<Transform>(includeInactive: true).ToList().ForEach(delegate(Transform i)
+            {
+                i.gameObject.SetActive(true);
+            });
+
+            StartCoroutine(test());
+            fishingRope.Init(Rod);
+            bobberRope.Init(Rod);
+            // rodLine.GenerateLineRendererRope(guides.ToArray(), _LineThickness);
         }
+
+        private IEnumerator test()
+        {
+            yield return 1;
+            Lure.gameObject.SetActive(false);
+            Lure.gameObject.SetActive(true);
+        }
+
+        // public void SetUnrolledLineValue(float lentgth)
+        // {
+        //     LineLength = lentgth;
+        //     LineLength = Mathf.Clamp(LineLength, _groundSetting, _LineOnSpool);
+        //     if (LineLength == _groundSetting)
+        //     {
+        //         this.OnLinePulled?.Invoke();
+        //     }
+        // }
+
+        public void EnableLineRenderers()
+        {
+            foreach (ObiRopeExtrudedRenderer item in GetComponentsInChildren<ObiRopeExtrudedRenderer>().ToList())
+            {
+                item.enabled = true;
+            }
+        }
+
+        public void SetObiRopeStretch(float value)
+        {
+            fishingRope.LineLength_OnValueChanged(value);
+        }
+
+        // public void Initialize(Transform rodTarget, Rigidbody tipRb, List<Transform> guides)
+        // {
+        //     
+        // }
+
+        // protected override void OnInit()
+        // {
+        //     var rodTip = Rod.Asset.lineConnector;
+        //     startParticleAttachment.target = rodTip;
+        //     Solver = transform.parent.GetComponent<ObiSolver>();
+        //     rodLine.gameObject.SetActive(false);
+        //     var rodType = (ItemSubType)Rod.ItemInfo.Config.Type;
+        //     if (rodType == ItemSubType.RodSpine || rodType == ItemSubType.RodBolo)
+        //     {
+        //         rodLine.gameObject.SetActive(true);
+        //     }
+        //     else if (rodType == ItemSubType.RodTele)
+        //     {
+        //         bobberRope.gameObject.SetActive(true);
+        //         BobberRoot.gameObject.SetActive(true);
+        //         var bobberConfigurableJoint = BobberRoot.GetComponent<ConfigurableJoint>();
+        //         bobberConfigurableJoint.connectedBody = Rod.Asset.LineConnectorRigidbody;;
+        //     }
+        //
+        //     LureRoot.gameObject.SetActive(true);
+        //     fishingRope.gameObject.SetActive(true);
+        //     // SceneSettings.Instance.obiFixedUpdater.solvers.Add(Solver);
+        // }
     }
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Tackle/FLure.cs b/Assets/Scripts/Fishing/Tackle/FLure.cs
index 0a221a4c5..fa7af1814 100644
--- a/Assets/Scripts/Fishing/Tackle/FLure.cs
+++ b/Assets/Scripts/Fishing/Tackle/FLure.cs
@@ -6,12 +6,16 @@ namespace NBF
     {
         protected override void OnInit()
         {
-            transform.position = Rod.lineHandler.LineConnector_1.transform.position;
+            // transform.position = Rod.lineHandler.LineConnector_1.transform.position;
+            
             // Lure.gameObject.GetComponent<ConfigurableJoint>().connectedBody =
             //     lineHandler.LineConnector_1.GetComponent<Rigidbody>();
             // LureHookWaterDisplacement = Lure.GetComponent<FWaterDisplacement>();
             
-            SetParent(Rod.lineHandler.LineConnector_1.transform);
+            // SetParent(Rod.lineHandler.LineConnector_1.transform);
+            
+            SetParent(Rod.Line.Lure.transform);
+            transform.localPosition = Vector3.zero;
         }
     }
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Tackle/FRod.cs b/Assets/Scripts/Fishing/Tackle/FRod.cs
index 3706aee5d..52d4af5f8 100644
--- a/Assets/Scripts/Fishing/Tackle/FRod.cs
+++ b/Assets/Scripts/Fishing/Tackle/FRod.cs
@@ -28,13 +28,13 @@ namespace NBF
         public FBait Bait;
         public FLure Lure;
         public FWeight Weight;
-        // public FLine Line;
+        public FLine Line;
 
 
-        /// <summary>
-        /// 鱼线处理器
-        /// </summary>
-        public FLineHandler lineHandler;
+        // /// <summary>
+        // /// 鱼线处理器
+        // /// </summary>
+        // public FLineHandler lineHandler;
 
         public Transform GearRoot;
 
@@ -46,7 +46,12 @@ namespace NBF
         /// <summary>
         /// 线长度
         /// </summary>
-        public float lineLength;
+        public float lineLength = 1;
+
+        /// <summary>
+        /// 浮漂线长度
+        /// </summary>
+        public float floatLength = 0.5f;
 
         public float currentLineTension;
         public float linelenghtDiferent;
@@ -58,6 +63,11 @@ namespace NBF
             Asset = GetComponent<RodAsset>();
         }
 
+        private void LateUpdate()
+        {
+            Test();
+        }
+
         public IEnumerator Destroy()
         {
             if (GearRoot != null)
@@ -92,7 +102,6 @@ namespace NBF
 
             ItemInfo lineItemInfo = null;
 
-            CreateFishingHandler();
 
             // children.Sort();
             foreach (var child in children)
@@ -140,7 +149,8 @@ namespace NBF
                 }
             }
 
-
+            yield return 1;
+            CreateFishingHandler();
             yield return 1;
             if (Reel)
             {
@@ -177,8 +187,8 @@ namespace NBF
                 Weight.Init(Player, this);
             }
 
-            yield return 2; //等待1帧
-            
+            yield return 1; //等待1帧
+
             transform.SetParent(Player.ModelAsset.RodRoot);
             transform.localPosition = Vector3.zero;
             transform.rotation = Player.ModelAsset.RodRoot.rotation;
@@ -189,7 +199,7 @@ namespace NBF
 
         public void CreateFishingHandler()
         {
-            if (lineHandler == null)
+            if (Line == null)
             {
                 Debug.LogError("创建钓组=====");
                 var rodType = (ItemSubType)ItemInfo.Config.Type;
@@ -208,25 +218,37 @@ namespace NBF
         public void CreateObiFishingLine(int currentLineTypeIndex)
         {
             // if ((bool)Owner.Gears.Reel && !currentLineHandler)
-            if (!lineHandler)
+            if (!Line)
             {
-                var indexNames = new[] { "FFishingLine_0", "FFishingLine_1" };
+                //Assets/ResRaw/Prefabs/Line/LineSolver.prefab
+                var lineSolverPrefab = Assets.Load<GameObject>("Assets/ResRaw/Prefabs/Line/LineSolver.prefab");
+                var solver = Instantiate(lineSolverPrefab, GearRoot);
+                solver.transform.position = Asset.lineConnector.position;
+                solver.transform.rotation = Asset.lineConnector.rotation;
+                // var indexNames = new[] { "FFishingLine_0", "FFishingLine_1" };
+                var indexNames = new[] { "fishing line float set", "fishing line spinning" };
                 var path =
-                    $"Assets/ResRaw/Prefabs/{indexNames[currentLineTypeIndex]}.prefab"; //$"GameItemsPrefabs/Lines/{indexNames[currentLineTypeIndex]}";
+                    $"Assets/ResRaw/Prefabs/Line/{indexNames[currentLineTypeIndex]}.prefab"; //$"GameItemsPrefabs/Lines/{indexNames[currentLineTypeIndex]}";
                 var prefab = Assets.Load<GameObject>(path);
 
                 // var toRodConnector = rodAsset.lineConnector.GetComponent<Rigidbody>();
-                GameObject obj = Instantiate(prefab, GearRoot.position, Quaternion.identity, GearRoot);
+                GameObject obj = Instantiate(prefab, solver.transform);
+                obj.transform.localPosition = Vector3.zero;
+                obj.transform.localScale = Vector3.one;
+                obj.transform.rotation = Quaternion.identity;
 
-                lineHandler = obj.GetComponent<FLineHandler>();
-                // lineHandler.transform.SetParent(toRodConnector.transform);
-                lineHandler.transform.position = Asset.lineConnector.position;
-                lineHandler.LineConnector_0.target = Asset.lineConnector; //.GetComponent<Rigidbody>();
-                // lineHandler.toRodConnector.target = rodAsset.lineConnector;
-                lineHandler.Rod = this;
-                // lineHandler.startParticleAttachment.target = Asset.lineConnector;
-                var obiSolver = lineHandler.GetComponent<ObiSolver>();
-                SceneSettings.Instance.obiFixedUpdater.solvers.Add(obiSolver);
+                Line = obj.GetComponent<FLine>();
+                Line.transform.position = Asset.lineConnector.position;
+                Line.Init(this.Player, this);
+
+                // lineHandler = obj.GetComponent<FLineHandler>();
+                // // lineHandler.transform.SetParent(toRodConnector.transform);
+                // lineHandler.transform.position = Asset.lineConnector.position;
+                // lineHandler.LineConnector_0.target = Asset.lineConnector; //.GetComponent<Rigidbody>();
+                // lineHandler.Rod = this;
+                // // lineHandler.startParticleAttachment.target = Asset.lineConnector;
+                var obiSolver = solver.GetComponent<ObiSolver>();
+                // SceneSettings.Instance.obiFixedUpdater.solvers.Add(obiSolver);
             }
         }
 
@@ -268,5 +290,12 @@ namespace NBF
 
             rings = list.ToArray();
         }
+
+        private void Test()
+        {
+            // var root = Player.ModelAsset.RodRoot;
+            // if (!root) return;
+            // transform.SetPositionAndRotation(root.position, root.rotation);
+        }
     }
 }
\ No newline at end of file
diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset
index e968085c2..ccca548db 100644
--- a/UserSettings/EditorUserSettings.asset
+++ b/UserSettings/EditorUserSettings.asset
@@ -9,31 +9,31 @@ EditorUserSettings:
       value: 18134705175a055722080a3115371d4a0d55006876786860616b0471b8b3666cacb72ba5a52a362c3c0ee63201181433fe3e101bf3250b06144ca74c24f1190708e016c213c61a52f91c12cac80fd8edd298e1e4d1fde2cacddeacbcc1fee7eef0e3b6faa69af9ceaeaaec81a6d2c2c8c8c4b2e5dfd5ccd3f8cf
       flags: 0
     RecentlyUsedSceneGuid-0:
-      value: 5301015756025c0a095d082148750c444f154e79752e2569787e4966b7b53561
+      value: 5b08515306560a0a0b0b542449770715474e4d7d7b7f7769792b1863e6b7313d
       flags: 0
     RecentlyUsedSceneGuid-1:
-      value: 5307565150535b0b0c5a552711700644474e19297a29206379704b37e7b86368
+      value: 5705040755540d0b5c5f547b417707134216487d7b707e6529714c6be6e33169
       flags: 0
     RecentlyUsedSceneGuid-2:
-      value: 5b520400060d5a5a5b5b557641770b43424f1c28787d25612b2d196ab0b66068
+      value: 00080756500d0d0355580a7049770a44454e19732f7b7f3575794566b2b6376a
       flags: 0
     RecentlyUsedSceneGuid-3:
-      value: 52530c5601535f020f565a2043770d1612154d2f747975692c7b4e66b5e3303b
+      value: 5702075052030b0e5458087142770745104f4a7d747d72667e2d4d36b2b8676f
       flags: 0
     RecentlyUsedSceneGuid-4:
-      value: 00050c5150005f5f54560f2640270d4410161c28282b72357e7c4835e4b63760
+      value: 5a520c0256040b0b0f5d5a7643775914474e412e2f70243678704c6ae0e16c6d
       flags: 0
     RecentlyUsedSceneGuid-5:
-      value: 0707505403515a0b555b557012715d444215197b747e206779281e67e0b6646d
+      value: 535552075c510a595b5f557040770e484e164d792d7d75657d791e62b4e4366b
       flags: 0
     RecentlyUsedSceneGuid-6:
-      value: 07060c5454040c0a545b547240700a441216417e7f2e7268752c4966b4b0663d
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       flags: 0
     RecentlyUsedSceneGuid-7:
-      value: 5a55040207025c0e59565a7413270f44444e1d722a7f2465292b4867b3b2353d
+      value: 02550255060d590c0c0b097016770b12444f1e2b7e2a2534797f4b60b6e46c60
       flags: 0
     RecentlyUsedSceneGuid-8:
-      value: 5309035757065a0a54575f7216265c4444151d28792e72627d2f1935bbb8673a
+      value: 07060c5454040c0a545b547240700a441216417e7f2e7268752c4966b4b0663d
       flags: 0
     RecentlyUsedSceneGuid-9:
       value: 5505015f5c515a085f5b092149760f441716407a787d7564287b1b36e7e1366e